WO2020113906A1 - 一种自动快换的机器人专用柔性夹具 - Google Patents

一种自动快换的机器人专用柔性夹具 Download PDF

Info

Publication number
WO2020113906A1
WO2020113906A1 PCT/CN2019/086543 CN2019086543W WO2020113906A1 WO 2020113906 A1 WO2020113906 A1 WO 2020113906A1 CN 2019086543 W CN2019086543 W CN 2019086543W WO 2020113906 A1 WO2020113906 A1 WO 2020113906A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripper
robot
mounting plate
plate
cylinder
Prior art date
Application number
PCT/CN2019/086543
Other languages
English (en)
French (fr)
Inventor
朱家洲
尹义波
戴丽丽
刘俊
周涛
Original Assignee
南京埃斯顿智能系统工程有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 南京埃斯顿智能系统工程有限公司 filed Critical 南京埃斯顿智能系统工程有限公司
Publication of WO2020113906A1 publication Critical patent/WO2020113906A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members

Definitions

  • the invention relates to industrial robots, in particular to an automatic quick-change robot-specific flexible fixture.
  • robots are usually used to automatically load and unload workpieces to effectively reduce labor intensity and improve work efficiency.
  • workpieces with complex shapes and multiple specifications, it is necessary to design grips of different specifications according to the shape and size of the workpieces.
  • the robot matches and picks materials by switching different grips.
  • the specificity of the robot gripper has increased the specifications and number of grippers to a certain extent.
  • the robot gripper is not flexible, it is difficult to effectively clamp the workpiece, which cannot meet the needs of automation, resulting in cost increase and production efficiency. Reduction.
  • the purpose of the present invention is to provide an automatic quick-changing robot-specific flexible fixture.
  • the robot switches different grippers to match the retrieving through the automatic gun-changing disc, solving the problem of matching the gripper with the workpiece and the problem that the existing gripper does not have flexibility , Improve the versatility of grippers and clamping effect.
  • An automatic quick-changing robot-specific flexible fixture includes a gripper connection end and a floating gripper, the gripper connection end is provided with a robot connection flange and a robot gun changer disk male plate, and the floating gripper is provided with a robot gun changer disk master plate , One end of the gripper connection end is connected to the robot through the robot connection flange, and the other end is freely connected to the floating gripper through the cooperation of the robot gun changer disk male and female disks.
  • the floating gripper is also provided with a gun changer disk mounting plate and a floating The mechanism, cylinder mounting plate, three-jaw cylinder and gripper fingers, the robot gun changer disk master is installed on the gun changer disk mounting plate, the gun changer disk mounting plate is floatingly connected to the cylinder mounting plate through a floating mechanism, and the cylinder mounting plate is equipped with three The claw cylinder and the piston head of the three-claw cylinder are connected to a gripper finger, and the gripper finger is used for clamping a workpiece.
  • the fixture of this application can set up multiple sets of floating grippers according to the type of gripper, each set of floating grippers is equipped with a set of gun changer disk masters of the same specification, and only one set of gun changer disks needs to be configured. It is freely connected to the gun changer disk master through pneumatic control and electric control. For different batches of workpieces, different fingers can be replaced to realize the grasping of multiple types of workpieces.
  • the robot gun changer disk master is floatingly connected to the three-jaw cylinder. Due to the buffer mechanism, the floating mechanism has a certain buffer. Even if the incoming worktable surface is uneven, if the error allows, it can be used during the grasping process and the unloading process. Through the floating mechanism to achieve flexible pick and place of the workpiece.
  • the floating mechanism includes a spring and a spring guide post; the spring is sleeved on the spring guide post, the upper end of the spring guide post is fixedly connected to the gun changer disk mounting plate, and the lower end of the spring guide post slides through the cylinder mounting plate and the cylinder installation The plate is slidingly connected, the upper end of the spring abuts the gun plate mounting plate, and the lower end of the spring abuts the cylinder mounting plate.
  • the spring and the spring guide post constitute a floating mechanism.
  • the floating mechanism can move up and down along the direction of the spring guide post depending on the spring force, so as to realize the floating connection of the robot gun changing disc master disc and the three-jaw cylinder.
  • the three-jaw cylinder is connected to the gripper finger through a conversion block, the upper end of the conversion block is connected to the cylinder piston head through a bolt, and the lower end of the conversion block is connected to the gripper finger through a bolt.
  • the adapter block can be replaced at any time as a wearing part, protecting the threaded hole of the three-jaw cylinder from damage and extending the service life of the cylinder.
  • the lower side of the conversion block is connected to the upper side of the gripper finger, and a positioning mechanism is provided between the lower side of the conversion block and the upper side of the gripper finger.
  • the positioning mechanism is a rectangular groove provided on the lower side of the conversion block and a rectangular protrusion provided on the upper side of the finger of the gripper.
  • the rectangular groove is a through groove and is engaged with the rectangular protrusion .
  • the positioning mechanism can realize the quick installation and positioning of the fingers of the hand, and improve the efficiency.
  • a buffer pad is provided on the inner side of the fingers of the gripper. Furthermore, a pressure sensor is provided in the cushion pad, and the pressure sensor is used to measure the pressure of grasping the workpiece.
  • the cushion is installed on the surface to avoid scratches on the surface of the workpiece. The cushion has a pressure sensing function. If the clamping force is too large or too small, it will alarm to avoid damage and slipping of the workpiece.
  • the gripper connection end is also provided with a 3D vision connection board, one side of the 3D vision connection board is connected to the robot connection flange, the other side is connected to the robot gun changer disk master, and the 3D vision connection board is provided 3D vision sensor, 3D vision sensor is used to identify the incoming position of the workpiece and transmit the signal to the robot.
  • the robot automatically judges the incoming position of the workpiece and the type of gripper required by the 3D visual sensor, automatically adjusts the position and angle, automatically matches the gun changer master to grab the workpiece, and improves work efficiency.
  • the 3D vision sensor automatically sets the workpiece type and incoming position, the robot automatically adjusts the position and angle, automatically matches the gun changer master, and has high working efficiency;
  • the floating mechanism has a certain buffer in the depth direction.
  • the gripper is also replaced accordingly.
  • a transition block has been added, and a corresponding limit has been made on the transition block to ensure the accuracy of the finger position of the gripper.
  • the installation and disassembly are carried out between the fingers of the gripper and the adapter block, which effectively extends the service life of the three-jaw cylinder;
  • the cushion is equipped with a pressure sensing function. If the clamping force is too large or too small, an alarm will be given to avoid damage and slipping of the workpiece.
  • FIG. 1 is a three-dimensional assembly schematic diagram of a gripper connecting end of Embodiment 1 of a flexible jig for robots of the present invention.
  • Fig. 2 is a front plan view of Fig. 1.
  • FIG 3 is a schematic perspective assembly view of the floating gripper of Embodiment 1 of the flexible jig for robots of the present invention.
  • An automatic quick-changing robot-specific flexible fixture includes a gripper connection end and a floating gripper, one end of the gripper connection end is connected to the robot, and the other end is connected to the floating gripper through a robot gun change plate.
  • the connecting end of the gripper includes a short-circuit flange 101, a 3D visual connection plate 102, a 3D visual sensor 103 and a robot gun change plate 104.
  • the short-circuit flange 101 is composed of a short-circuit tube and two flanges connecting the two ends of the short-circuit tube, one of which is used to connect the sixth axis of the robot, and the other flange is fixedly connected to the 3D visual connection plate 102 by bolts .
  • the 3D vision connecting plate is substantially circular, and one side protrudes radially outward to form a sensor mounting part.
  • the sensor mounting part is provided with a 3D visual sensor.
  • the 3D visual sensor is used to identify the incoming position of the workpiece and transmit the signal to the robot.
  • the robot gun changer disk male plate 104 is installed on the side of the 3D visual connection plate 102 that is not connected to the flange short 101 by bolts, and the connection end of the gun changer disk male plate faces outward.
  • both the 3D vision sensor and the robot gun changing plate are existing technologies.
  • the EC-3D-M model 3D vision sensor is selected.
  • the floating gripper includes a robot gun changer disk master 201, a gun changer disk mounting plate 202, a spring 203, a spring guide post 204, a cylinder mounting plate 205, a three-jaw cylinder 206, an adapter block 207, and a gripper finger 208 And cushion 209.
  • the robot gun changing plate master 201 is mounted on the upper side of the gun changing plate mounting plate 202 by screws.
  • the body of the gun-changing disc mounting plate 202 is circular, and the sides of the circular mounting plate project radially outwards to form three uniformly distributed lugs 2011.
  • the lugs 2011 are provided with threaded blind holes along the thickness direction of the plate. The opening is set on the lower side of the lug.
  • the cylinder mounting plate 205 is provided with radial protrusions corresponding to the gun-changing disk mounting plate lugs 2011.
  • the radial protrusions are provided with light holes penetrating through the thickness of the plate.
  • the light holes correspond to the thread blind holes one by one.
  • the inner diameter is larger than the outer diameter of the spring guide post 204.
  • the spring guide post 204 has a cylindrical shape, and a threaded connection portion is provided at the upper end thereof.
  • the threaded connection portion is provided with an external thread.
  • the external thread is adapted to the internal thread of the thread blind hole of the lug 2011.
  • the spring 203 is sleeved on the spring guide post 204.
  • the upper end of the spring guide post 204 is threadedly connected to the lug 2011 and is locked and fixed by a nut 2031; the lower end of the spring guide post 204 slides through the light hole of the cylinder mounting plate 205 and extends to the cylinder Below the mounting plate 205, the upper end of the spring 203 abuts the gun plate mounting plate 202, and the lower end abuts the cylinder mounting plate 205.
  • the floating mechanism can move up and down along the direction of the spring guide column by spring force, so as to realize the floating connection of the robot gun changer disk master plate and the three-jaw cylinder.
  • the three-jaw cylinder 206 is mounted on the lower side of the cylinder mounting plate 205 by screws, and the three piston heads of the three-jaw cylinder 206 are distributed and connected to the three gripper fingers 208 through the adapter block 207.
  • the gripper finger 208 is substantially L-shaped, and the upper side of the gripper finger is a plane, and the plane protrudes outward to form a rectangular protrusion.
  • the adapter block 207 is a special-shaped block with a width matching the gripper finger 208, and the lower side is provided with a rectangular groove that penetrates forward and backward. The rectangular groove is suitable for the rectangular protrusion on the upper side of the gripper finger
  • the adapter block 207 and the grip finger 208 cooperate with each other through the groove and the protrusion to realize quick installation and positioning.
  • a buffer pad 209 is provided on the inner surface of the lower end of the gripper finger 208, and the buffer pad 209 is fixed to the inner surface of the lower end of the gripper finger by means of screws or bonding.
  • the inner side of the lower end of the gripper finger 208 is provided with a groove, and the cushion pad 209 is caught in the groove and fastened by screws.
  • a pressure sensor is provided in the cushion pad 209, and the pressure sensor is used to measure the pressure of grasping the workpiece.
  • the cushion pad 209 is made of an elastic material.
  • the cushion pad is made of a polyurethane material. In other embodiments, it may also be made of rubber, soft plastic, or the like.
  • the pressure sensor is of the prior art. In this embodiment, the PWFC-100 model is adopted.
  • the shape of the gripper finger is not limited to the shape in this embodiment, and a variety of gripper fingers that match the workpiece can be designed according to the type of the workpiece.
  • the gripper finger can be designed to be curved.
  • the robot When receiving material, the robot automatically determines the incoming material position of the workpiece and the type of gripper required through the 3D visual sensor 103, automatically adjusts the position and angle, matches the gun changer master 201, and grabs the workpiece. Because the floating mechanism has a certain buffer in the depth direction, when the error allows, even if the incoming worktable surface is uneven, the flexible mechanism of the workpiece can be realized by the floating mechanism during the gripping and unloading process .
  • the cushion has a pressure sensing function. When the pressure is too small, it will automatically alarm to prevent the workpiece from slipping. When the pressure is too large, it will automatically alarm to prevent the workpiece from being damaged. If there is no prompt, repeat the above actions until the production is completed.
  • the robot fixture is flexible and can adapt to different specifications of workpiece gripping, which can effectively solve the problem of matching the gripper and the workpiece, thereby improving the versatility of the gripper and improving the work efficiency.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种自动快换的机器人专用柔性夹具，包括抓手连接端及浮动抓手，抓手连接端的一端通过机器人连接法兰与机器人连接，另一端通过机器人换枪盘公盘（104）和母盘（201）配合与浮动抓手自由连接，浮动抓手还设有换枪盘安装板（202）、浮动机构、气缸安装板（205）、三爪气缸（206）及抓手手指（208），机器人换枪盘母盘（201）安装在换枪盘安装板（202）上，换枪盘安装板（202）通过浮动机构与气缸安装板（205）浮动连接，气缸安装板（205）上安装三爪气缸（206），三爪气缸（206）的活塞头连接抓手手指（208），抓手手指（208）用于夹持工件。机器人通过自动换枪盘切换不同的抓手匹配取料，解决抓手与工件的匹配问题及现有抓手不具备柔性的问题，提高抓手的通用性及夹持效果。

Description

一种自动快换的机器人专用柔性夹具 技术领域
本发明涉及工业机器人，具体涉及一种自动快换的机器人专用柔性夹具。
背景技术
随着机器人技术的飞速发展，工业机器人已广泛应用于各个领域。在机器人上下料作业中，通常采用机器人抓取工件自动上下料，以有效降低劳动强度，提高工作效率。针对形状较为复杂、多种规格的工件，需要根据工件的形状和大小进行分门别类地设计不同规格的抓手，机器人通过切换不同的抓手匹配取料。机器人抓手的专用性在一定程度上增加了抓手的规格和数量，同时由于机器人抓手不具有柔性，很难对工件进行有效夹持，无法满足自动化需求，造成了成本的提升，生产效率的降低。
发明内容
本发明的目的是提供一种自动快换的机器人专用柔性夹具，机器人通过自动换枪盘切换不同的抓手匹配取料，解决抓手与工件的匹配问题及现有抓手不具备柔性的问题，提高抓手的通用性及夹持效果。
为此，本发明采用的技术方案是：
一种自动快换的机器人专用柔性夹具，包括抓手连接端及浮动抓手，抓手连接端设有机器人连接法兰及机器人换枪盘公盘，浮动抓手设有机器人换枪盘母盘，抓手连接端的一端通过机器人连接法兰与机器人连接，另一端通过机器人换枪盘公盘和母盘配合与浮动抓手自由连接，所述浮动抓手还设有换枪盘安装板、浮动机构、气缸安装板、三爪气缸及抓手手指，机器人换枪盘母盘安装在换枪盘安装板上，换枪盘安装板通过浮动机构与气缸安装板浮动连接，气缸安装板上安装三爪气缸，三爪气缸的活塞头连接抓手手指，所述抓手手指用于夹持工件。
本申请的夹具可根据抓手的类型设置多组浮动抓手，每组浮动抓手配置一套同规格的换枪盘母盘，换枪盘公盘只需配置一套，换枪盘公盘和换枪盘母盘通过气控和电控自由连接，对于不同批次的工件更换不同的手指，即可实现多种类型工件的抓取。机器人换枪盘母盘与三爪气缸浮动连接，由于浮动机构有一定的缓冲，在误差允许的情况下，即使来料工作台面有凹凸不平的现象，在抓取过程和放料过程中均可通过浮动机构实现工件的柔性抓放。
进一步地，所述浮动机构包括弹簧及弹簧导柱；弹簧套装在弹簧导柱上，弹簧导柱的上端与换枪盘安装板固定连接，弹簧导柱的下端滑动穿过气缸安装板与气缸安装板滑动连接，弹簧的上端抵靠换枪盘安装板，弹簧的下端抵靠气缸安装板。
弹簧和弹簧导柱组成浮动机构，浮动机构可以沿着弹簧导柱方向依靠弹簧力上下移动，从而实现机器人换枪盘母盘与三爪气缸的浮动连接。
进一步地，所述三爪气缸通过转换块与抓手手指连接，转换块的上端通过螺栓与气缸活塞头连接，转换块的下端通过螺栓与抓手手指连接。转接块作为易损件可以随时更换，保护三爪气缸的螺纹孔不受损伤，延长气缸的使用寿命。
进一步地，所述转换块的下侧面与抓手手指的上侧面连接，转换块的下侧面与抓手手指的上侧面之间设有定位机构。更进一步地，所述定位机构为设置在转换块下侧面上的矩形凹槽及设置在抓手手指上侧面上的矩形凸起，所述矩形凹槽为通槽且与矩形凸起卡合连接。
定位机构可以实现抓手手指的快速安装及定位，提高效率。
进一步地，所述抓手手指的内侧面设有缓冲垫。更进一步地，所述缓冲垫内设有压力传感器，所述压力传感器用于测定抓取工件的压力大小。表面安装缓冲垫，避免工件表面划伤，缓冲垫带有压力传感功能，夹持力过大或过小均会报警，避免工件的损伤和滑落。
进一步地，所述抓手连接端还设有3D视觉连接板，3D视觉连接板的一侧面与机器人连接法兰连接，另一侧面与机器人换枪盘母盘连接，3D视觉连接板上设有3D视觉传感器，3D视觉传感器用于识别工件的来料位置并将信号传递给机器人。
机器人通过3D视觉传感器自动判断工件的来料位置和所需抓手的类型，自动进行位置和角度调整，自动匹配换枪盘母盘抓取工件，提高工作效率。
本发明的有益效果：
1、通过3D视觉传感器自动设别工件类型和来料位置，机器人自动进行位置和角度调整，自动匹配换枪盘母盘，工作效率高；
2、浮动机构在深度方向有一定的缓冲，在误差允许的情况下，即使来料工作台面有凹凸不平的情况，在抓取和放料过程中也可以通过浮动机构实现工件的柔性抓放动作，以免损伤工件；
3、更换不同的工件时，抓手也做相应的更换。新增了转接块，转接块上做了相应的限位，以保证抓手手指的位置精度。同时，安装拆卸均在抓手手指和转接块之间进行，有效延长了三爪气缸的使用寿命；
4、缓冲垫带有压力传感功能，夹持力过大或过小均会报警，避免工件的损伤和滑落。
附图说明
图1是本发明机器人专用柔性夹具的实施方式1的抓手连接端的立体装配示意图。
图2是图1的主视平面图。
图3是本发明机器人专用柔性夹具的实施方式1的浮动抓手的立体装配示意图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图及一种优选的实施方式对本发明的技术方案进行清楚、完整地描述。
实施方式1
一种自动快换的机器人专用柔性夹具，包括抓手连接端及浮动抓手，抓手连接端一端与机器人连接，另一端通过机器人换枪盘与浮动抓手连接。
参阅图1及图2，抓手连接端包括短接法兰101、3D视觉连接板102、3D视觉传感器103及机器人换枪盘公盘104。短接法兰101由一段短接管及连接短接管两端的两个法兰盘构成，其中一个法兰盘用于连接机器人第六轴，另一个法兰盘通过螺栓与3D视觉连接板102固定连接。3D视觉连接板大致呈圆形，一侧面径向向外凸出形成传感器安装部，传感器安装部上设有3D视觉传感器，3D视觉传感器用于识别工件的来料位置并将信号传递给机器人。机器人换枪盘公盘104通过螺栓安装在3D视觉连接板102上的不与法兰短接101连接的侧面上，换枪盘公盘的连接端朝外。
3D视觉传感器及机器人换枪盘均为现有技术，在本实施例中，选用EC-3D-M型号的3D视觉传感器。
参阅图3，浮动抓手包括机器人换枪盘母盘201、换枪盘安装板202、弹簧203、弹簧导柱204、气缸安装板205、三爪气缸206、转接块207、抓手手指208及缓冲垫209。
机器人换枪盘母盘201通过螺钉安装在换枪盘安装板202的上侧面。换枪盘安装板202本体呈圆形，圆形安装板的侧面径向向外凸出形成三只均匀分布的支耳2011，支耳2011内沿板厚方向开设有螺纹盲孔，螺纹盲孔的开口设于支耳的下侧面。气缸安装板205上设有与换枪盘安装板支耳2011相对应的径向凸起，径向凸起中开设有贯穿板厚的光孔，光孔与螺纹盲孔一一对应，光孔内径大于弹簧导柱204的外径。
弹簧导柱204呈圆柱状，其上端设有螺纹连接部，所述螺纹连接部设有外螺纹，所述外螺纹与支耳2011的螺纹盲孔的内螺纹适配。弹簧203套在弹簧导柱204上，弹簧导柱204的上端与支耳2011螺纹连接，且通过螺母2031锁紧固定；弹簧导柱204的下端滑动穿过气缸安装板205的光孔延伸至气缸安装板205的下方，弹簧203的上端抵靠换枪盘安装板202，下端抵靠气缸安装板205。浮动机构可以沿着弹簧导柱方向依靠弹簧力上下移动，从而实现机器人换枪盘母盘与三爪气缸的浮动连接。
三爪气缸206通过螺钉安装在气缸安装板205的下侧面，三爪气缸206的三个活塞头分布通过转接块207与三只抓手手指208连接。在本实施例中，抓手手指208大致呈L形，抓手手指的上侧面为一平面，所述平面向外凸出形成一矩形凸起。在本实施例中，转接块207为宽度与抓手手指208适配的异形块，其下侧面设有前后贯通的矩形凹槽，矩形凹槽与抓手手指上侧面的矩形凸起相适配，转接块207与抓手手指208通过凹槽与凸起配合实现快速安装及定位。
抓手手指208的下端的内侧面设有缓冲垫209，缓冲垫209通过螺钉或粘结的方式固定在抓手手指下端的内侧面上。在本实施例中，抓手手指208的下端的内侧面设有凹槽，缓冲垫209卡在凹槽内，且通过螺钉紧固。缓冲垫209内设有压力传感器，所述压力传感器用于测定抓取工件的压力大小。缓冲垫209由弹性材料制成，在本实施中，缓冲垫由聚氨酯材料 制成，在其他实施例中也可由橡胶、软质塑料等材料制成。压力传感器为现有技术，在本实施例中，采用选用PWFC-100型号。
需要说明的是抓手手指的形状不仅限于本实施例中的形状，根据工件的类型可以设计多种与工件匹配的抓手手指，例如可以将抓手手指设计为弧形。
下面以实施方式1的机器人专用柔性夹具为例说明本申请的工作方式：
根据需要设置多套浮动抓手，将抓手连接端通过短接法兰101连接到机器人第六轴上。来料时，机器人通过3D视觉传感器103自动判断工件的来料位置和所需抓手的类型，自动进行位置和角度调整，匹配换枪盘母盘201，抓取工件。由于浮动机构在深度方向有一定的缓冲，在误差允许的情况下，即使来料工作台面有凹凸不平的情况，在抓取过和放料过程中均可以通过浮动机构实现工件的柔性抓放动作。缓冲垫带有压力传感功能，当压力过小时，为防止工件滑落，自动报警，当压力过大时，为防止损伤工件，自动报警。若无提示，重复以上动作直至生产完成。
该机器人夹具具有柔性，可适应不同规格的工件抓取，可有效解决抓手与工件的匹配问题，从而提高了抓手的通用性，提高了工作效率。
以上说明书中未做特别说明的部分均为现有技术，或者通过现有技术既能实现。

Claims (8)

  1. 一种自动快换的机器人专用柔性夹具，包括抓手连接端及浮动抓手，其特征在于，抓手连接端设有机器人连接法兰及机器人换枪盘公盘，浮动抓手设有机器人换枪盘母盘，抓手连接端的一端通过机器人连接法兰与机器人连接，另一端通过机器人换枪盘公盘和母盘配合与浮动抓手自由连接，所述浮动抓手还设有换枪盘安装板、浮动机构、气缸安装板、三爪气缸及抓手手指，机器人换枪盘母盘安装在换枪盘安装板上，换枪盘安装板通过浮动机构与气缸安装板浮动连接，气缸安装板上安装三爪气缸，三爪气缸的活塞头连接抓手手指，所述抓手手指用于夹持工件。
  2. 如权利要求1所述的机器人专用柔性夹具，其特征在于，所述浮动机构包括弹簧及弹簧导柱；弹簧套装在弹簧导柱上，弹簧导柱的上端与换枪盘安装板固定连接，弹簧导柱的下端滑动穿过气缸安装板与气缸安装板滑动连接，弹簧的上端抵靠换枪盘安装板，弹簧的下端抵靠气缸安装板。
  3. 如权利要求1所述的机器人专用柔性夹具，其特征在于，所述三爪气缸通过转换块与抓手手指连接，转换块的上端通过螺栓与气缸活塞头连接，转换块的下端通过螺栓与抓手手指连接。
  4. 如权利要求3所述的机器人专用柔性夹具，其特征在于，所述转换块的下侧面与抓手手指的上侧面连接，转换块的下侧面与抓手手指的上侧面之间设有定位机构。
  5. 如权利要求4所述的机器人专用柔性夹具，其特征在于，所述定位机构为设置在转换块下侧面上的矩形凹槽及设置在抓手手指上侧面上的矩形凸起，所述矩形凹槽为通槽且与矩形凸起卡合连接。
  6. 如权利要求1所述的机器人专用柔性夹具，其特征在于，所述抓手手指的内侧面设有缓冲垫。
  7. 如权利要求6所述的机器人专用柔性夹具，其特征在于，所述缓冲垫内设有压力传感器，所述压力传感器用于测定抓取工件的压力大小。
  8. 如权利要求1所述的机器人专用柔性夹具，其特征在于，所述抓手连接端还设有3D视觉连接板，3D视觉连接板的一侧面与机器人连接法兰连接，另一侧面与机器人换枪盘母盘连接，3D视觉连接板上设有3D视觉传感器，3D视觉传感器用于识别工件的来料位置并将信号传递给机器人。
PCT/CN2019/086543 2018-12-07 2019-05-13 一种自动快换的机器人专用柔性夹具 WO2020113906A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811493450.3 2018-12-07
CN201811493450.3A CN109773812A (zh) 2018-12-07 2018-12-07 一种自动快换的机器人专用柔性夹具

Publications (1)

Publication Number Publication Date
WO2020113906A1 true WO2020113906A1 (zh) 2020-06-11

Family

ID=66496807

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/086543 WO2020113906A1 (zh) 2018-12-07 2019-05-13 一种自动快换的机器人专用柔性夹具

Country Status (2)

Country Link
CN (1) CN109773812A (zh)
WO (1) WO2020113906A1 (zh)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110253627B (zh) * 2019-06-10 2021-05-07 浙江吉利控股集团有限公司 一种安全检测开关自适应安装机构及抓具设备
CN111687878B (zh) * 2020-06-03 2023-10-31 杭州浙达精益机电技术股份有限公司 机器手浮动自适应结构装置
CN112692533B (zh) * 2020-12-16 2022-02-01 杭州徐睿机械有限公司 一种机器人浮取固持纠偏精投机构及其操作方法
CN114147753B (zh) * 2021-11-19 2024-05-17 博众精工科技股份有限公司 一种电池模组上料夹爪
CN114407060B (zh) * 2022-02-21 2023-08-22 河南科技大学 用于圆柱类零件外径气动测量的主被动柔顺机械手装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006009559B3 (de) * 2006-02-28 2007-05-31 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Greifervorrichtung sowie Verfahren zu deren Herstellung
CN205236269U (zh) * 2015-12-07 2016-05-18 广州朗高科技有限公司 一种喷涂机器人的换枪机构
CN107097257A (zh) * 2017-05-25 2017-08-29 上海松科快换自动化股份有限公司 换枪盘
CN107175681A (zh) * 2017-06-27 2017-09-19 武汉库柏特科技有限公司 一种柔性三指构型机械手
CN107309897A (zh) * 2017-02-24 2017-11-03 苏州柔触机器人科技有限公司 一种带缓冲功能的柔性机械手

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006009559B3 (de) * 2006-02-28 2007-05-31 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Greifervorrichtung sowie Verfahren zu deren Herstellung
CN205236269U (zh) * 2015-12-07 2016-05-18 广州朗高科技有限公司 一种喷涂机器人的换枪机构
CN107309897A (zh) * 2017-02-24 2017-11-03 苏州柔触机器人科技有限公司 一种带缓冲功能的柔性机械手
CN107097257A (zh) * 2017-05-25 2017-08-29 上海松科快换自动化股份有限公司 换枪盘
CN107175681A (zh) * 2017-06-27 2017-09-19 武汉库柏特科技有限公司 一种柔性三指构型机械手

Also Published As

Publication number Publication date
CN109773812A (zh) 2019-05-21

Similar Documents

Publication Publication Date Title
WO2020113906A1 (zh) 一种自动快换的机器人专用柔性夹具
US11485010B2 (en) Adapter system for connecting the last element of a kinematic chain to a handling device
CN109262635B (zh) 一种机械臂末端执行器
CN214350747U (zh) 一种能自动吸附螺丝组合的螺丝锁付机
CN113020958A (zh) 一种用于螺丝自动上料的六轴机器人装置
CN117415667A (zh) 一种基于多道密封圈夹持的管接头专用装夹夹爪
CN106141785B (zh) 机械手的力偶式伸缩夹持装置
CN218802340U (zh) 一种机械手工装夹具
CN109702226B (zh) 手爪装置
CN112846731B (zh) 一种能自动吸附螺丝组合的螺丝锁付机
CN214326144U (zh) 一种工件自动化上下料装置
CN215699823U (zh) 一种夹持机构
CN210551292U (zh) 一种组合式执行机构、机械臂及机器人
CN110977587B (zh) 一种数控机床用机械臂
CN210361352U (zh) 一种机器人抓手
CN209970223U (zh) 转向器壳体专用卡爪
CN216067506U (zh) 上下料抓手
CN220807432U (zh) 一种防脱料的上下料机器人
CN217318056U (zh) 一种机械臂末端执行器
CN209599240U (zh) 一种自动快换的机器人专用柔性夹具
CN218173861U (zh) 一种辅助定位上料装置
CN215201989U (zh) 一种新型机器人手臂夹持液压送料机械手
CN221539036U (zh) 一种机床上下料的机器人手爪
CN219310759U (zh) 一种电气机械设备的气动夹具
CN219189278U (zh) 回转体装配装置和回转体装配设备

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19892069

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19892069

Country of ref document: EP

Kind code of ref document: A1