CN219445118U - Parallel 5-path three-jaw flexible beak robot arm equipped with optical fiber sensor - Google Patents
Parallel 5-path three-jaw flexible beak robot arm equipped with optical fiber sensor Download PDFInfo
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- CN219445118U CN219445118U CN202222158311.3U CN202222158311U CN219445118U CN 219445118 U CN219445118 U CN 219445118U CN 202222158311 U CN202222158311 U CN 202222158311U CN 219445118 U CN219445118 U CN 219445118U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The utility model relates to a parallel 5-path three-jaw flexible beak robot arm provided with an optical fiber sensor. A parallel 5-path three-jaw flexible beak robot arm equipped with an optical fiber sensor is characterized in that 5 through holes are drilled on the middle line of a straight extension arm at equal distance, and the distance between the through holes is the same as the distance of a ceramic embryo on a conveyor belt; an external supporting type three-jaw flexible beak robot is arranged in the through hole and is vertical to the linear extension arm; the tail end of the robot arm is mechanically connected with the four corner through holes of the linear extension arm; the parallel 5-path three-jaw soft beak robot arm provided with the optical fiber sensor has the advantages that the visual function is increased, the three-jaw robot arm can be perceived to sink in place, and the robot arm can be perceived to grasp the ceramic blank when the robot arm is lifted, so that the working state of the three-jaw soft beak robot arm can be adjusted in time. The parallel five-way three-jaw flexible beak robot equipped with the optical fiber sensor replaces manual operation to execute subsequent processes, and the robot has high efficiency, no fatigue and low cost.
Description
Technical Field
The utility model belongs to the field of robot ceramic processing, and particularly relates to a parallel 5-way three-jaw flexible beak robot arm with an optical fiber sensor.
Background
In order to realize the robot intervention ceramic assembly line production, the artificial ceramic manufacturing process must be deeply examined, and the robot is used for replacing the artificial work for finding out the key nodes. Inspection shows that the manufacturing process of the industrial ceramic device can be simply divided into a blank pressing process and a sintering process; and in the embryo pressing process, the embryo powder is mechanically stamped into ceramic embryo pieces, and the ceramic embryo pieces are sent out from a conveyor belt at equal intervals. The ceramic blank is small in size and fragile, can be broken by slight force, and can be changed into a hard ceramic piece after being sintered. Weighing, glue dipping, sand adhering, swaying and stacking procedures are needed after pressing, and the procedures need a great deal of manpower to be replaced by a robot. Taking annular ceramic products of a certain company as an example, the ceramic blank has the thickness of 12 mm, the outer diameter of 30 mm, the inner diameter of 20 mm and the weight of 20 g, and the whole ceramic blank is of an outer ring inner hexagonal structure and has large quantity. Aiming at the annular ceramic embryo, the corresponding grabbing robot adopts an external supporting type three-jaw flexible beak. The outer supporting type three-jaw flexible beak is a cylinder, and the outer diameter of the cylinder of the outer supporting type three-jaw flexible beak is smaller than the inner diameter of Tao Peihuan; and opening the air passage switch, and holding the ceramic blank by the outer support of the three-jaw soft beak to perform subsequent operation. These we have also realized that the lack of supervision of the three-jaw flexible beak outer support to grasp the greenware is a chance of losing the greenware, causing failure of subsequent palletizing and palletizing procedures. The reason for this is that vision is lacking, staring at one action of the soft beak of three paws, and correction is necessary. How to install the vision-optical fiber sensor on the three-jaw flexible beak, the basic scheme is as follows: an optical fiber sensor fixing plate is arranged at the upper part of the three-jaw flexible beak, an optical fiber sensor is obliquely arranged on the optical fiber sensor fixing plate, and the inclined optical fiber sensor just illuminates the ceramic embryo supported by the flexible beak. The initial three-jaw flexible beak sinks, a cylinder synthesized by the three-jaw flexible beak is just inserted into a circular ring of the ceramic embryo, diffuse reflection light enters an optical fiber sensor, the optical fiber sensor confirms that the ceramic embryo exists, at the moment, the three-jaw flexible beak sinks and a gas circuit switch is turned on, and the three-jaw flexible beak at the tail end of the robot arm supports outwards to grasp the ceramic embryo; the three-jaw beak grabs the greenware slightly raised, and if the fiber sensor still finds the greenware, it indicates that the three-jaw beak has grabbed the greenware, and subsequent operations such as weighing, dipping, sand sticking, swabbing and palletizing can be performed. Obviously, only one three-jaw flexible beak is arranged at the tail end of one robot arm, and one optical fiber sensor is arranged on one three-jaw flexible beak, so that the working efficiency is low. In order to improve the working efficiency of the robot, the tail end of the robot is additionally provided with a linear auxiliary arm, a plurality of three-jaw flexible beaks are arranged on the middle line of the linear auxiliary arm at equal intervals, and simultaneously, the optical fiber sensor is arranged in a matched mode, so that the efficiency can be improved multiple times. The optical fiber sensor monitors the grabbing and placing states of the pneumatic external support three-jaw flexible beak manipulator and the ceramic embryo. The installation method comprises the steps of installing an optical fiber sensor fixing plate on a three-jaw soft beak manipulator, installing an optical fiber sensor on the optical fiber sensor fixing plate, and enabling the optical fiber sensor to just illuminate a ceramic blank at the soft beak; the principle of the optical fiber sensor is that two paths of optical fibers are arranged in the optical fiber sensor, one path of optical fibers emits light to illuminate a circular ceramic blank supported by a three-jaw flexible beak, diffuse reflection light of the circular ceramic blank is transmitted into an optical receiver from the other path of optical fibers, and the optical receiver circuit is connected with a robot control system. Monitoring a ring-shaped ceramic embryo supported by a three-jaw soft beak by diffuse reflection light; otherwise, the annular ceramic blank falls off. Under the action of the optical fiber sensor, the robot control system is started to operate the tail end of the robot to sink onto the ceramic embryo conveyor belt, a cylinder formed by 5 three-claw soft beaks on the middle line of the linear auxiliary arm is just sunk and inserted into a circular ring corresponding to the ceramic embryo on the blank pressing conveyor belt, the robot control system receives diffuse reflection optical signals of the optical fiber sensor, senses that the circular ceramic embryo is in place, stops the sinking of the robot hand and opens a pneumatic switch, and the three-claw soft beaks at the tail end of the robot hand are propped outwards; then the robot control system operates the tail end of the robot to lift, and the three-jaw flexible beak grabs the ceramic blank to lift; if the optical fiber sensor keeps diffuse reflection light, the three-jaw soft beak is indicated to grasp the ceramic blank normally, and the subsequent operation can be performed. The robot firstly places 5 ceramic blanks on a weighing platform of an electronic balance, closes an air valve switch external support type three-jaw soft beak to loosen the circular ceramic blanks, lifts the robot, reports that the ceramic blanks are all lost by an optical fiber sensor, and the robot finishes the lowering action. The ceramic blank is put down and placed on a balance, and the balance performs weight inspection. After the weight inspection is qualified, the robot sinks again, 5 external support type three-jaw soft beaks sink again and are inserted into respective circular rings Tao Peihuan cores, the optical fiber sensor reports that the ceramic embryo is found, the robot stops sinking and opens a gas circuit switch, the external support type three-jaw soft beaks support the circular ring ceramic embryo again, the robot moves on the sponge of the volatilization-proof constant liquid level glue solution disc to wipe the ceramic embryo once left and right, and a thin glue layer is stuck on the bottom of the ceramic embryo. And then the robot hand moves to the position of the sand table, and the 5 external support type three-jaw flexible beaks grasp respective circular ceramic blanks and simultaneously stick sand on the sand-leaking and sand-scraping sand table, so that a layer of thin sand grains are stuck on the bottom of the ceramic blanks. And then the robot arm moves to the position of a sintering platform, the 5 external support type three-jaw flexible beaks grasp respective circular ring ceramic blanks and are piled on the sintering platform, and after piling reaches a square pile of 10 x10, the sintering platform is sent into a sintering chamber for sintering.
Disclosure of Invention
Aiming at the problems that the existing ceramic processing is too much and vexation in manual operation and the error of the non-visual external support type three-jaw soft beak robot is too much, the utility model develops the external support type three-jaw soft beak robot with visual function, and the processes of grabbing, weighing, grabbing again, dipping in glue, sticking sand and stacking are performed.
The technical scheme of the utility model is as follows: a parallel 5-path three-jaw flexible beak robot arm provided with an optical fiber sensor, wherein the tail end arm of a six-axis robot is mechanically connected with four corner through holes (1.1) of a linear auxiliary arm (1) through bolts; the linear auxiliary arm (1) is a straight steel plate, 5 through holes are drilled on the center line of the straight steel plate at equal distance, the inner diameter of each through hole is matched with the outer diameter of a fixed sleeve (2.4) at the upper part of the external support type three-jaw soft beak robot arm (2), and the distance between the through holes is the same as the distance between ceramic embryos on the conveyor belt; an external support type three-jaw soft beak manipulator (2) provided with an optical fiber sensor is arranged in a through hole of the center line of the linear auxiliary arm (1); the linear auxiliary arm (1) is horizontal, the external support type three-jaw soft beak robot arm (2) is vertical to the linear auxiliary arm (1), the external support type three-jaw soft beak robot arms (2) are parallel to each other, and the soft beak heads of the external support type three-jaw soft beak robot arms (2) are on the same horizontal line; the high-pressure air source (5) is connected with the soft air channel (4), the soft air channel (4) is connected with the air channel switch (3), and the air channel switch (3) is connected with the external support type three-jaw soft beak manipulator (2); the photoelectric converter and the air path switch (3) of the robot and the optical fiber sensor (8) are in circuit connection with the MCU (micro control unit) minimum system (6) of the robot; the robot MCU minimum system (6) controls a six-axis robot to move, the tail end of the six-axis robot arm drives the linear auxiliary arm (1) to move right above the blank pressing conveyor belt and sink horizontally onto the blank pressing conveyor belt, the linear auxiliary arm (1) is parallel to the blank pressing conveyor belt, 5 external supporting type three-jaw soft beak robots provided with optical fiber sensors on the linear auxiliary arm (1) are inserted into corresponding Tao Peiyuan rings at fixed points, the optical fiber sensors (8) sense that ceramic blanks are in place and send out in place signals, the robot MCU minimum system (6) stops the linear auxiliary arm (1) from sinking and opening an air circuit switch, the three-jaw soft beak external support grabs the ceramic blanks, the robot MCU minimum system (6) operates the linear auxiliary arm (1) to move slightly upwards, the optical fiber sensors (8) do not report ceramic blank loss, and the robot MCU minimum system (6) operates the three-jaw soft beak robots on the linear auxiliary arm (1) to execute subsequent actions;
as shown in fig. 2, the optical fiber sensor fixing plate (7) is a rectangular plate, an external supporting type three-jaw soft beak robot hand through hole (7.2) is arranged at the left side of the center line of the rectangular plate, and the inner diameter of the external supporting type three-jaw soft beak robot hand through hole (7.2) is matched with the outer diameter of an external hexagonal inner cylinder (2.2) at the lower part of the external supporting type three-jaw soft beak robot hand (2); a threaded through hole is formed between the left side of the center line of the rectangular plate and the outer supporting type three-jaw soft beak manipulator through hole (7.2), a clamping screw (7.1) is matched with the threaded through hole, and a hand wheel is arranged at the outer end of the clamping screw (7.1); an optical fiber sensor through hole (7.3) with the lower part inclined leftwards is arranged on the right side of the center line of the rectangular plate, and the inner diameter of the optical fiber sensor through hole (7.3) is matched with the outer diameter of the optical fiber sensor;
as shown in fig. 3, the optical fiber sensor fixing plate (7) is sleeved on the outer hexagonal inner cylinder (2.2) of the outer supporting type three-jaw soft beak manipulator (2) and is fixed by a clamping screw (7.1) arranged at the left side; the optical fiber sensor (8) passes through the optical fiber sensor fixing plate (7) from bottom to top and is fixed by upper and lower clamping screws, two parallel light-emitting optical fibers (8.2) and light-receiving optical fibers (8.3) are arranged inside the optical fiber sensor (8), the optical path of one light-emitting optical fiber (8.2) is connected with a light source to illuminate a ceramic blank in the soft beak robot hand, the other light-receiving optical fiber (8.3) receives diffuse reflection light of the ceramic blank, the optical path is connected with a photoelectric converter, the photoelectric converter converts optical signals into electric signals, and the photoelectric converter circuit of the optical fiber sensor (8) is connected with the MCU (micro control unit) of the robot;
the external-support type three-jaw flexible beak robot arm (2) is similar to a large-head writing brush in appearance, the three-jaw flexible beak head (2.1) is similar to a large-head writing brush head, the external hexagonal internal cylinder (2.2), the lower cylinder (2.3), the fixed sleeve (2.4), the upper cylinder (2.7) and the external hexagonal internal cylinder air passage interface (2.8) form a writing brush holder, the interior of the writing brush holder is communicated from the external hexagonal internal cylinder air passage interface (2.8) to the interior of the three-jaw flexible beak head (2.1), the external hexagonal internal cylinder air passage interface (2.8) is connected with the upper cylinder (2.7) through a pipeline, the upper cylinder (2.7) is connected with the fixed sleeve (2.4) through a pipeline, the fixed sleeve (2.4) is connected with the lower cylinder (2.3) through a pipeline, the lower cylinder (2.3) is connected with the external hexagonal internal cylinder (2.2) through a pipeline, and the external hexagonal internal cylinder (2.2) is connected with the three-jaw flexible beak head (2.1) through a pipeline;
the robot MCU minimum system (6) controls 5 three-jaw soft beaks on a linear auxiliary arm at the tail end of a robot arm to sink onto a ceramic embryo conveyor belt simultaneously, cylinders synthesized by the 5 three-jaw soft beaks on the middle line of the linear auxiliary arm sink and are just inserted into rings of corresponding ceramic embryos on the embryo pressing conveyor belt, meanwhile, the robot control system receives diffuse reflection light signals of an optical fiber sensor, knows that the three-jaw soft beaks are inserted into the rings of the annular ceramic embryos, stops sinking and opens a pneumatic switch, and the three-jaw soft beaks at the tail end of the robot arm are propped outwards to grasp corresponding ceramic embryo pieces; then the robot control system operates the tail end of the robot to lift, and the three-jaw flexible beak grabs the ceramic blank to lift; if the optical fiber sensor keeps diffuse reflection light, the three-jaw soft beak is indicated to firmly grasp the ceramic blank, and the subsequent operation can be performed; closing the air passage, and shrinking the three-jaw flexible beak head (2.1) into a cylinder, wherein the outer diameter of the cylinder is smaller than the inner ring of the ceramic blank; the outer diameter of a fixed sleeve (2.4) at the middle section of the external support type three-jaw soft beak manipulator (2) is matched with the inner diameter of a through hole in the middle line of the linear auxiliary arm (1); the external support type three-jaw soft beak robot arm (2) passes through a central line through hole of the linear auxiliary arm (1), and a lower fixing screw (2.5) and an upper fixing screw (2.6) on the fixing sleeve (2.4) fix the external support type three-jaw soft beak robot arm (2) on the linear auxiliary arm (1); the external support type three-jaw soft beak robot arm (2) is perpendicular to the linear auxiliary arm (1), and the 5 external support type three-jaw soft beak robot arms (2) are parallel to each other; the lower fixing screw (2.5) and the upper fixing screw (2.6) on the fixing sleeve (2.4) are adjusted, so that the heights from each three-jaw flexible beak head (2.1) to the linear auxiliary arm (1) are uniform, and the 5 three-jaw flexible beak heads (2.1) are on the same horizontal line; on the outer hexagonal inner cylinder (2.2).
The working principle of the utility model is explained; aiming at the annular ceramic blanks on the conveyor belt, the corresponding grabbing manipulators adopt external supporting type three-jaw flexible beaks (2). When a cylinder synthesized by the initial three-jaw soft beak sinks and is just inserted into a circular ring of the ceramic embryo, the robot control system (6) receives the diffuse reflection light signal of the optical fiber sensor (8), and senses that the circular ring-shaped ceramic embryo is in place, stops sinking and turns on the pneumatic switch, and the three-jaw soft beak at the tail end of the robot arm is propped outwards; the three-jaw flexible beak grabs the ceramic blank and lifts up by 1 cm, and the optical fiber sensor (8) diffusely reflects light signals to keep, so that the ceramic blank in the three-jaw flexible beak is not dropped, and the robot grabs the ceramic blank to execute subsequent operations such as weighing, glue dipping, sand sticking, swaying and stacking. The same 5 external support type three-jaw flexible beak manipulators are characterized in that the linear extension arms at the tail ends of the manipulators are parallel to the conveyor belt on the embryo pressing assembly line, the conveyor belt is stopped, the 5 external support type three-jaw flexible beaks on the extension arms at the tail ends of the manipulators are simultaneously inserted into the inner rings of the ceramic embryos aligned respectively, and the optical fiber sensors send out the ceramic embryos in place; simultaneously opening a valve switch, and enabling 5 external supporting type three-jaw soft beak external supporting type ceramic blanks to upwards grasp 5 circular ceramic blanks on a conveyor belt by five external supporting type three-jaw soft beak robot hands; the parallel five-way external support type three-jaw soft beak robot arm firstly places 5 ceramic blanks on a weighing platform of an electronic balance, a valve switch is closed, the external support type three-jaw soft beak loosens the circular ceramic blank, the parallel five-way external support type three-jaw soft beak robot arm is lifted, and the balance performs weight inspection. After the weight inspection is qualified, the five parallel external support type three-jaw soft beak robot hand is pulled out again, the 5 external support type three-jaw soft beaks pick up the respective circular ceramic embryo again, and the circular ceramic embryo is moved to wipe the sponge of the volatilization-proof constant liquid level glue solution disc for one time, so that a thin glue layer is stuck on the bottom of the ceramic embryo piece. Then the robot hand moves to the position of the sand table, the 5 external support type three-jaw flexible beaks grasp respective circular ceramic blanks and simultaneously stick sand on the sand-leaking and sand-scraping sand table, so that a layer of thin sand grains are stuck on the bottom of the ceramic blanks; and then five paths of external support type three-jaw soft beak manipulators are used for grabbing the ceramic blanks in parallel and stacking the ceramic blanks on a sintering platform.
The parallel 5-path three-jaw flexible beak robot hand provided with the optical fiber sensor has the advantages of high efficiency and rapidness, increases visual function, can feel that the three-jaw robot hand sinks in place to stop sinking, and can feel that the robot hand grabs a ceramic blank when the robot hand lifts, so that the working state of the three-jaw flexible beak robot hand can be adjusted in time. The parallel five-way three-jaw flexible beak robot provided with the optical fiber sensor replaces manual operation, saves labor, can simultaneously grasp 5 tray pieces on the blank pressing assembly line, executes subsequent processes of glue dipping, sand sticking, swaying, stacking and the like, and presents high efficiency, no fatigue and low cost of the robot.
Drawings
FIG. 1 is a view showing the overall structure and gas connection of a parallel 5-way three-jaw flexible beak robot equipped with an optical fiber sensor.
FIG. 2 is a schematic view of an external-support three-jaw soft beak robot equipped with an optical fiber sensor and a parallel 5-path three-jaw soft beak robot.
FIG. 3 is a plate structure view of a fiber sensor fixture of a parallel 5-way three-jaw soft beak robot equipped with a fiber sensor.
FIG. 4 is a schematic view of a ceramic embryo structure of a parallel 5-way three-jaw soft beak robot equipped with an optical fiber sensor.
In the figure, 1, a straight extension arm, 2, an external support type three-jaw soft beak robot, 2.1, a three-jaw soft beak head, 2.2, an external hexagonal inner cylinder, 2.3, a lower cylinder, 2.4, a fixed sleeve, 2.5, a lower fixed screw, 2.6, an upper fixed screw, 2.7, an upper cylinder, 2.8, an external hexagonal inner cylinder gas path interface, 3, a gas path switch, 4, a gas path, 5, a high-pressure gas source, 6, a robot MCU minimum system (6), 7, a sensor fixing plate, 7.1, a clamping screw, 7.2, an external support type three-jaw soft beak robot through hole, 7.3, an optical fiber sensor through hole, 8, an optical fiber sensor, 8.1, an optical fiber sensor upper and lower clamping screw, 8.2, a luminous optical fiber, 8.3, a light receiving optical fiber, 9, an external circular internal hexagonal ceramic embryo, 9.1, an internal hexagonal ceramic embryo through hole, 9.2 and an embryo external circle.
Detailed Description
As shown in fig. 1-4, a 5-way external support type three-jaw soft beak robot of a JS-2021-5 robot industrial ceramic pipeline is used as an example, and is described as follows: taking a certain company circular ceramic product as an example, the ceramic blank is circular, and has a thickness of 12 mm, an outer diameter of 30 mm and an inner diameter of 20 mm. Aiming at the annular ceramic blank, the corresponding grabbing robot adopts a B-3B16 [ P/S ] max100kpa external support type three-jaw soft beak, and an optical fiber sensor (8) is added. Aiming at the annular ceramic blanks on the conveyor belt, the corresponding grabbing manipulators adopt external supporting type three-jaw flexible beaks (2). When a cylinder synthesized by the initial three-jaw soft beak sinks and is just inserted into a circular ring of the ceramic embryo, the robot control system (6) receives the diffuse reflection light signal of the optical fiber sensor (8), and senses that the circular ring-shaped ceramic embryo is in place, stops sinking and turns on the pneumatic switch, and the three-jaw soft beak at the tail end of the robot arm is propped outwards; the three-jaw flexible beak grabs the ceramic blank and lifts up by 1 cm, and the optical fiber sensor (8) diffusely reflects light signals to keep, so that the ceramic blank in the three-jaw flexible beak is not dropped, and the robot grabs the ceramic blank to execute subsequent operations such as weighing, glue dipping, sand sticking, swaying and stacking. The same 5 external support type three-jaw flexible beak manipulators are characterized in that the linear extension arms at the tail ends of the manipulators are parallel to the conveyor belt on the embryo pressing assembly line, the conveyor belt is stopped, the 5 external support type three-jaw flexible beaks on the extension arms at the tail ends of the manipulators are simultaneously inserted into the inner rings of the ceramic embryos aligned respectively, and the optical fiber sensors send out the ceramic embryos in place; simultaneously opening a valve switch, and enabling 5 external supporting type three-jaw soft beak external supporting type ceramic blanks to upwards grasp 5 circular ceramic blanks on a conveyor belt by five external supporting type three-jaw soft beak robot hands; the parallel five-way external support type three-jaw soft beak robot arm firstly places 5 ceramic blanks on a weighing platform of an electronic balance, a valve switch is closed, the external support type three-jaw soft beak loosens the circular ceramic blank, the parallel five-way external support type three-jaw soft beak robot arm is lifted, and the balance performs weight inspection. After the weight inspection is qualified, the five parallel external support type three-jaw soft beak robot hand is pulled out again, the 5 external support type three-jaw soft beaks pick up the respective circular ceramic embryo again, and the circular ceramic embryo is moved to wipe the sponge of the volatilization-proof constant liquid level glue solution disc for one time, so that a thin glue layer is stuck on the bottom of the ceramic embryo piece. Then the robot hand moves to the position of the sand table, the 5 external support type three-jaw flexible beaks grasp respective circular ceramic blanks and simultaneously stick sand on the sand-leaking and sand-scraping sand table, so that a layer of thin sand grains are stuck on the bottom of the ceramic blanks; and then five paths of external support type three-jaw soft beak manipulators are used for grabbing the ceramic blanks in parallel and stacking the ceramic blanks on a sintering platform. And then executing the next grabbing process by the parallel five-way external support type three-jaw soft beak robot.
The parallel 5-path three-jaw flexible beak robot hand provided with the optical fiber sensor has the advantages of high efficiency and rapidness, increases visual function, can feel that the three-jaw robot hand sinks in place to stop sinking, and can feel that the robot hand grabs a ceramic blank when the robot hand lifts, so that the working state of the three-jaw flexible beak robot hand can be adjusted in time. The parallel five-way three-jaw flexible beak robot provided with the optical fiber sensor replaces manual operation, saves labor, can simultaneously grasp 5 tray pieces on the blank pressing assembly line, executes subsequent processes of glue dipping, sand sticking, swaying, stacking and the like, and presents high efficiency, no fatigue and low cost of the robot.
Claims (1)
1. A parallel 5-path three-jaw flexible beak robot arm with an optical fiber sensor is characterized in that the tail end arm of a six-axis robot is mechanically connected with four corner through holes (1.1) of a linear auxiliary arm (1) through bolts; the linear auxiliary arm (1) is a straight steel plate, 5 through holes are drilled on the center line of the straight steel plate at equal distance, the inner diameter of each through hole is matched with the outer diameter of a fixed sleeve (2.4) at the upper part of the external support type three-jaw soft beak robot arm (2), and the distance between the through holes is the same as the distance between ceramic embryos on the conveyor belt; an external support type three-jaw soft beak manipulator (2) provided with an optical fiber sensor is arranged in a through hole of the center line of the linear auxiliary arm (1); the linear auxiliary arm (1) is horizontal, the external support type three-jaw soft beak robot arm (2) is vertical to the linear auxiliary arm (1), the external support type three-jaw soft beak robot arms (2) are parallel to each other, and the soft beak heads of the external support type three-jaw soft beak robot arms (2) are on the same horizontal line; the high-pressure air source (5) is connected with the soft air channel (4), the soft air channel (4) is connected with the air channel switch (3), and the air channel switch (3) is connected with the external support type three-jaw soft beak manipulator (2); the photoelectric converter and the air path switch (3) of the robot and the optical fiber sensor (8) are in circuit connection with the MCU (micro control unit) minimum system (6) of the robot; the robot MCU minimum system (6) controls a six-axis robot to move, the tail end of the six-axis robot arm drives the linear auxiliary arm (1) to move right above the blank pressing conveyor belt and sink horizontally onto the blank pressing conveyor belt, the linear auxiliary arm (1) is parallel to the blank pressing conveyor belt, 5 external supporting type three-jaw soft beak robots provided with optical fiber sensors on the linear auxiliary arm (1) are inserted into corresponding Tao Peiyuan rings at fixed points, the optical fiber sensors (8) sense that ceramic blanks are in place and send out in place signals, the robot MCU minimum system (6) stops the linear auxiliary arm (1) from sinking and opening an air circuit switch, the three-jaw soft beak external support grabs the ceramic blanks, the robot MCU minimum system (6) operates the linear auxiliary arm (1) to move slightly upwards, the optical fiber sensors (8) do not report ceramic blank loss, and the robot MCU minimum system (6) operates the three-jaw soft beak robots on the linear auxiliary arm (1) to execute subsequent actions; the optical fiber sensor fixing plate (7) is a rectangular plate, an external supporting type three-jaw soft beak robot hand through hole (7.2) is arranged on the left side of the center line of the rectangular plate, and the inner diameter of the external supporting type three-jaw soft beak robot hand through hole (7.2) is matched with the outer diameter of an external hexagonal inner cylinder (2.2) at the lower part of the external supporting type three-jaw soft beak robot hand (2); a threaded through hole is formed between the left side of the center line of the rectangular plate and the outer supporting type three-jaw soft beak manipulator through hole (7.2), a clamping screw (7.1) is matched with the threaded through hole, and a hand wheel is arranged at the outer end of the clamping screw (7.1); an optical fiber sensor through hole (7.3) with the lower part inclined leftwards is arranged on the right side of the center line of the rectangular plate, and the inner diameter of the optical fiber sensor through hole (7.3) is matched with the outer diameter of the optical fiber sensor; the optical fiber sensor fixing plate (7) is sleeved on an outer hexagonal inner cylinder (2.2) of the outer supporting type three-jaw flexible beak manipulator (2) and is fixed through a clamping screw (7.1) arranged on the left side; the optical fiber sensor (8) passes through the optical fiber sensor fixing plate (7) from bottom to top and is fixed by upper and lower clamping screws, two parallel light-emitting optical fibers (8.2) and light-receiving optical fibers (8.3) are arranged inside the optical fiber sensor (8), the optical path of one light-emitting optical fiber (8.2) is connected with a light source to illuminate a ceramic blank in the soft beak robot hand, the other light-receiving optical fiber (8.3) receives diffuse reflection light of the ceramic blank, the optical path is connected with a photoelectric converter, the photoelectric converter converts optical signals into electric signals, and the photoelectric converter circuit of the optical fiber sensor (8) is connected with the MCU (micro control unit) of the robot; the external-support type three-jaw flexible beak robot arm (2) is similar to a large-head writing brush in appearance, the three-jaw flexible beak head (2.1) is similar to a large-head writing brush head, the external hexagonal internal cylinder (2.2), the lower cylinder (2.3), the fixed sleeve (2.4), the upper cylinder (2.7) and the external hexagonal internal cylinder air passage interface (2.8) form a writing brush holder, the interior of the writing brush holder is communicated from the external hexagonal internal cylinder air passage interface (2.8) to the interior of the three-jaw flexible beak head (2.1), the external hexagonal internal cylinder air passage interface (2.8) is connected with the upper cylinder (2.7) through a pipeline, the upper cylinder (2.7) is connected with the fixed sleeve (2.4) through a pipeline, the fixed sleeve (2.4) is connected with the lower cylinder (2.3) through a pipeline, the lower cylinder (2.3) is connected with the external hexagonal internal cylinder (2.2) through a pipeline, and the external hexagonal internal cylinder (2.2) is connected with the three-jaw flexible beak head (2.1) through a pipeline; the robot MCU minimum system (6) controls 5 three-jaw soft beaks on a linear auxiliary arm at the tail end of a robot arm to sink onto a ceramic embryo conveyor belt simultaneously, cylinders synthesized by the 5 three-jaw soft beaks on the middle line of the linear auxiliary arm sink and are just inserted into rings of corresponding ceramic embryos on the embryo pressing conveyor belt, meanwhile, the robot control system receives diffuse reflection light signals of an optical fiber sensor, knows that the three-jaw soft beaks are inserted into the rings of the annular ceramic embryos, stops sinking and opens a pneumatic switch, and the three-jaw soft beaks at the tail end of the robot arm are propped outwards to grasp corresponding ceramic embryo pieces; then the robot control system operates the tail end of the robot to lift, and the three-jaw flexible beak grabs the ceramic blank to lift; if the optical fiber sensor keeps diffuse reflection light, the three-jaw soft beak is indicated to firmly grasp the ceramic blank, and the subsequent operation can be performed; closing the air passage, and shrinking the three-jaw flexible beak head (2.1) into a cylinder, wherein the outer diameter of the cylinder is smaller than the inner ring of the ceramic blank; the outer diameter of a fixed sleeve (2.4) at the middle section of the external support type three-jaw soft beak manipulator (2) is matched with the inner diameter of a through hole in the middle line of the linear auxiliary arm (1); the external support type three-jaw soft beak robot arm (2) passes through a central line through hole of the linear auxiliary arm (1), and a lower fixing screw (2.5) and an upper fixing screw (2.6) on the fixing sleeve (2.4) fix the external support type three-jaw soft beak robot arm (2) on the linear auxiliary arm (1); the external support type three-jaw soft beak robot arm (2) is perpendicular to the linear auxiliary arm (1), and the 5 external support type three-jaw soft beak robot arms (2) are parallel to each other; the lower fixing screw (2.5) and the upper fixing screw (2.6) on the fixing sleeve (2.4) are adjusted, so that the heights from each three-jaw flexible beak head (2.1) to the linear auxiliary arm (1) are uniform, and the 5 three-jaw flexible beak heads (2.1) are on the same horizontal line; on the outer hexagonal inner cylinder (2.2).
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| CN202222158311.3U CN219445118U (en) | 2022-08-17 | 2022-08-17 | Parallel 5-path three-jaw flexible beak robot arm equipped with optical fiber sensor |
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| CN202222158311.3U CN219445118U (en) | 2022-08-17 | 2022-08-17 | Parallel 5-path three-jaw flexible beak robot arm equipped with optical fiber sensor |
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