WO2021017535A1 - Dispositif de maintien pour robot industriel et procédé de maintien - Google Patents

Dispositif de maintien pour robot industriel et procédé de maintien Download PDF

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Publication number
WO2021017535A1
WO2021017535A1 PCT/CN2020/085353 CN2020085353W WO2021017535A1 WO 2021017535 A1 WO2021017535 A1 WO 2021017535A1 CN 2020085353 W CN2020085353 W CN 2020085353W WO 2021017535 A1 WO2021017535 A1 WO 2021017535A1
Authority
WO
WIPO (PCT)
Prior art keywords
rod
sliding
clamping
industrial robot
clamping rod
Prior art date
Application number
PCT/CN2020/085353
Other languages
English (en)
Chinese (zh)
Inventor
李钰
唐鹏宝
Original Assignee
南京涵铭置智能科技有限公司
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 南京涵铭置智能科技有限公司 filed Critical 南京涵铭置智能科技有限公司
Publication of WO2021017535A1 publication Critical patent/WO2021017535A1/fr

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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
    • B25J15/0019—End effectors other than grippers

Definitions

  • the invention relates to the technical field of industrial machinery and equipment, in particular to a clamping device and a clamping method for industrial robots.
  • An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device oriented to the industrial field. It can automatically perform work and is a machine that realizes various functions by its own power and control capabilities. It can be commanded by humans or run according to pre-arranged programs. Modern industrial robots can also act according to the principles and guidelines formulated by artificial intelligence technology. Industrial robots need to use clamping devices in the processing process. The existing clamping devices It is inconvenient to adjust, such as the clamping range and clamping force.
  • the existing patent publication number CN209036552U proposes a clamping device for industrial robots.
  • the device is equipped with an arc-shaped metal strip and a rectangular sleeve to facilitate the adjustment of the elongation length of the arc-shaped metal strip and the adjustment of the clamp.
  • the holding range, simple operation, matched with the arc-shaped bracket set, combined with the rod-type pressure transmitter and the proximity sensor, the automation degree of the device is improved, and it is convenient to check the clamping force.
  • the device still needs to check the clamping force. Perform pre-positioning, otherwise the device will still not be able to grip the object.
  • the purpose of the present invention is to provide a clamping device and a clamping method for an industrial robot, so as to solve the problems raised in the background art.
  • a clamping device for an industrial robot comprising a body, the body is a circular block, a guide vertebral body with a tip facing downwards is coaxially arranged at the middle position of the lower end of the body, and a plurality of sliding grooves are distributed in an array on the upper and lower end faces of the body ,
  • the sliding groove is slidably fitted with a sliding piece, the upper end of the sliding piece is vertically provided with an upper fixing rod, and the upper fixing rod is connected with a drive assembly for driving it to slide along the sliding groove, and the lower end of the sliding piece is provided with Lower fixed rod
  • the outer side of the lower end of the lower fixed rod is provided with side rods arranged toward the axis of the body, and the inner end of each side rod is provided with a sliding hole and a sliding rod that is slidably fitted in the sliding hole.
  • the end of the sliding rod is provided with a longitudinal sliding sleeve, the longitudinal sliding sleeve and the side rod are connected and fixed by a horizontal return spring, and the longitudinal sliding sleeve is slidably fitted with a top
  • the clamping rod against the guiding vertebral body is provided with fixed blocks on the left and right sides of the clamping rod.
  • the fixed blocks and the longitudinal sliding sleeve are connected by a longitudinal return spring. Under the action of the longitudinal return spring, the clamping rod The top abuts against the inclined surface of the guiding vertebral body, and the lower end of the clamping rod is provided with a rotating cavity and a rolling ball fitted therein;
  • the inner end of the side rod is provided with a friction limit block for pressing the upper end of the clamping rod to limit the clamping rod to slide up and down along the longitudinal sliding sleeve.
  • the friction limit block and the clamping rod are both provided with corresponding anti-skid protrusions.
  • the limiting component includes a limiting protrusion arranged on the outer side of the sliding rod and a limiting groove arranged on the inner wall of the sliding hole.
  • the drive assembly includes a drive motor arranged in the middle position of the upper end of the main body, the output end of the drive motor is provided with a rotating disk arranged coaxially with the main body, and a plurality of arrays are distributed on the outer side of the upper end of the rotating disk.
  • One drive rod, one end of the drive rod is rotatably connected to the drive rod, the other end of the drive rod is rotatably connected to the upper fixed rod, and both ends of the drive rod are rotatably connected with the upper fixed rod and the drive rod through fixed bearings .
  • the sliding member includes a connecting plate that is slidingly fitted with the sliding groove, and an upper sliding plate arranged on the upper end of the connecting plate in sliding contact with the upper end surface of the body, and the lower end of the connecting plate is provided with sliding contact with the lower end surface of the body The lower sliding plate.
  • both sides of the lower sliding plate and the upper sliding plate are provided with rollers against the surface of the body.
  • the upper end of the clamping rod is rotated by a fixed shaft and is provided with a guide wheel that abuts against the guiding vertebra.
  • an anti-slip layer is provided on the surface of the shaft of the clamping rod close to the ball, and the connection between the lower end of the anti-slip layer and the shaft is a tapered structure.
  • a clamping method of a clamping device for an industrial robot including the following steps:
  • Step 1 Place the device on top of the object, and then use the feed mechanism to move the device downwards, so that the ball at the lower end of the clamping rod is against the surface of the object, and then continue to move the entire device down, and the object will produce the clamping rod A reaction force. Under the action of this force, the top of the clamping rod will slide around along the guiding vertebral body. At this time, all the clamping rods will radiate and spread out along the axis of the guiding vertebral body to expand the clamping. The clamping range of the rod, as the whole device continues to descend, until the lower end of the clamping rod will all move to the outside of the object;
  • Step 2 Drive the sliding part to gather in the middle through the drive assembly.
  • the lower fixed rod will drive the side rods to gather in the middle, and then generate a thrust on the clamping rod through the horizontal return spring, so that the multiple clamping rods will produce an object The force of the package until the friction limit block on the side rod presses the upper end of the clamping rod, thereby completing the clamping of the object.
  • the present invention improves on the drawbacks of the existing device, and designs a clamping device that can automatically find the clamping boundary without pre-positioning the object to be clamped, thereby eliminating the setting of predetermined position components and reducing the cost. Simplified clamping equipment, strong practicability.
  • Figure 1 is a schematic diagram of the structure of the present invention.
  • Figure 2 is a top view of the structure of the present invention.
  • Figure 3 is a schematic view of the structure of the sliding member of the present invention.
  • Figure 4 is a schematic diagram of the structure of a regular object clamped by the present invention.
  • Figure 5 is a schematic diagram of the structure of the irregular object clamped by the present invention.
  • body 1 sliding member 2, lower fixed rod 3, side rod 4, pressure sensor 5, sliding hole 6, sliding rod 7, horizontal return spring 8, ball 9, anti-slip layer 10, clamping rod 11, guide wheel 12 , Guide cone 13, rotating disc 14, upper fixed rod 15, transmission rod 16, drive motor 17, friction limit block 18, longitudinal sliding sleeve 113, longitudinal return spring 112, fixed block 111, sliding groove 101, upper sliding plate 21.
  • a clamping device for an industrial robot includes a body 1, the body 1 is a circular block, and the center of the lower end of the body 1 is coaxially provided with a tip facing downward
  • the guide vertebral body 13 the upper and lower end faces of the main body 1 are arrayed with a plurality of sliding grooves 101, the sliding grooves 101 are slidably fitted with a sliding member 2, and the upper end of the sliding member 2 is vertically provided with an upper fixing rod 15, and the upper
  • the fixed rod 15 is connected to a drive assembly for driving it to slide along the sliding groove 101, and the lower end of the sliding member 2 is provided with a lower fixed rod 3;
  • the outer side of the lower end of the lower fixed rod 3 is provided with a side rod 4 arranged toward the axis of the body, and the inner end of each side rod 4 is provided with a sliding hole 6 and a sliding rod 7 slidably fitted in the sliding hole 6.
  • the sliding rod 7 A limit component is provided between the sliding hole 6 and the sliding hole 6 to limit the relative rotation of the two.
  • the end of the sliding rod 7 is provided with a longitudinal sliding sleeve 113, and a horizontal return spring 8 is passed between the longitudinal sliding sleeve 113 and the side rod 4.
  • the longitudinal sliding sleeve 113 is slidably fitted with a clamping rod 11 with the top abutting the guiding vertebra 13, and the clamping rod 11 is provided with fixed blocks 111 on the left and right sides, and the fixed block 111 and the longitudinal sliding sleeve 113 are connected by a longitudinal return spring 112. Under the action of the longitudinal return spring 112, the top of the clamping rod 11 abuts against the inclined surface of the guiding vertebral body 13, and the lower end of the clamping rod 11 is provided with a rotating cavity and a rolling ball fitted therein. 9;
  • the inner end of the side rod 4 is provided with a friction limit block 18 for pressing the upper end of the clamping rod 11 to limit the clamping rod 11 sliding up and down along the longitudinal sliding sleeve 113, the friction limit block 18 and the clamping rod 11 Corresponding non-slip protrusions are provided on the upper part.
  • the friction limit block 18 and the clamping rod 11 are pressed and contacted, thereby generating static friction force, which restricts the clamping rod 11 Longitudinal freedom.
  • the object will produce a reaction force on the clamping rod 11, and under the action of the force, the top of the clamping rod 11 Will slide around along the guiding vertebral body 13, at this time all the clamping rods 11 will radiate to the surroundings along the axis of the guiding vertebral body 13, thereby expanding the clamping range of the clamping rod 11, as the entire device continues
  • the lower end of the clamping rod 11 will all move to the outside of the object, and then the sliding member 2 will be brought together by the drive assembly.
  • the lower fixed rod 3 will drive the side rod 4 to gather in the middle, and then the horizontal return spring 8 will clamp The holding rod 11 generates a thrust, so that the multiple holding rods 11 generate a force to wrap the object until the friction limit block 18 on the side rod 4 presses the upper end of the holding rod 11 to contact;
  • the limit component includes a limit protrusion provided on the outer side of the sliding rod 7 and a limit groove provided on the inner wall of the sliding hole 6. The cooperation of the limit groove and the limit protrusion enables the sliding rod 7 to slide along The hole 6 slides, but it cannot rotate inside the sliding hole 6;
  • the driving assembly includes a driving motor 17 arranged in the middle position of the upper end of the main body 1.
  • the output end of the driving motor 17 is provided with a rotating disk 14 arranged coaxially with the main body 1, and a plurality of arrays are distributed on the outer side of the upper end of the rotating disk 14
  • a driving rod one end of the driving rod is rotatably connected to the transmission rod 16, the other end of the transmission rod 16 is rotatably connected to the upper fixed rod 15, and both ends of the transmission rod 16 pass between the upper fixed rod 15 and the driving rod
  • the fixed bearing is rotatably connected.
  • the drive motor 17 drives the rotating disk 14 to rotate.
  • the drive rod on the rotating disk 14 applies a thrust or pulling force to the sliding member 2 through the transmission rod 16, thereby driving the sliding member 2 to slide along the sliding groove 101 on the body 1. ;
  • the sliding member 2 includes a connecting plate 22 slidably fitted with the sliding groove 101 and an upper sliding plate 21 arranged at the upper end of the connecting plate 22 and slidingly contacted with the upper end surface of the body 1, and the lower end of the connecting plate 22 is provided with a lower end surface sliding with the body 1.
  • the connecting plate 22, the upper sliding plate 21 and the lower sliding plate 23 are all in contact with the body 1, thereby ensuring the sliding stability of the sliding member 2.
  • the lower sliding plate 23 and the upper sliding plate 21 are provided with rollers that abut the surface of the body 1 through the rollers to contact the body 1 to slide between the components.
  • the friction is converted into rolling friction, which greatly reduces the wear between components and increases the service life of the components.
  • the upper end of the clamping rod 11 is rotated by a fixed shaft and is provided with a guide wheel 12 that is opposed to the guiding vertebra 13, and the clamping rod
  • the sliding friction between the top of the 11 and the guiding vertebra 13 is converted into rolling friction, thereby reducing the resistance to the movement of the clamping rod 11 and helping to improve the sensitivity of the clamping operation of the device.
  • the surface of the shaft of the clamping rod 11 close to the ball 9 is provided with a non-slip layer 10, and the connection between the lower end of the non-slip layer 10 and the shaft has a tapered structure.
  • the configuration of the shape structure facilitates the surface of the object to slide upward along the clamping rod 11, eliminating the resistance caused by the step.
  • the sliding hole 6 is provided with a pressure sensor 5 used to resist the end of the sliding rod 7, and the pressure sensor 5 is connected to the sliding hole 6 through an elastic member.
  • the pressure sensor 5 can be used for preliminary analysis of the force of the clamping rod 11 to clamp the object. Detection.

Landscapes

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

Abstract

L'invention concerne un dispositif de maintien pour un robot industriel et un procédé de maintien. Le dispositif comprend un corps principal qui est un bloc circulaire. Un élément cône de guidage ayant une extrémité pointue orientée vers le bas est disposé de manière coaxiale au niveau d'une position centrale d'une extrémité inférieure du corps principal. De multiples canaux coulissants sont répartis sur une surface d'extrémité supérieure et inférieure du corps principal selon un réseau, des éléments coulissants sont montés coulissants dans les canaux coulissants et les extrémités supérieures des éléments coulissants sont pourvues verticalement de tiges de fixation supérieures. Les tiges de fixation supérieures sont reliées à un ensemble d'entraînement qui entraîne la tige à coulisser le long des canaux de coulissement. Des extrémités inférieures des éléments coulissants sont pourvues de tiges de fixation inférieures. La présente invention fournit des améliorations ciblées aux inconvénients des dispositifs existants et la conception du dispositif de maintien lui permet de trouver automatiquement une limite de maintien, ce qui permet d'éliminer une configuration de position préliminaire qui serait nécessaire pour un objet à maintenir, de réduire les coûts pour fournir des composants pour un positionnement préliminaire, de simplifier les appareils de maintien et d'obtenir une aptitude à la mise en œuvre supérieure.
PCT/CN2020/085353 2019-07-29 2020-04-17 Dispositif de maintien pour robot industriel et procédé de maintien WO2021017535A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910689434.XA CN110328681B (zh) 2019-07-29 2019-07-29 一种工业机器人用夹持装置及夹持方法
CN201910689434.X 2019-07-29

Publications (1)

Publication Number Publication Date
WO2021017535A1 true WO2021017535A1 (fr) 2021-02-04

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Application Number Title Priority Date Filing Date
PCT/CN2020/085353 WO2021017535A1 (fr) 2019-07-29 2020-04-17 Dispositif de maintien pour robot industriel et procédé de maintien

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CN (2) CN110328681B (fr)
WO (1) WO2021017535A1 (fr)

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Publication number Priority date Publication date Assignee Title
CN110328681B (zh) * 2019-07-29 2020-04-14 南京涵铭置智能科技有限公司 一种工业机器人用夹持装置及夹持方法
CN112109130B (zh) * 2020-11-23 2021-02-09 山东艾泰克环保科技股份有限公司 一种空滤器总成外壳夹紧加工装置
CN112692855B (zh) * 2020-12-14 2022-08-02 珠海格力智能装备有限公司 夹具
CN113562445B (zh) * 2021-08-17 2022-11-29 南通辰同智能科技有限公司 上下料并行式轴承滚子超声液浸检测结构
CN113618630B (zh) * 2021-08-23 2022-03-11 深圳市鸿琪祥五金工艺品有限公司 一种可调式金属工艺品加工用夹持装置及方法
CN113635190B (zh) * 2021-08-23 2022-06-17 深圳市鸿琪祥五金工艺品有限公司 一种球状金属工艺品表皮处理装置及方法
CN113666106B (zh) * 2021-08-24 2022-11-08 常州大学 一种高稳定性坩埚输送机械爪
CN115626453B (zh) * 2022-08-22 2023-05-23 盐城工学院 一种基于工业机器人的自动上下料生产系统
CN115122010B (zh) * 2022-08-31 2022-11-25 江苏强弘阀门有限公司 一种生产阀门用焊接设备
CN115447686B (zh) * 2022-10-19 2024-04-19 中国热带农业科学院农业机械研究所 一种果轴自适应夹持机构及转运车

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US5762391A (en) * 1993-10-22 1998-06-09 Sez Semiconductor-Equipment Zubehor Fur Die Halbleiterfertigung Gesellschaft M.B.H. Gripper for disk-shaped articles
CN201017866Y (zh) * 2007-02-06 2008-02-06 广东省粤晶高科股份有限公司 晶体管排片预热机的送片器的抓手
CN203792350U (zh) * 2014-04-24 2014-08-27 重庆社平科技有限公司 连杆滑块式机械爪
CN204585238U (zh) * 2015-04-25 2015-08-26 夏怡 一种夹持装置
CN110000802A (zh) * 2019-04-29 2019-07-12 南京理工大学 一种向心闭合式夹持机械爪
CN110328681A (zh) * 2019-07-29 2019-10-15 南京涵铭置智能科技有限公司 一种工业机器人用夹持装置及夹持方法

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TWI611885B (zh) * 2017-04-07 2018-01-21 上銀科技股份有限公司 具垂直提昇工件功能的夾爪

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3322142A1 (de) * 1983-06-20 1984-12-20 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Greifer fuer einen industrieroboter
US5762391A (en) * 1993-10-22 1998-06-09 Sez Semiconductor-Equipment Zubehor Fur Die Halbleiterfertigung Gesellschaft M.B.H. Gripper for disk-shaped articles
CN201017866Y (zh) * 2007-02-06 2008-02-06 广东省粤晶高科股份有限公司 晶体管排片预热机的送片器的抓手
CN203792350U (zh) * 2014-04-24 2014-08-27 重庆社平科技有限公司 连杆滑块式机械爪
CN204585238U (zh) * 2015-04-25 2015-08-26 夏怡 一种夹持装置
CN110000802A (zh) * 2019-04-29 2019-07-12 南京理工大学 一种向心闭合式夹持机械爪
CN110328681A (zh) * 2019-07-29 2019-10-15 南京涵铭置智能科技有限公司 一种工业机器人用夹持装置及夹持方法

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Publication number Publication date
CN110328681A (zh) 2019-10-15
CN111590612A (zh) 2020-08-28
CN110328681B (zh) 2020-04-14

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