CN2584315Y - Curved surface article snatchs hand claw - Google Patents
Curved surface article snatchs hand claw Download PDFInfo
- Publication number
- CN2584315Y CN2584315Y CN 02244786 CN02244786U CN2584315Y CN 2584315 Y CN2584315 Y CN 2584315Y CN 02244786 CN02244786 CN 02244786 CN 02244786 U CN02244786 U CN 02244786U CN 2584315 Y CN2584315 Y CN 2584315Y
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- China
- Prior art keywords
- positioner
- rigidity
- flexible
- curved surface
- support body
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 210000000078 claw Anatomy 0.000 title 1
- 238000001179 sorption measurement Methods 0.000 claims description 13
- 230000006978 adaptation Effects 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000012942 design verification Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229920001875 Ebonite Polymers 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses constitute by area joint support body (1), contact force controlling means (2) and control system, flexible positioner (3) and control system, zero clearance rigidity positioner (4) and control system. Adopt the utility model discloses can realize that reliable, the safety of curved surface article snatchs, removes, remains unchanged by moving object's position appearance throughout at whole in-process. The utility model discloses especially, be applicable to the automation that has the curved surface article of higher position appearance required precision snatchs, transport and precision assembly.
Description
1. technical field
The utility model belongs to the clamping device field, is specifically related to a kind of curved surface object graping chaw.
2. background technology
In product machining, assembling and transportation and automation process thereof, mostly adopt robot to cooperate paw to realize the reliable extracting of curved surface (containing imperfect curved surface) object, carrying and accurately place, with help or partly replace the people carry out heavy, dangerous, operation such as repeat.
In recent years, Robotics development both at home and abroad is very fast, as seeing in domestic many enterprises such as assembly robot, paint-spray robot and welding robot.It is a lot of now to be used to grasp rotor gripper structure form simple and surface configuration rule part, and the monograph and the atlas introduction of robot hand technical elements are abroad arranged.But, have extracting simultaneously and keep the constant robot hand of pose not appear in the newspapers grasping the smooth surface object that a plurality of curves are combined into.
Grab paw at present, can be divided into magnetic and aspiration two classes, representative see Fig. 1 and Fig. 2 by the curved surface object.Fig. 1 is a kind of magnetic-type paw, and it utilizes electromagnetic force and packed variable form magnetic, holds the magnetic object with arbitrary surface shape, and is inapplicable to non magnetic object.Fig. 2 is a kind of aspirated-air type paw, and there is a rubber suction cups its lower end, and the spring buffer screwdown gear is arranged above, leans on the vacuum of sucker inner chamber to hold the curved surface object; Above dual mode all can't keep the pose of curved surface object constant.
3. summary of the invention
In order to overcome the constant deficiency of pose that existing paw can not keep crawled curved surface object, the utility model provides a kind of and grasps the curved surface object and make crawled object keep the constant paw of pose.
The technical scheme that its technical problem that solves the utility model adopts is: a kind of curved surface object graping chaw of design comprises belt lacing support body, contact force control device and control system thereof, flexible positioner and control system thereof, no gap rigidity positioner and control system thereof; The belt lacing support body is connected with contact force control device, flexible positioner, no gap rigidity positioner respectively; The flexibility that described flexible positioner is uniform self adaptation vacuum adsorption in parallel grasps positioning self-lock device; Described no gap rigidity positioner is the no gap of a uniform parallel connection rigidity positioning self-lock device.
The belt lacing support body is made up of joint, cap, flat board and flanged cylinder.
The annexation of paw each several part is provided with joint for paw top is the belt lacing support body on the belt lacing support body, and joint is fixed on the cap of support body, is connected with the robot arm Interface Matching; Be provided with the connecting interface of power-transmission device that the rigidity positioner is installed on the cap; Be the synchronous distributor of power supply of flexible location and rigidity positioner power-transmission device under the cap, they are fixed on the flat board of belt lacing support body; The peripheral uniform a plurality of rigidity positioners that are equipped with in inclined-plane, cap upper edge; Be provided with the interface that the guide rod into the contact force control device is connected with sensor on the flat board; Dull and stereotyped guide rod and the pressure sensor that the contact force control device is housed down; Flat board is connecting flanged cylinder simultaneously, and flanged cylinder is uniformly distributed along the circumference the rigidity positioner is housed in the horizontal direction; The guide rod of contact force control device is connecting movable cage plate, is uniformly distributed along the circumference a plurality of flexible positioners are housed on it; The bottom is the horizontal stiffness positioning self-lock device.
The contact force control device is made up of guide rod, movable cage plate, pressure sensor and electrical apparatus control system.The guide rod positioned vertical of contact force control device is on movable cage plate.
Flexible positioner is the flexible positioner of vacuum adsorption, be the flexible location of self adaptation vacuum adsorption self-locking device in parallel, sucker contacts extraordinary object and forms flexible alignment layers, it is by Suction cup assembly uniform composing in parallel on circumference of one or more band sliding block shifting pair, and the axis of Suction cup assembly overlaps with sucker absorption object normal to a surface.
The rigidity positioner is a no gap rigidity positioner, be that no gap does not have and impacts rigidity and locate self-locking device in parallel, it is by one or more uniform being formed in parallel of being made up of power-transmission device that takes a self-locking to and contact of positioning component, a plurality of contact contact objects form perpendicular rigid lock-bit layer, and the axis of each positioning component contacts the object normal to a surface and overlaps with contact.
When the sucker contact object of the flexible positioner of the vacuum adsorption of the utility model paw or placement object, pressure sensor is by the guide rod device pressurized, send the pressure simulation signal, when pressure reaches predetermined value, the motion of electrical apparatus control system control robot arm, realize the control of special paw travel position, reach the control contact force, grasp and place the shock-free purpose of object; Flexible positioner is the flexible positioner of vacuum adsorption.Be the flexible location of self adaptation vacuum adsorption self-locking device in parallel, sucker contacts extraordinary object and forms flexible alignment layers, and flexible positioner utilizes sucker compressibility and the transmission of slide block type moving sets to make sucker self adaptation under certain precompression draw object.
Paw is connected with the robot arm Interface Matching by joint, and automatic centering coaxial after, connect the power connecting line, just can carry out extracting, carrying and the placement work of object.Concrete working procedure is as follows:
Part is placed on the holder, ajusts attitude;
Robot drives the sucker contact part that paw vertically drops to flexible positioner;
The pressure sensor of contact force control device is subjected to the movable sleeve utmost point effect of guide rod device, reach set pressure after, paw stops to descend, sucker forms annular seal space;
The contact motion of rigidity positioner puts in place, and self-locking;
The flexible positioner self adaptation of paw is drawn object, and self-locking;
Robot drives the paw vertical lifting to predetermined altitude, and level is transported to the precalculated position, vertically descends again; After the pressure sensor of contact force control device was subjected to the movable cage plate effect of guide rod device, reaches set pressure, paw stopped to descend;
Flexible positioner unclamps object;
Rigidity is located self-locking device release in parallel and is returned;
Robot drives paw and gets back to initial position, prepares the extracting of next part.
The beneficial effects of the utility model are that reliable, the safety that have realized the curved surface object grasp, kept object to grasp effectively and place after pose, implement to grasp, carrying and place the position and attitude that has kept object in the whole process that object puts in place from start to finish.Confirm through design verification and use examination, can keep the constant precision of object pose in the 0.050mm scope.
4. description of drawings
Fig. 1 magnetic paw schematic diagram
Fig. 2 aspiration paw schematic diagram
The structural representation of Fig. 3 embodiment 1 of the present utility model
The flexible positioning device structure schematic diagram of Fig. 4 embodiment 1 of the present utility model
The paw pneumatic control line map of Fig. 5 embodiment 1 of the present utility model
The structural representation of Fig. 6 embodiment 2 of the present utility model
Among the figure: 1. Suction cup assembly 17. suckers of belt lacing support body 2. contact force control device 3. flexible positioner 4. rigidity positioners 5. objects 6. holders 7. movable cage plate 8. flanged cylinder 9. dull and stereotyped 10. guide rods, 11. caps, 12. joints, 13. synchronous distributor 14. Suction cup assembly corner fixed axis 15. pressure pins 16. sliding block shifting pair
5. the specific embodiment
In Fig. 3 and Fig. 4, paw of the present utility model comprises that the contact force control device 2 of 1 pair of object of belt lacing support body and control system, flexible positioner 3 and control system thereof, no gap do not have the rigidity positioner 4 of impact and control system thereof.
Paw of the present utility model is the positioner by three aspects that a kind of air pressure drives, and each positioner is relatively independent, is connected in respectively on the paw support body; First aspect is the positioning self-lock device of three uniform self adaptation vacuum adsorptions in parallel, when inhaling pawl work, and the extraordinary object of sorption, and self-locking, thus form flexible alignment layers; Second aspect is that three uniform air pressure in parallel drive vertical no gap rigidity positioning self-lock device, and contact contacts extraordinary object, and self-locking, thereby forms the perpendicular rigid alignment layers; The 3rd aspect is that three uniform air pressure driving levels in parallel do not have gap rigidity positioning self-lock device, and contact contacts extraordinary object, and self-locking, thereby forms the horizontal stiffness alignment layers.
Select for use robot-single-column jig borer (model: TG4132B), its major parameter: main shaft lifting travel (Z direction) precision :≤0.01mm, workbench horizontal throw (X, Y direction) precision :≤0.002mm.
With the paw (LA03) of the utility model embodiment 1 and single-column jig borer (model: TG4132B) be connected after, finish the extracting of extraordinary object by following working procedure:
Part is placed on the holder, ajusts pose;
Paw stops after vertically dropping to the sucker contact part of flexible positioner;
The contact motion that paw drives the perpendicular rigid positioner puts in place, reaches self-locking after the dynamic balance;
The contact motion that paw drives the horizontal stiffness positioner puts in place, reaches self-locking after the dynamic balance;
Flexible positioner self adaptation is drawn object, and self-locking;
Paw grasps object vertical-lift 100mm; 290mm is to a precalculated position in the level carrying, behind the 100mm that vertically descends again, stops behind the contact holder;
The flexible positioner of paw unclamps object;
Rigidity is located self-locking device release in parallel and is returned;
Paw is got back to initial position, prepares the extracting of next part.
Grasp the paw of extraordinary object, confirm, can keep the constant precision of object pose in the 0.050mm scope after extracting, the carrying through design verification and use examination.
Among Fig. 6, the basic structure of present embodiment paw is identical with embodiment 1, difference is the uniform power-transmission device that 5 rigidity positioners are housed of inclined-plane, cap upper edge periphery, promptly second aspect is 5 the oblique no gap of uniform parallel connection rigidity positioning self-lock devices, and belt lacing support body 1 is designed to the bell-type support body.
The utility model paw requires to be designed to the multiple spot rigidity alignment layers of a flexible alignment layers and one or more aspect according to physical features such as the concrete surface of grasping object and pose accuracy, flexible alignment layers can be designed to three and be connected in respectively on the movable cage plate of guide rod device to the relatively independent positioner of multiple spot, and each rigidity alignment layers can be designed to three and be connected in respectively on the paw support body to the relatively independent positioner of multiple spot.
The flexible alignment layers of the utility model paw and each rigidity alignment layers should reach certain axiality requirement in vertical direction, simultaneously with the joint dead in line of belt lacing support body; Each alignment layers should reach certain flatness requirement in the horizontal direction, and layer positioner that interior multiple spot is relatively independent should keep synchronously (as: driven by power should be provided with synchronized, and fluid power or strength drive answers a shared pressure source) in action simultaneously.
It also can be a plurality of aspects that no gap of the present utility model does not have the rigidity of impact positioner, decide according to the requirement of the constant precision of pose and the concrete condition of object structures, one or more driving by the power-transmission device that takes a self-locking to can be electronic, pneumatic, surge or combination that they are mutual; The guide rod of paw and movable sleeve panel assembly according to demand, also can be designed to slip, rolling guide rod device.
Contact can be selected metal or nonmetal according to material of being grabbed object and the constant required precision of pose, as: copper, aluminium, nylon, hard rubber etc.
Claims (7)
1. a curved surface object graping chaw is characterized in that: comprise belt lacing support body (1), contact force control device (2) and control system thereof, flexible positioner (3) and control system thereof, no gap rigidity positioner (4) and control system thereof; Belt lacing support body (1) is connected with contact force control device (2), flexible positioner (3), no gap rigidity positioner (4) respectively; Described flexible positioner (3) is that the flexibility of uniform self adaptation vacuum adsorption in parallel grasps positioning self-lock device; Described no gap rigidity positioner (4) is the no gap of a uniform parallel connection rigidity positioning self-lock device.
2. a kind of curved surface object graping chaw according to claim 1 is characterized in that: belt lacing support body (1) is made up of joint (12), cap (11), dull and stereotyped (9) and flanged cylinder (8).
3. a kind of curved surface object graping chaw according to claim 1 and 2, it is characterized in that: paw top is belt lacing support body (1), be provided with joint (12) on the belt lacing support body (1), joint (12) is fixed on the cap (11) of support body, is connected with the robot arm Interface Matching; Be provided with the connecting interface of power-transmission device that rigidity positioner (4) is installed on the cap (11); Be the synchronous distributor of power supply (13) of the power-transmission device of flexible location and rigidity positioner under the cap (11), they are fixed on the flat board (9) of belt lacing support body (1); The uniform a plurality of rigidity positioners (4) that are equipped with of cap (11) inclined-plane, upper edge periphery; Be provided with the interface that the guide rod into the contact force control device is connected with sensor on dull and stereotyped (9); The guide rod (10) and the pressure sensor of contact force control device are housed under dull and stereotyped (9); Simultaneously dull and stereotyped (9) are connecting flanged cylinder (8), and flanged cylinder (8) is uniformly distributed along the circumference rigidity positioner (4) is housed in the horizontal direction; The guide rod (10) of contact force control device (2) is connecting movable cage plate (7), is uniformly distributed along the circumference a plurality of flexible positioners (3) are housed on it; The bottom is the rigidity positioner (4) of level.
4. a kind of curved surface object graping chaw according to claim 1 is characterized in that: contact force control device (2) is made up of guide rod (10), movable cage plate (7), pressure sensor and electrical apparatus control system.
5. a kind of curved surface object graping chaw according to claim 1, it is characterized in that: flexible positioner (3) is the flexible positioner of vacuum adsorption, be the flexible location of self adaptation vacuum adsorption self-locking device in parallel, sucker contacts extraordinary object and forms flexible alignment layers, it is by Suction cup assembly (16) uniform composing in parallel on circumference of one or more band sliding block shifting pair, and the axis of Suction cup assembly overlaps with sucker absorption object normal to a surface; The Suction cup assembly (16) that has the sliding block shifting pair of sucker (17) in the flexible positioner (3) is fixedly connected on the movable cage plate (7) by Suction cup assembly corner fixed axis (14) and pressure pin (15).
6. a kind of curved surface object graping chaw according to claim 1, it is characterized in that: rigidity positioner (4) adopts no gap rigidity positioning self-lock device, take the power-transmission device of a self-locking and uniform being formed in parallel of positioning component that contact is formed to by a plurality of, a plurality of contact contact objects form perpendicular rigid lock-bit layer, and the axis of each positioning component contacts the object normal to a surface and overlaps with contact.
7. a kind of curved surface object graping chaw according to claim 4 is characterized in that: guide rod (10) positioned vertical of contact force control device (2) is on movable cage plate (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02244786 CN2584315Y (en) | 2002-11-15 | 2002-11-15 | Curved surface article snatchs hand claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02244786 CN2584315Y (en) | 2002-11-15 | 2002-11-15 | Curved surface article snatchs hand claw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2584315Y true CN2584315Y (en) | 2003-11-05 |
Family
ID=33716583
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02244786 Expired - Fee Related CN2584315Y (en) | 2002-11-15 | 2002-11-15 | Curved surface article snatchs hand claw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2584315Y (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101930689B (en) * | 2009-06-25 | 2013-03-20 | 浙江亚龙教育装备股份有限公司 | Intelligent material conveying device |
| CN103707627A (en) * | 2013-12-04 | 2014-04-09 | 合肥海闻机器人开发有限公司 | Robot arm of multi-media digital printer |
| CN106185326A (en) * | 2016-08-29 | 2016-12-07 | 苏州朗坤自动化设备有限公司 | A kind of stable type song screen carrying mechanism |
| CN106272525A (en) * | 2016-08-20 | 2017-01-04 | 曾冰冰 | A kind of intelligent ceramic pressure sensitive handgrip |
| CN106802656A (en) * | 2016-12-01 | 2017-06-06 | 台山核电合营有限公司 | Cambered surface posture adjusting method of tunnel cleaning robot |
| CN107601024A (en) * | 2017-08-15 | 2018-01-19 | 吴杉镐 | A kind of metalwork grabbing device |
| CN108620863A (en) * | 2017-05-31 | 2018-10-09 | 北京航空航天大学 | A kind of grabbing device and assembly method towards eccentric shaft assembly Automated assembly |
-
2002
- 2002-11-15 CN CN 02244786 patent/CN2584315Y/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101930689B (en) * | 2009-06-25 | 2013-03-20 | 浙江亚龙教育装备股份有限公司 | Intelligent material conveying device |
| CN103707627A (en) * | 2013-12-04 | 2014-04-09 | 合肥海闻机器人开发有限公司 | Robot arm of multi-media digital printer |
| CN103707627B (en) * | 2013-12-04 | 2016-09-28 | 合肥海闻机器人开发有限公司 | A kind of robot arm of multimedium digital printer |
| CN106272525A (en) * | 2016-08-20 | 2017-01-04 | 曾冰冰 | A kind of intelligent ceramic pressure sensitive handgrip |
| CN106185326A (en) * | 2016-08-29 | 2016-12-07 | 苏州朗坤自动化设备有限公司 | A kind of stable type song screen carrying mechanism |
| CN106185326B (en) * | 2016-08-29 | 2018-05-04 | 苏州朗坤自动化设备有限公司 | A kind of bent screen carrying mechanism of stable type |
| CN106802656A (en) * | 2016-12-01 | 2017-06-06 | 台山核电合营有限公司 | Cambered surface posture adjusting method of tunnel cleaning robot |
| CN106802656B (en) * | 2016-12-01 | 2020-01-21 | 台山核电合营有限公司 | Cambered surface posture adjusting method of tunnel cleaning robot |
| CN108620863A (en) * | 2017-05-31 | 2018-10-09 | 北京航空航天大学 | A kind of grabbing device and assembly method towards eccentric shaft assembly Automated assembly |
| CN107601024A (en) * | 2017-08-15 | 2018-01-19 | 吴杉镐 | A kind of metalwork grabbing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |