TWI764807B - Buffer clamp structure of robotic arm - Google Patents
Buffer clamp structure of robotic armInfo
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Abstract
Description
本發明係有關於一種可以抵消反作用力,以產生緩衝作用的機械手臂之夾爪構造。 The present invention relates to a clamping jaw structure of a mechanical arm which can counteract the reaction force to produce a buffering effect.
目前一般的機械手臂構造,如中華民國109年8月21日所公告之新型第M600237號「自驅動夾爪」專利案,其係揭露:一種自驅動夾爪裝設於一機械手臂上,該機械手臂包括一本體及一末端軸,該自驅動夾爪包括一外殼、一旋轉件、一移動件及至少一爪體。該外殼與該本體固接。該旋轉件設置於該外殼中,並與該末端軸固接。該移動件可移動地設置於該外殼中,且與該旋轉件相接,並具有至少一凹槽。所述爪體可動地樞設於該外殼上,並局部抵頂於對應的所述凹槽中。其中,當該旋轉件隨該末端軸旋轉時,該旋轉件帶動該移動件沿一轉動中心線作直線運動,並連動所述爪體,使所述爪體在該外殼上樞轉。 The current general mechanical arm structure, such as the new patent No. M600237 "self-propelled gripper" announced on August 21, 109, discloses: a self-driven gripper is mounted on a robotic arm, the The mechanical arm includes a main body and an end shaft, and the self-driving gripper includes a casing, a rotating part, a moving part and at least one claw body. The shell is fixedly connected with the body. The rotating part is arranged in the casing and is fixedly connected with the end shaft. The moving piece is movably arranged in the casing, is connected with the rotating piece, and has at least one groove. The claw body is movably pivoted on the casing, and partially abuts against the corresponding groove. Wherein, when the rotating member rotates with the end shaft, the rotating member drives the moving member to move linearly along a rotation center line, and links the claw body to pivot the claw body on the housing.
該專利前案的夾爪與機械手臂之間係採軸向的剛性連接,因此該夾爪僅能相對於機械手臂呈軸向旋轉,並無法任意角度的擺動以產生緩衝作用。由於機械手臂在夾持工件後,然後需要旋轉工件進入模具或治具內進行加工,但是夾爪與機械手臂是同軸旋轉,無法相對的扭轉角度或傾擺,也沒有任何的緩衝作用,使得工件在旋轉進入模具或治具時,會造成工件被模具或治具的接觸面所刮傷,而影響到外觀或品質。 The clamping jaw and the mechanical arm in the previous case of the patent are rigidly connected in the axial direction, so the clamping jaw can only rotate in the axial direction relative to the mechanical arm, and cannot swing at any angle to produce a buffering effect. Because the robot arm needs to rotate the workpiece into the mold or fixture for processing after clamping the workpiece, but the clamping jaw and the robot arm rotate coaxially, and there is no relative torsion angle or tilt, and there is no buffering effect, making the workpiece When rotating into the mold or fixture, the workpiece will be scratched by the contact surface of the mold or fixture, which will affect the appearance or quality.
因此有2016年10月19日中國大陸所公告之發明第CN105058373號「基於雙虎克鉸機構的機械臂柔順對接裝置」專利案,其係揭露:為了解決現有 的對接裝置存在控制複雜且機構接觸力較大,不易保護對接裝置的問題。其機械臂末端執行器安裝在末端執行器存放裝置的上端,連接件的上端通過連接孔與外置機械臂連接,第十字軸安裝在工具接頭的上部,內環安裝在工具接頭的上端內側壁,外環安裝在工具接頭的上端外側壁,連接件的下端通過外環與工具接頭連接;末端執行器存放裝置包括虎克鉸機構和緩衝復位機構,虎克鉸機構安裝在緩衝復位機構上,藉以適用於空間中機械結構的對接。 Therefore, there is the patent case of Invention No. CN105058373 "Compliant Docking Device of Robot Arm Based on Double Hook Hinge Mechanism" announced in mainland China on October 19, 2016, which discloses: in order to solve the existing problems The conventional docking device has the problems of complicated control and large contact force of the mechanism, and it is not easy to protect the docking device. The end effector of the mechanical arm is installed on the upper end of the end effector storage device, the upper end of the connecting piece is connected with the external mechanical arm through the connecting hole, the first cross shaft is installed on the upper part of the tool joint, and the inner ring is installed on the inner side wall of the upper end of the tool joint , the outer ring is installed on the outer side wall of the upper end of the tool joint, and the lower end of the connecting piece is connected with the tool joint through the outer ring; the end effector storage device includes a Hook hinge mechanism and a buffer reset mechanism, and the Hook hinge mechanism is installed on the buffer reset mechanism. Thereby, it is suitable for the docking of mechanical structures in space.
該專利前案係於連接座與連接底座之間係同軸設置緩衝彈簧及復位彈簧,藉以可軸向伸縮的受力緩衝。但在夾持工件旋轉時,夾爪對於任一方向的單邊受力而傾擺時,其緩衝的效果較差,難以保證夾爪的精度及穩定度。 In the previous case of the patent, a buffer spring and a return spring are coaxially arranged between the connecting seat and the connecting base, so as to buffer the force of the axial expansion and contraction. However, when the workpiece is clamped and rotated, when the jaws are tilted against a unilateral force in any direction, the buffering effect is poor, and it is difficult to ensure the accuracy and stability of the jaws.
又有2019年5月21日中國大陸所公開之發明第CN109773812號「自動快換的機器人專用柔性夾具置」專利案,其係揭露:包括抓手連接端及浮動抓手,抓手連接端的一端通過機器人連接法蘭與機器人連接,另一端通過機器人換槍盤公盤和母盤配合與浮動抓手自由連接,所述浮動抓手還設有換槍盤安裝板、浮動機構、氣缸安裝板、三爪氣缸及抓手手指,機器人換槍盤母盤安裝在換槍盤安裝板上,換槍盤安裝板通過浮動機構與氣缸安裝板浮動連接,氣缸安裝板上安裝三爪氣缸,三爪氣缸的活塞頭連接抓手手指,所述抓手手指用於夾持工件。機器人通過自動換槍盤切換不同的抓手匹配取料,解決抓手與工件的匹配問題及現有抓手不具備柔性的問題,提高抓手的通用性及夾持效果。 There is also a patent case of Invention No. CN109773812 "Automatic Quick-Change Robot-Specific Flexible Fixture Device" published in mainland China on May 21, 2019, which discloses: including a gripper connection end and a floating gripper, one end of the gripper connection end The robot is connected to the robot through the robot connecting flange, and the other end is freely connected to the floating gripper through the cooperation of the male and female disks of the robot gun changer. The floating gripper is also provided with a gun changer mounting plate, a floating mechanism, a cylinder mounting plate, The three-claw cylinder and the fingers of the gripper, the robot gun changer mother plate is installed on the gun changer mounting plate, the gun changer mounting plate is floatingly connected to the cylinder mounting plate through a floating mechanism, the three-claw cylinder is installed on the cylinder mounting plate, and the three-claw cylinder is installed on the cylinder mounting plate. The piston head is connected to the fingers of the gripper, and the fingers of the gripper are used to grip the workpiece. The robot automatically switches between different grippers to match and reclaim the material by automatically changing the gun tray, which solves the problem of matching the gripper and the workpiece and the problem that the existing gripper is not flexible, and improves the versatility and clamping effect of the gripper.
該專利前案係於抓手連接端及浮動抓手之間連接有三個彈簧,藉以可供對於任一方向的單邊受力而傾擺時,可產生緩衝的效果。惟該三個彈簧沒有任何的限位元件,因此會造成傾擺超過,反而失去精密的緩衝作用,因此在使用上不盡理想。 In the previous case of the patent, three springs are connected between the connecting end of the gripper and the floating gripper, so as to provide a buffering effect when tilting under unilateral force in any direction. However, the three springs do not have any limiting elements, which will cause the tilting to exceed, but lose the precise buffering effect, so it is not ideal in use.
爰此,有鑑於目前機械手臂的夾爪緩衝構造具有上述的缺點。故本發明提供一種機械手臂的緩衝夾具構造,包含有:一本體,係設有一結合端,該結合端係軸向設有一容置槽,該結合端的周邊分別同軸向的設有透空的三導槽;一夾具,係與該本體結合,該夾具一端設有一夾爪,另一端固設有一推動塊,該推動塊上套設有一結合座,該結合座係與該結合端結合固定,使該夾具能相對於該本體移動,該推動塊係設入於該容置槽內,又該推動塊的周緣係凸設有三限位件,該三限位件係凸伸於該三導槽內;至少一彈簧,設置於該本體及該夾具之間,該彈簧對於該夾具提供一彈性力,藉以抵消該夾爪所承受的一反作用力,使該夾爪產生一緩衝作用。 Therefore, in view of the above-mentioned shortcomings of the current gripper claw buffer structure of the robotic arm. Therefore, the present invention provides a buffer clamp structure for a mechanical arm, which includes: a body, which is provided with a joint end, the joint end is provided with an accommodating groove in the axial direction, and the periphery of the joint end is respectively provided with three hollow holes in the same axial direction. A guide groove; a clamp, which is combined with the main body, one end of the clamp is provided with a clamping claw, and the other end is fixed with a push block, the push block is sleeved with a combination seat, the combination seat is fixed with the combination end, so that The clamp can move relative to the main body, the push block is set in the accommodating groove, and the periphery of the push block is protruded with three limiting pieces, and the three limiting pieces protrude into the three guide grooves ; At least one spring is arranged between the body and the clamp, the spring provides an elastic force for the clamp, so as to counteract a reaction force that the clamping claw bears, so that the clamping claw produces a buffering effect.
上述容置槽係同軸向的接設有直徑較小的一第一凹槽,該彈簧係包含有一第一彈簧,該彈性力係包含一第一彈性力,該第一彈簧係設入於該第一凹槽內,藉以對於該推動塊提供該第一彈性力。 The above-mentioned accommodating groove is connected with a first groove with a smaller diameter in the same axial direction, the spring system includes a first spring, the elastic force includes a first elastic force, and the first spring is installed in the In the first groove, the first elastic force is provided for the pushing block.
上述結合端於該第一凹槽的周緣環佈設有三第二凹槽,該彈簧係包含有三第二彈簧,該彈性力係包含一第二彈性力,該三第二彈簧係分別設入於該三第二凹槽內,藉以對於該三限位件分別提供該第二彈性力。 Three second grooves are arranged around the peripheral edge of the first groove, the spring system includes three second springs, the elastic force includes a second elastic force, and the three second springs are respectively set in the In the three second grooves, the second elastic force is provided for the three limiting members respectively.
上述結合端上的每一該導槽的二側對應設有二第三凹槽,該結合座於該三限位件的二側分別對應設有一定位塊,該等定位塊係對應設入於該等第三凹槽內,藉以防止該三限位件軸向轉動。 The two sides of each of the guide grooves on the above-mentioned joint end are correspondingly provided with two third grooves, and the two sides of the joint seat are respectively provided with a positioning block corresponding to the three limiting members, and the positioning blocks are correspondingly set in the In the third grooves, the axial rotation of the three limiting members is prevented.
上述定位塊係設呈為球形。 The above-mentioned positioning block is designed to be spherical.
上述三導槽的寬度係大於該三限位件之直徑,使該三限位件與該三導槽之間形成一餘隙配合。 The width of the three guide grooves is greater than the diameter of the three limiting members, so that a clearance fit is formed between the three limiting members and the three guide grooves.
上述限位件係設呈為圓柱狀。 The above-mentioned limiting member is set in a cylindrical shape.
上述技術特徵具有下列之優點: The above technical features have the following advantages:
1.藉由第一彈簧所提供的該第一彈性力,以及該三第二彈簧所提供的該第二彈性力,可以共同抵消軸向的反作用力,藉以對於工件產生軸向的一緩衝作用,可以避免刮傷工件表面,而影響到外觀或品質。 1. The first elastic force provided by the first spring and the second elastic force provided by the three second springs can counteract the axial reaction force together, thereby producing an axial buffering effect on the workpiece. , can avoid scratching the surface of the workpiece, and affect the appearance or quality.
2.藉由該第一彈簧所提供的該第一彈性力,以及該三第二彈簧所提供的該第二彈性力,予以共同抵消非軸向的反作用力,藉以對於該工件產生傾擺的一緩衝作用,可以避免刮傷工件表面,而影響到外觀或品質。 2. By the first elastic force provided by the first spring, and the second elastic force provided by the three second springs, the non-axial reaction force is counteracted together, so that the workpiece can be tilted. A buffering effect can avoid scratching the surface of the workpiece and affect the appearance or quality.
3.配合第一彈簧、第二彈簧及定位塊,可以將夾具定位於中心點位置,藉以可提高夾持工件的精度及穩定度,同時配合該三限位件於該三導槽內移動,使得夾具在進行扭轉時可具有一些彈性,以達到模擬操作人員手感之功效。 3. With the first spring, the second spring and the positioning block, the fixture can be positioned at the center point, thereby improving the precision and stability of clamping the workpiece, and at the same time, the three limiting pieces move in the three guiding grooves. The clamp can have some elasticity when twisting, so as to achieve the effect of simulating the operator's feel.
1:本體 1: Ontology
11:結合端 11: Binding end
12:容置槽 12: accommodating slot
13:第一凹槽 13: The first groove
14:第二凹槽 14: Second groove
15:導槽 15: Guide groove
16:第三凹槽 16: Third groove
2:第一彈簧 2: The first spring
3:第二彈簧 3: The second spring
4:夾具 4: Fixtures
41:夾爪 41: Gripper
42:推動塊 42: Push Block
43:結合座 43: Combination seat
44:限位件 44: Limiter
45:定位塊 45: Positioning block
A:工件 A: Workpiece
[第一圖]係為本發明實施例之立體分解圖。 [Figure 1] is an exploded perspective view of an embodiment of the present invention.
[第二圖]係為本發明實施例另一視角之立體分解圖。 [Second Figure] is an exploded perspective view of the embodiment of the present invention from another perspective.
[第三圖]係為本發明實施例之立體組合圖。 [Figure 3] is a three-dimensional combined view of an embodiment of the present invention.
[第四圖]係為本發明實施例之組合剖視圖。 [FIG. 4] is a combined cross-sectional view of an embodiment of the present invention.
[第五圖]係為本發明實施例第一彈簧及第二彈簧之組合構造示意圖。 [FIG. 5] is a schematic diagram of the combined structure of the first spring and the second spring according to the embodiment of the present invention.
[第六圖]係為本發明實施例限位件及定位塊之位置示意圖。 [Fig. 6] is a schematic diagram of the position of the limiting member and the positioning block according to the embodiment of the present invention.
[第七圖]係為本發明實施例抵消軸向反作用力以產生緩衝作用之示意圖。 [Fig. 7] is a schematic diagram of an embodiment of the present invention that offsets the axial reaction force to produce a buffering effect.
[第八圖]係為本發明實施例抵消非軸向反作用力以產生緩衝作用之示意圖。 [Fig. 8] is a schematic diagram of an embodiment of the present invention that offsets the non-axial reaction force to generate a buffering effect.
請參閱第一圖、第二圖及第三圖所示,本發明實施例係包含有:本體1、第一彈簧2、第二彈簧3及夾具4,其中:
Please refer to the first, second and third figures, the embodiment of the present invention includes: a
本體1,其係設有一結合端11,該結合端11係軸向設有一容置槽12,該容置槽12係同軸向的接設有直徑較小的一第一凹槽13,該結合端11於該第一凹槽13的周緣環佈設有三第二凹槽14。又該結合端11的周邊對應於該三第二凹槽14之位置處分別同軸向的設有透空的一導槽15。又於該結合端11上的每一該導槽15的二側對應設有二第三凹槽16。
The
第一彈簧2,其係設入於該第一凹槽13內〔如第四圖及第五圖所示〕,藉以提供一第一彈性力。
The
第二彈簧3,係設有三個該第二彈簧3,而分別設入於該第二凹槽14內〔如第四圖及第五圖所示〕,藉以提供一第二彈性力。
The
夾具4,係與該本體1結合。該夾具4一端凸設有一夾爪41,另一端固設有一推動塊42,該推動塊42上套設有一結合座43,該結合座43係可供與該結合端11共同結合固定,使該夾具4係能相對於該本體1移動。該推動塊42係設入於該容置槽12內,並對應該第一彈簧2設置〔如第四圖及第五圖所示〕,而可承受到該第一彈性力。又該推動塊42的周緣係凸設有呈圓柱狀的三限位件44,該三限位件44係凸伸於該三導槽15內,又該導槽15的寬度係大於該限位件44之直徑,使該限位件44與該導槽15之間形成一餘隙配合。又該三限位件44分別對應該三第二彈簧3設置,而可承受到該第二彈性力。另該結合座43上於該三限位件44的二側分別對應設有球形的一定位塊45,藉以防止該三限位件44軸向轉動〔如第六圖所示〕。又該等定位塊45係對應設入於該第三凹槽16內。
The
使用時,該本體1係結合於一機械手臂(圖中未示),透過該機械手臂可以自動控制該夾具4的該夾爪41進行夾持及放開之動作。如第一圖、第二圖及第四圖所示,當利用該夾爪41夾取一工件A傳送進行加工時,當該工件A直接被送入一模具或治具內〔圖中未示〕,並接觸到該模具或治具時,該工件A會對於該夾爪41產生軸向的一反作用力。該反作用力透過該夾爪41傳遞到該推動塊
42,使得該推動塊42及該三限位件44於該三導槽15內移動,而分別平均的抵壓該第一彈簧2及該三第二彈簧3,使得該第一彈簧2於該第一凹槽13內壓縮移動〔如第七圖所示〕,以及使得該三第二彈簧3於該三第二凹槽14內壓縮移動。如此,可藉由該第一彈簧2所提供的該第一彈性力,以及該三第二彈簧3所提供的該第二彈性力,予以共同抵消該軸向反作用力,藉以對於該工件A產生軸向的一緩衝作用。
In use, the
如第一圖、第二圖及第四圖所示,當利用該夾爪41夾取該工件A傳送進行加工時,當該工件A被送入模具或治具內進行轉動時,並碰觸到該模具或治具的接觸面時,該工件A會對於該夾爪41產生一非軸向反作用力。該非軸向反作用力透過該夾爪41傳遞到該推動塊42,造成該推動塊42相對於該結合端11產生一傾擺的角度,並使得該推動塊42及該三限位件44於該三導槽15內移動,並分別不平均的抵壓該第一彈簧2及該三第二彈簧3,藉由該非軸向反作用力,可以部分施力使得該第一彈簧2於該第一凹槽13內壓縮移動〔如第八圖所示〕,以及藉由該非軸向反作用力,可以部分施力使得該三第二彈簧3各別的於該三第二凹槽14內壓縮移動不同的距離。如此,可藉由該第一彈簧2所提供的該第一彈性力,以及該三第二彈簧3所提供的該第二彈性力,予以共同抵消該非軸向反作用力,藉以對於該工件A產生傾擺的一緩衝作用。
As shown in Figure 1, Figure 2 and Figure 4, when the workpiece A is gripped by the
如此,透過該第一彈簧2所提供的該第一彈性,以及該三第二彈簧3所提供的該第二彈性力。並利用三點定位圓心的方式,配合該三限位件44的二側分別對應設有該定位塊45,除了防止該三限位件44軸向轉動,配合該第一彈簧2、該三第二彈簧3及該等定位塊45,將該夾具4定位於中心點位置,此時可以提高夾持該工件A的精度及穩定度,同時再配合該三限位件44於該三導槽15內移動,使得該夾具4在進行扭轉時可具有一些彈性,達到模擬操作人員的手感之功效。
In this way, through the first elasticity provided by the
同時於夾持該工件A直接或旋轉進入模具或治具內進行加工時,可以分別抵消夾持該工件A所提供的軸向反作用力,以及任意角度偏擺時所產生的該非軸向反作用力,以對於該工件A產生該緩衝作用,可以避免刮傷該工件A表面,而影響到外觀或品質。 At the same time, when the workpiece A is clamped directly or rotated into the mold or fixture for processing, the axial reaction force provided by clamping the workpiece A and the non-axial reaction force generated when the workpiece is swayed at any angle can be counteracted respectively. , so as to produce the buffering effect on the workpiece A, which can avoid scratching the surface of the workpiece A and affect the appearance or quality.
綜合上述實施例之說明,當可充分瞭解本發明之操作、使用及本發明產生之功效,惟以上所述實施例僅係為本發明之較佳實施例,當不能以此限定本發明實施之範圍,即依本發明申請專利範圍及發明說明內容所作簡單的等效變化與修飾,皆屬本發明涵蓋之範圍內。 Based on the descriptions of the above embodiments, one can fully understand the operation, use and effects of the present invention, but the above-mentioned embodiments are only preferred embodiments of the present invention, which should not limit the implementation of the present invention. Scope, that is, simple equivalent changes and modifications made according to the scope of the patent application of the present invention and the contents of the description of the invention, all fall within the scope of the present invention.
1:本體 1: Ontology
11:結合端 11: Binding end
12:容置槽 12: accommodating slot
13:第一凹槽 13: The first groove
14:第二凹槽 14: Second groove
15:導槽 15: Guide groove
16:第三凹槽 16: Third groove
2:第一彈簧 2: The first spring
3:第二彈簧 3: The second spring
4:夾具 4: Fixtures
41:夾爪 41: Gripper
42:推動塊 42: Push Block
43:結合座 43: Combination seat
44:限位件 44: Limiter
45:定位塊 45: Positioning block
Claims (6)
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TW110129845A TWI764807B (en) | 2021-08-12 | 2021-08-12 | Buffer clamp structure of robotic arm |
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TWI764807B true TWI764807B (en) | 2022-05-11 |
TW202306717A TW202306717A (en) | 2023-02-16 |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010003697A1 (en) * | 2010-04-07 | 2011-10-13 | Ferrobotics Compliant Robot Technology Gmbh | Handling device i.e. active flange, for manipulating and positioning e.g. workpiece, during e.g. stacking process, has regulating device controlling contact force between device and surface area of object based on predetermined force curve |
CN105881586A (en) * | 2016-05-26 | 2016-08-24 | 北京新长征天高智机科技有限公司 | Robot end execution protection mechanism with one-way buffering function |
CN212471531U (en) * | 2020-03-30 | 2021-02-05 | 天津超众机器人科技有限公司 | Conveying clamping jaw suitable for tableware |
CN112476458A (en) * | 2020-11-12 | 2021-03-12 | 大连理工大学 | Grabbing system for aerospace materials |
-
2021
- 2021-08-12 TW TW110129845A patent/TWI764807B/en active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010003697A1 (en) * | 2010-04-07 | 2011-10-13 | Ferrobotics Compliant Robot Technology Gmbh | Handling device i.e. active flange, for manipulating and positioning e.g. workpiece, during e.g. stacking process, has regulating device controlling contact force between device and surface area of object based on predetermined force curve |
CN105881586A (en) * | 2016-05-26 | 2016-08-24 | 北京新长征天高智机科技有限公司 | Robot end execution protection mechanism with one-way buffering function |
CN212471531U (en) * | 2020-03-30 | 2021-02-05 | 天津超众机器人科技有限公司 | Conveying clamping jaw suitable for tableware |
CN112476458A (en) * | 2020-11-12 | 2021-03-12 | 大连理工大学 | Grabbing system for aerospace materials |
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