CN218195236U - Flexible gripper at tail end of robot - Google Patents
Flexible gripper at tail end of robot Download PDFInfo
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- CN218195236U CN218195236U CN202222143130.3U CN202222143130U CN218195236U CN 218195236 U CN218195236 U CN 218195236U CN 202222143130 U CN202222143130 U CN 202222143130U CN 218195236 U CN218195236 U CN 218195236U
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Abstract
A flexible gripper at the tail end of a robot comprises a clamping mechanism (1), a camera fixing module (2) and a seal module (3). The robot paw is connected with the robot through a base (4). Fixture (1) comprises guide arm fixed plate (12) and guide bar (11), and three guide bar (11) are fixed on base (4), guide arm fixed plate (12) are overlapped on guide bar (11) through copper sheathing (15), fixture (1) is realized floating the regulation with little spring (13) and big spring (14) respectively, the one end of spring even has the spring gasket, and all has oiling mouth (16) on every guide arm fixed plate. A terminal flexible hand claw of robot through direction fixed plate and guide bar cooperation centre gripping hydraulic pressure elongator body, makes it match with servo tightening gun, and axial mechanism can float, and vision assistance-localization real-time can be realized to camera fixed module, still can realize the seal function through the cylinder drive.
Description
Technical Field
The utility model relates to a robot field of being correlated with specifically is a terminal flexible hand claw of robot.
Background
At present, along with the applied scene of robot is more and more, corresponding supporting hand claw demand is also more and more big, for example in order to realize screwing up fast of bolt, under the bad environment like the light source dim and the unable continuity of operation of some operating modes, the installation window period is few, and the manual work degree of difficulty is big, and rate of equipment utilization is extremely low.
To solve similar problems, a robot end flexible gripper is introduced here.
SUMMERY OF THE UTILITY MODEL
Therefore, in order to solve the above-mentioned insufficiency, the utility model provides a terminal flexible hand claw of robot here.
Compared with the prior art, the utility model, following beneficial effect has:
the robot tail end flexible paw is integrally connected with a robot through a base 4; the flexible gripper at the tail end of the robot comprises a clamping mechanism 1, a floating adjusting mechanism, a camera fixing module 2 and a seal module 3; wherein:
the clamping mechanism 1 comprises a circular base 4, a top seat 10, three guide rods I11 and a guide rod fixing plate 12, wherein three fixing blocks 401 which protrude outwards and are provided with threaded holes are arranged on the periphery of the base 4, the bottoms of the three guide rods I11 are fixedly connected in the fixing blocks 401 of the base 4 through threads, and the tops of the three guide rods I11 are installed in the top seat 10; the guide rod fixing plate 12 is annular, and the guide rod fixing plate 12 is sleeved on the guide rod I11 through a copper sleeve 15; a guide rod fixing ring 1201 is arranged at the top of the guide rod fixing plate 12, and the guide rod fixing ring 1201 is sleeved on the guide rod I11 through a copper sleeve 15;
the floating adjusting mechanism comprises a large spring 14 and a small spring 13; the clamping mechanism 1 realizes floating adjustment through a large spring 14 and a small spring 13 respectively; wherein:
the guide rod fixing plate 12 and the guide rod fixing ring 1201 are provided with a vertical small spring shaft 1302, the bottom end of the small spring shaft 1302 is fixed on the guide rod fixing plate 12, the top end of the small spring shaft 1302 penetrates through and extends out of the guide rod fixing ring 1201, a small spring 13 is sleeved on the extended small spring shaft 1302, and a small spring fixing nut 1301 is installed at the top of the small spring shaft 1302 and used for fixing the small spring 13 on the small spring shaft 1302 between the small spring fixing nut 1301 and the guide rod fixing ring 1201;
a large spring 14 is sleeved on the guide rod I11 between the guide rod fixing plate 12 and the base 4, and a large spring adjusting bolt 1401 is also sleeved on the guide rod I11 at the lower part of the guide rod fixing plate 12 and is used for fixing the large spring 14 on the guide rod I11 between the large spring adjusting bolt 1401 and the base 4;
the camera fixing module 2 comprises a camera fixing support 17, a light supplement lamp support 18, a light supplement lamp ring 181, a laser sensor fixing plate 9 and a laser sensor 191; wherein, the first and the second end of the pipe are connected with each other,
the camera fixing bracket 17 is fixedly connected to the bracket base 1702 through bolts, the other end of the bracket base 1702 is fixedly connected to the base 4 through bolts, and the vision camera 171 is fixed on the camera fixing bracket 17;
the light supplement lamp support 18 is a bent plate and is fixedly connected to one side of the bottom of the camera fixing support 17 through a bolt, and a light supplement lamp ring 181 is mounted on the light supplement lamp support 18; the supplementary lighting ring 181 may supplement a light source for the vision camera 171;
the laser sensor fixing plate 9 is a bending plate and is fixedly connected to the other side of the bottom of the camera fixing support 17 through a bolt, and a laser sensor 191 is installed on the laser sensor fixing plate 9;
the stamp module 3 comprises a stamp pen 31, an air cylinder 32, guide rods II33 and guide plates 34, wherein the two guide rods II33 are respectively arranged between the base 4 and the top seat 10, the guide plates 34 are sleeved on the two guide rods II33, and the guide plates 34 can freely slide along the two guide rods II 33; the bottom of the cylinder 32 is fixed on the base 4, the top of the telescopic shaft is fixed on the inner side of the guide plate 34, and the seal pen 31 is installed on the outer side of the guide plate 34; the stamp pen 31 air cylinder 32 drives the guide plate 34 to slide along the guide rod II33 to complete the extension and retraction.
The utility model discloses beneficial effect:
the utility model discloses a terminal flexible hand claw of robot through direction fixed plate and guide bar cooperation centre gripping hydraulic pressure stretcher body, makes it match with servo tightening gun, and axial mechanism can float, and vision assistance-localization real-time can be realized to the fixed module of camera, still can realize the seal function through the cylinder drive.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a schematic view of the clamping mechanism of the present invention;
fig. 3 is a schematic structural view of the concealed tightening gun and hydraulic tensioner of the present invention;
fig. 4 is another schematic view of the present invention;
FIG. 5 is a structural view of the guide fixing plate of the present invention;
FIG. 6 is a schematic view of the base structure of the present invention;
fig. 7 is a schematic view of the structure of the camera fixing module according to the present invention.
Description of reference numerals: the device comprises a clamping mechanism 1, a camera fixing module 2, a stamp module 3, a stamp pen 31, a cylinder 32, a guide rod II33, a guide plate 34, a base 4, a servo screwing component 5, a hydraulic stretcher 6, a first screwing gun 7, a second screwing gun 8, a laser sensor fixing plate 9, a top seat 10, a guide rod I11, a guide rod fixing plate 12, a guide rod fixing ring 1201, a small spring 13, a small spring fixing nut 1301, a small spring shaft 1302, a large spring 14, a large spring adjusting bolt 1401, a copper sleeve 15, an oil filling nozzle 16, a camera fixing support 17, a vision camera 171, a light filling lamp support 18, a light filling lamp ring 181 and a laser sensor 191.
Detailed Description
The present invention will be described in detail below with reference to the attached drawings, wherein the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.
The flexible gripper at the tail end of the robot is integrally connected with the robot through a base 4; the flexible gripper at the tail end of the robot comprises a clamping mechanism 1, a floating adjusting mechanism, a camera fixing module 2 and a seal module 3.
The fixture 1 can hold two servo tightening guns and match the gear box of the hydraulic tensioner body. The gearbox is a device on the hydraulic tensioner that transmits torque.
The clamping mechanism 1 comprises a circular base 4, a top seat 10, three guide rods I11 and a guide rod fixing plate 12, wherein three fixing blocks 401 which protrude outwards and are provided with threaded holes are arranged on the periphery of the base 4, the bottoms of the three guide rods I11 are fixedly connected in the fixing blocks 401 of the base 4 through threads, and the tops of the three guide rods I11 are installed in the top seat 10; the guide rod fixing plate 12 is annular, and the guide rod fixing plate 12 is sleeved on the guide rod I11 through a copper sleeve 15; the top of the guide rod fixing plate 12 is provided with a guide rod fixing ring 1201, and the guide rod fixing ring 1201 is sleeved on the guide rod I11 through a copper sleeve 15.
The floating adjustment mechanism comprises a large spring 14 and a small spring 13.
The guide rod fixing plate 12 and the guide rod fixing ring 1201 are provided with a vertical small spring shaft 1302, the bottom end of the small spring shaft 1302 is fixed on the guide rod fixing plate 12, the top end of the small spring shaft 1302 penetrates through and extends out of the guide rod fixing ring 1201, the small spring 13 is sleeved on the extended small spring shaft 1302, and a small spring fixing nut 1301 is installed at the top of the small spring shaft 1302 and used for fixing the small spring 13 on the small spring shaft 1302 between the small spring fixing nut 1301 and the guide rod fixing ring 1201.
A large spring 14 is sleeved on a guide rod I11 between the guide rod fixing plate 12 and the base 4, and a large spring adjusting bolt 1401 is further sleeved on the guide rod I11 at the lower part of the guide rod fixing plate 12 and used for fixing the large spring 14 on the guide rod I11 between the large spring adjusting bolt 1401 and the base 4.
The clamping mechanism 1 realizes floating adjustment through a large spring 14 and a small spring 13 respectively, and the floating adjustment means that the displacement of the guide rod fixing plate 12 in the axial direction can be limited by the compression of the large spring 14 and the small spring 13. The large spring 14 is designed to float in order to reduce impact of the workpiece in the axial direction, and the large spring 14 acts as a buffer for the entire robot gripper when compressed. The floating design of the small spring 13 aims to protect the hydraulic stretcher from exceeding the limit due to stretching when the hydraulic stretcher works.
The end of the large spring 14 close to the base 4 is provided with a spring washer, and the end of the small spring 13 close to the guide rod fixing ring 1201 is provided with a spring washer.
The guide rod fixing plate 12 and the guide rod fixing ring 1201 are both provided with oil injection nozzles 16; the oil injection nozzle 16 is used for injecting oil into the copper sleeve 15, plays a role in lubrication and reduces friction.
The camera fixing module 2 includes a camera fixing bracket 17, a light supplement lamp bracket 18, a laser sensor fixing plate 9, a light supplement lamp ring 181, and a laser sensor 191.
The camera fixing bracket 17 is fixedly attached to the bracket base 1702 by bolts, the other end of the bracket base 1702 is fixedly attached to the base 4 by bolts, and the vision camera 171 is fixed to the camera fixing bracket 17.
The light supplement lamp support 18 is a bending plate and is fixedly connected to one side of the bottom of the camera fixing support 17 through a bolt, and a light supplement lamp ring 181 is mounted on the light supplement lamp support 18; the supplementary light ring 181 may supplement a light source to the vision camera 171.
The laser sensor fixing plate 9 is a bending plate and is fixedly connected to the other side of the bottom of the camera fixing support 17 through a bolt, and a laser sensor 191 is installed on the laser sensor fixing plate 9.
The stamp module 3 comprises a stamp pen 31, a cylinder 32, guide rods II33 and guide plates 34, wherein the two guide rods II33 are respectively arranged between the base 4 and the top seat 10, the guide plates 34 are sleeved on the two guide rods II33, and the guide plates 34 can freely slide along the two guide rods II 33; the bottom of the cylinder 32 is fixed on the base 4, the top of the telescopic shaft is fixed on the inner side of the guide plate 34, and the seal pen 31 is installed on the outer side of the guide plate 34; the stamp pen 31 air cylinder 32 drives the guide plate 34 to slide along the guide rod II33 to complete expansion and contraction;
the clamping mechanism 1 can hold a servo tightening assembly 5 and a hydraulic tensioner 6. Servo subassembly 5 of screwing up is including first rifle 7 and the second of screwing up and screws up rifle 8, and first rifle 7 of screwing up is the product that can purchase on the market with the second of screwing up rifle 8, does not do the technical characteristics of the utility model. The servo tightening assembly 5 is fixed on the guide rod fixing plate through a bolt. The hydraulic stretcher 6 is a commercially available product. Which will not be described later.
The utility model discloses a creativity lies in with hydraulic pressure elongator and servo tightening gun integration together in order to accomplish the tensioning to the bolt, has provided the structural foundation for introducing the scene of bolt tensioning work with the robot.
The utility model discloses a realize the tensioning to the bolt, adopted hydraulic pressure elongator, and the power supply has adopted here to screw up the rifle and has come and hydraulic pressure elongator transmission moment of torsion, screws up the rifle front end and has the adapter.
A method for operating a flexible gripper at the tail end of a robot comprises the following steps:
and 2, after the robot paw is aligned, the screw can axially impact the robot paw, and at the moment, the large spring 14 is compressed to buffer the whole robot paw.
At the moment, the hydraulic stretcher 6 works, the first screw tightening gun 7 of the screw rod is used for sleeving and screwing the screw rod, and then the hydraulic stretcher is used for pressurizing to stretch the screw rod;
after the rated pressure is reached, the screw rod extends, the guide rod fixing plate 12 moves backwards, the small spring 13 is compressed, and the screw rod is prevented from exceeding the limit due to extension.
And a second nut screwing gun 8 screws the nut, and after the target torque value is reached, the hydraulic stretcher releases pressure, and the robot claw retreats from the position of the screw workpiece. The air cylinder 32 drives the stamp pen 31 to extend out, and the end of the screw rod is screwed tightly to complete marking.
And 3, repeating the steps.
The stretching and tensioning process comprises the steps of manually pre-tensioning, then hydraulically stretching and tightening the tensioning gear box of the tensioner to obtain a target tightening torque, and tightening all bolts capable of being screwed three times according to 50%, 80% and 100% of the hydraulic target stretching force, which is not described in detail herein.
In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the above description is combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the above detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, or the directions or positional relationships that the products of the present invention are usually placed when used, and are only for the convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element indicated must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Claims (4)
1. The utility model provides a terminal flexible hand claw of robot which characterized in that: the whole flexible paw at the tail end of the robot is connected with the robot through a base (4); the flexible gripper at the tail end of the robot comprises a clamping mechanism (1), a floating adjusting mechanism, a camera fixing module (2) and a seal module (3); wherein:
the clamping mechanism (1) comprises a circular base (4), a top seat (10), three guide rods I (11) and a guide rod fixing plate (12), wherein three fixing blocks (401) which protrude outwards and are provided with threaded holes are arranged on the periphery of the base (4), the bottoms of the three guide rods I (11) are fixedly connected in the fixing blocks (401) of the base (4) through threads, and the tops of the three guide rods I (11) are installed in the top seat (10); the guide rod fixing plate (12) is annular, and the guide rod fixing plate (12) is sleeved on the guide rod I (11) through a copper sleeve (15); the top of the guide rod fixing plate (12) is provided with a guide rod fixing ring (1201), and the guide rod fixing ring (1201) is sleeved on the guide rod I (11) through a copper sleeve (15);
the floating adjusting mechanism comprises a large spring (14) and a small spring (13); the clamping mechanism (1) realizes floating adjustment through a large spring (14) and a small spring (13) respectively; wherein:
the guide rod fixing plate (12) and the guide rod fixing ring (1201) are provided with a vertical small spring shaft (1302), the bottom end of the small spring shaft (1302) is fixed on the guide rod fixing plate (12), the top end of the small spring shaft (1302) penetrates through and extends out of the guide rod fixing ring (1201), a small spring (13) is sleeved on the extending small spring shaft (1302), and a small spring fixing nut (1301) is installed at the top of the small spring shaft (1302) and used for fixing the small spring (13) on the small spring shaft (1302) between the small spring fixing nut (1301) and the guide rod fixing ring (1201);
a large spring (14) is sleeved on the guide rod I (11) between the guide rod fixing plate (12) and the base (4), and a large spring adjusting bolt (1401) is further sleeved on the guide rod I (11) at the lower part of the guide rod fixing plate (12) and used for fixing the large spring (14) on the guide rod I (11) between the large spring adjusting bolt (1401) and the base (4);
the camera fixing module (2) comprises a camera fixing support (17), a light supplement lamp support (18), a light supplement lamp ring (181), a laser sensor fixing plate (9) and a laser sensor (191); wherein, the first and the second end of the pipe are connected with each other,
the camera fixing support (17) is fixedly connected to the support base (1702) through a bolt, the other end of the support base (1702) is fixedly connected to the base (4) through a bolt, and the vision camera (171) is fixed to the camera fixing support (17);
the light supplementing lamp support (18) is a bent plate and is fixedly connected to one side of the bottom of the camera fixing support (17) through a bolt, and a light supplementing lamp ring (181) is installed on the light supplementing lamp support (18); the light supplement lamp ring (181) can supplement a light source for the vision camera (171);
the laser sensor fixing plate (9) is a bent plate and is fixedly connected to the other side of the bottom of the camera fixing support (17) through a bolt, and the laser sensor (191) is installed on the laser sensor fixing plate (9);
the stamp module (3) comprises a stamp pen (31), an air cylinder (32), guide rods II (33) and guide plates (34), wherein the two guide rods II (33) are respectively arranged between the base (4) and the top seat (10), the guide plates (34) are sleeved on the two guide rods II (33), and the guide plates (34) can freely slide along the two guide rods II (33); the bottom of the cylinder (32) is fixed on the base (4), the top of the telescopic shaft is fixed on the inner side of the guide plate (34), and the seal pen (31) is installed on the outer side of the guide plate (34); the seal pen (31) is characterized in that the air cylinder (32) drives the guide plate (34) to slide along the guide rod II (33) to complete expansion and contraction.
2. A robot end flexible gripper according to claim 1, characterized in that the gripping means (1) can secure the servo tightening unit (5) and a hydraulic tensioner (6); the servo tightening assembly (5) is fixed on the guide rod fixing plate through a bolt, and the servo tightening assembly (5) comprises a first tightening gun (7) and a second tightening gun (8).
3. The robot end flexible gripper according to claim 1, characterized in that both the guide bar securing plate (12) and the guide bar securing ring (1201) are provided with oil nozzles (16).
4. The robot end flexible paw according to the claim 1, characterized in that the end of the big spring (14) close to the base (4) is provided with a spring washer, and the end of the small spring (13) close to the guide rod fixing ring (1201) is provided with a spring washer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222143130.3U CN218195236U (en) | 2022-08-16 | 2022-08-16 | Flexible gripper at tail end of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222143130.3U CN218195236U (en) | 2022-08-16 | 2022-08-16 | Flexible gripper at tail end of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218195236U true CN218195236U (en) | 2023-01-03 |
Family
ID=84655981
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222143130.3U Active CN218195236U (en) | 2022-08-16 | 2022-08-16 | Flexible gripper at tail end of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218195236U (en) |
-
2022
- 2022-08-16 CN CN202222143130.3U patent/CN218195236U/en active Active
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