WO2022016952A1 - 一种器件放置装置 - Google Patents

一种器件放置装置 Download PDF

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Publication number
WO2022016952A1
WO2022016952A1 PCT/CN2021/091892 CN2021091892W WO2022016952A1 WO 2022016952 A1 WO2022016952 A1 WO 2022016952A1 CN 2021091892 W CN2021091892 W CN 2021091892W WO 2022016952 A1 WO2022016952 A1 WO 2022016952A1
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WO
WIPO (PCT)
Prior art keywords
placing
placement
elastic
positioning
component
Prior art date
Application number
PCT/CN2021/091892
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English (en)
French (fr)
Inventor
赵荣彪
樊则森
苏世龙
雷俊
贺佳文
卜磊
Original Assignee
中建科技集团有限公司深圳分公司
中建科技集团有限公司
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Application filed by 中建科技集团有限公司深圳分公司, 中建科技集团有限公司 filed Critical 中建科技集团有限公司深圳分公司
Publication of WO2022016952A1 publication Critical patent/WO2022016952A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H3/00—Storage means or arrangements for workshops facilitating access to, or handling of, work tools or instruments

Definitions

  • the present application relates to the technical field of device storage, and in particular, to a device placement device.
  • Robots are more and more widely used in different occasions, for example, in logistics sorting, factory assembly line operations, etc. Robots usually complete specific operation tasks through their end effectors. In order to complete different operation tasks, robots need to replace different end effectors.
  • One of the purposes of the embodiments of the present application is to provide a device placement device, which aims to solve how to place different types of end effectors, so as to save placement space, facilitate the placement of end effectors, and make placement more stable and reliable. problem.
  • a device placing device comprising: a first placing part, a second placing part, and a supporting part, the second placing part is an elastic part, and both the first placing part and the second placing part are installed on the on the support member;
  • the end of the supporting member is supported on the supporting surface, and two different ends of the device to be placed are respectively placed on the first placing member and the second placing member, so
  • the second placing component adjusts the posture of the device to be placed under the action of its own elastic deformation, so that the device to be placed is placed in a balanced manner without tipping over.
  • the second placing member includes: an elastic member, a placing member
  • One end of the elastic piece is fixed on the support member, and the other end of the elastic piece is fixedly connected to the placing piece;
  • the device placing device When the device placing device is in use, two different ends of the device to be placed are placed on the first placing part and the placing part respectively, and the placing part is under the action of the elastic deformation of the elastic part itself The posture of the device to be placed is adjusted so that the device to be placed is placed in a balanced manner without tipping over.
  • the state of the elastic member when the device to be placed is not placed, the state of the elastic member may be a compressed state.
  • the device placement device further comprises: a positioning part
  • the positioning member is connected to the first placing member, and the positioning member protrudes from a placing surface of the first placing member for placing the device to be placed;
  • the positioning member of the device to be placed cooperates with the positioning member, so that the device to be placed is placed at a specific position on the first placement member.
  • the positioning member is a positioning pin
  • the shape of the positioning pin is a cone
  • the diameter of one end of the positioning pin away from the first placing member is smaller than the diameter of the other end, which is convenient for the placing member to just contact It is easy to locate and guide.
  • the first placement member is located above the second placement member.
  • an edge of the placing surface of the first placing member for placing the device to be placed is provided with a card slot penetrating the first placing member
  • one end of the device to be placed is clamped on the upper surface of the card slot, and the other end of the device to be placed is protruded from the lower surface of the card slot and placed on the second placing member .
  • the device placement device further comprises: a guide member mounted on the support member;
  • the device placing device When the device placing device is in use, one end of the device to be placed is clamped on the upper surface of the card slot, and the guiding component guides the device to be placed placed on the first placing component.
  • the device placement device further includes: a pressure sensor installed on a placement surface of the first placement part for placing the device to be placed;
  • the pressure sensor is used to detect the pressure of the device to be placed placed on the first placement part on the first placement part, and then to detect whether the device to be placed is placed in place and smoothly.
  • the first placing member is a plate-like structure.
  • the beneficial effect of the device placement device is that: when the device placement device is in use, the end of the support member is supported on the support surface, and the two different ends of the device to be placed are placed on the first placement member, the second On the second placing part, since the second placing part is an elastic part, when the device to be placed is placed on the second placing part, the second placing part can adjust the posture of the device to be placed under the action of its own elastic deformation, so that the device to be placed can be adjusted.
  • the device is balanced without tipping over.
  • the posture of the device to be placed is adjusted by the second placing part, so that the device to be placed is placed in a balanced manner without tipping over, and the pressure of the end effector on the first placing part can also be shared by the second placing part , so that the weight distribution of the end effector is applied to the two placement parts, reducing the damage of the device placement device due to heavy pressure.
  • the device placement device provided in this application can place different types of end effectors, which saves placement space, facilitates placement of end effectors, and makes placement more stable and reliable.
  • the specific position of the device can also better meet the repeatability requirements of the robot end effector during quick change.
  • FIG. 1 is a schematic diagram of a device placement device provided by an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of the device placement device provided by the embodiment of the present application when a device to be placed is placed;
  • FIG. 3 is an enlarged schematic view of the position A of FIG. 2 .
  • Some embodiments of the present application provide a device placement device.
  • the device placement device provided by the present application can be used to place the end effector of a robot, and can also be used to place other devices, such as other parts of the robot and tooling of equipment. , product parts, etc. This application does not limit the application scenarios of the device placement device.
  • the device placement device includes: a first placement part 10 , a second placement part 20 , a support part 30 , the second placement part 20 is an elastic part, the first placement part 10 , the second placement part 20
  • the placing members 20 are each mounted on the supporting member 30 .
  • the end of the support member 30 is supported on the support surface, and two different ends of the device 40 to be placed are placed on the first placement member 10, the second placement member 20, and the second placement member 20 respectively.
  • the posture of the device 40 to be placed is adjusted under the action of its own elastic deformation, so that the device 40 to be placed is placed in a balanced manner without tipping over.
  • the above-mentioned first placing member 10 may be a plate-like structure, a frame structure, a block-like structure, etc., or may be other structures that can be used for placing devices, which are not specifically limited in this application.
  • the first placement component 10 can be a plate-like structure, and the material of the plate-like structure can be steel, It can also be other materials with better rigidity.
  • the thickness of the plate-like structure can be set according to the strength requirements of the placed device.
  • the thickness of the plate-like structure in this embodiment can be 10-15 mm, and the plate surface
  • the shape can be designed according to the structural shape of the device to be placed.
  • the plate surface of the plate-like structure can be designed to meet the shapes of various devices at the same time, so that the device placement device can place multiple devices at the same time. A variety of devices, so that the device placement device has a wider range of applications.
  • Those skilled in the art can determine the specific structural shape and material selection of the first placing member 10 according to actual needs, which is not specifically limited in this application.
  • the second placing part 20 is an elastic part, if the device 40 to be placed is placed on the second placing part 20 , the second placing part 20 can be elastically deformed, so that the posture of the device 40 to be placed follows the position of the second placing part 20 It deforms and changes, and finally reaches a state of equilibrium.
  • the second placing component 20 may be a rubber plate, a rubber block, a plate-like structure supported by a spring, or may be other components that can undergo elastic and plastic deformation.
  • the above-mentioned supporting member 30 may be a structural member such as a supporting frame, a supporting plate, a supporting column, a supporting block, etc., or may be other components capable of supporting an object, and the specific structure of the supporting member 30 is not limited.
  • the support member 30 may be a support frame, so as to make the device placement member more reasonable in structure, lighter in weight, and more stable in support.
  • the support frame can be made of aluminum profiles.
  • the aluminum profiles can be 40mm x 40mm aluminum profiles or other sizes of aluminum profiles.
  • the specific size is not limited.
  • the support frame is constructed of aluminum materials, which can make the supporting components
  • the 30 is light, strong and stable.
  • the material of the support frame can also be other materials with better strength and rigidity.
  • the first placing member 10 and the second placing member 20 may be installed at the ends of the supporting member 30 or at the middle of the supporting member 30 . After the first placing member 10 and the second placing member 20 are installed on the supporting member 30, they can be used to place the device 40 to be placed, and the specific installation positions are not limited. In the present application, the first placing member 10 and the second placing member 20 are installed at the end of the supporting member 30, which can make the utilization rate of the supporting member 30 higher and the structure of the device placing device more reasonable. In a specific embodiment, the first placing member 10 and the second placing member 20 can be fixed on the supporting member 30. Specifically, the first placing member 10 and the second placing member 20 can be connected by screwing, riveting, welding, etc. It is fixed to the support member 30 .
  • the first placing member 10 may be located above the second placing member 20 , specifically, the end of the supporting member 30 may be stepped.
  • the placing parts 20 may be respectively installed on steps of different heights at the end of the supporting part 30 , so that the first placing part 10 is located above the second placing part 20 .
  • the connection end of the cantilever type end effector for connecting with the robot body may be Placed on the upper surface of the first placement part 10 , the working end of the cantilever-type end effector may be placed on the second placement part 20 .
  • the edge of the placement surface of the first placement member 10 on which the device 40 to be placed is placed is provided with a slot 11 penetrating through the first placement member 10 .
  • one end of the device 40 to be placed is clamped on the upper surface of the card slot 11 , and the other end of the device 40 to be placed protrudes from the lower surface of the card slot 11 and then placed on the second place. part 20. In this way, device placement is easier.
  • the edge of the placement surface of the first placement member 10 is provided with a plurality of card slots 11 penetrating through the first placement member 10 , so as to simultaneously place a plurality of devices 40 to be placed.
  • the device placement device may include a plurality of second placement parts 20, so that the device placement device can simultaneously place a plurality of devices to be placed 40.
  • the second placing part 20 performs load equalization to prevent the device to be prevented from compressing and deforming the device placing device.
  • the second placing part 20 is an elastic part.
  • the second placing part 20 can adjust the posture of the device to be placed 40 under the action of its own elastic deformation, so that the device to be placed 40 can be adjusted. 40 for balanced placement without tipping over.
  • the posture of the device 40 to be placed is adjusted through the second placing part 20, so that the device 40 to be placed is placed in a balanced manner without turning over, and through the second placing part 20, the end effector can also be shared.
  • the pressure of the first placing part 10 causes the weight distribution of the end effector to be applied to the two placing parts, which reduces the damage of the device placing device due to heavy pressure and reduces the impact during placement. It can be seen that the device placement device provided in the present application can place different types of end effectors, which saves placement space and facilitates placement of end effectors.
  • the device placement device provided by the present application has a simple and compact structure, and is more practical.
  • the application is described by taking the device 40 to be placed as an end effector of a robot as an example.
  • the second placing part 20 may include: an elastic part 21 and a placing part 22 , one end of the elastic part 21 is fixed on the supporting part 30 , and the other end of the elastic part 21 is fixedly connected and placed Piece 22.
  • the device placing device When the device placing device is in use, two different ends of the device 40 to be placed are placed on the first placing part 10 and the placing part 22 respectively. posture, so that the device 40 to be placed is placed in a balanced manner without tipping over.
  • the elastic member 21 may be an elastic member 21 such as a spring or a rubber ring, or may be other elastic members.
  • the placement member 22 may be a plate-like structure, a frame structure, or a block-like structure. When the placing member 22 is a plate-like structure, the structure can be made simpler and the device placed thereon can be more stable.
  • the second placing member 20 may further include a connecting member 23, one end of the elastic member 21 is fixed on the connecting member 23, the other end of the elastic member 21 is fixedly connected to the placing member 22, and the connecting member 23 is fixed on the supporting member 30, In this way, the installation and connection of the elastic member 21 are more convenient.
  • the device 40 to be placed can be placed through the placing member 22, thereby reducing the damage to the elastic member 21.
  • the device to be placed 40 wears the placing member 22, the The placement member 22 is replaced, and in addition, the device to be placed 40 is placed by the placement member 22, so that the placement of the device to be placed 40 can be made more stable.
  • the state of the elastic member 21 may be a compressed state. In this way, when the device to be placed 40 is placed on the second placement device, the amplitude of elastic deformation is small, so that the amplitude of vibration of the device to be placed 40 after being placed is small, and it is easier to stabilize and balance.
  • the device placement device may further include: a positioning part 50 ; A placement surface for placing the device 40 to be placed.
  • the positioning member of the device to be placed 40 is matched with the positioning member 50 , so that the device to be placed 40 is placed at a specific position on the first placement member 10 .
  • a positioning member is provided on the device 40 to be placed.
  • a positioning member is provided on the end effector, and the positioning member is used for positioning after being matched with the positioning member of the robot body.
  • the positioning member on the end effector is a positioning hole.
  • the device 40 to be placed can be quickly and accurately placed at a specific position of the device placement device through the positioning member 50 .
  • the number of positioning components 50 may be multiple or one.
  • the number of positioning components 50 may be determined according to the number of positioning components on the device 40 to be placed and the number of devices 40 to be placed to be placed, which is not specifically limited in this application.
  • the positioning member 50 may be a positioning pin
  • the shape of the positioning pin may be a cone
  • the diameter of one end of the positioning pin away from the first placing member 10 is smaller than the diameter of the other end. In this way, it is more convenient to quickly locate and place the device 40 to be placed.
  • the shape of the positioning pin may be a cone with a guide cone angle of 60°.
  • the device placement device may further include: a guiding member 60 mounted on the supporting member 30 .
  • one end of the device to be placed 40 is clamped on the upper surface of the slot 11 , and the guiding member 60 guides the device to be placed 40 placed on the first placing member 10 .
  • the guiding member 60 guides the device to be placed 40 placed on the first placing member 10 .
  • one end can be clamped on the upper surface of the card slot 11, and the other end can protrude from the card slot 11 and be clamped outside the guide member 60. The end effector is guided.
  • the guiding member 60 may be a block-shaped structure, a rod-shaped structure, a plate-shaped structure, or any other irregular-shaped structure.
  • the guiding member 60 may be fixed on the supporting member 30 , and the guiding member 60 may be located at the end of the supporting member 30 .
  • the eccentric end effector can be guided by the guiding member, so that the device placed on the device placement device is balanced and does not roll over, so that the device placement device has a wider application range.
  • each part in the present application is located at the end of the support part 30 , and the end part refers to the end part of the support part 30 that is not used for supporting on the support surface.
  • the device placement apparatus may further include: a pressure sensor 70 , and the pressure sensor 70 is installed on the placement surface of the first placement part 10 for placing the device 40 to be placed.
  • a plurality of pressure sensors 70 may be included, and each pressure sensor 70 may be located on the placement surface where the device 40 to be placed is placed.
  • the pressure sensor 70 is used to detect the pressure of the device to be placed 40 placed on the first placing part 10 on the first placing part 10 .
  • the pressure sensor 70 can feed back whether the end effector of the robot arm is placed in place, and the robot arm can also know in time whether the end effector is placed under excessive pressure, thereby reducing the overload damage to the first placing part 10 . .

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Abstract

一种器件放置装置，该器件放置装置包括：第一放置部件(10)、第二放置部件(20)、支撑部件(30)，第二放置部件(20)为弹性部件，第一放置部件(10)、第二放置部件(20)均安装在支撑部件(30)上；器件放置装置在使用时，支撑部件(30)的末端支撑在支撑面上，待放置器件的两个不同的端部分别放置在第一放置部件(10)、第二放置部件(20)上，第二放置部件(20)在自身弹性变形的作用下调节待放置器件的位姿，使待放置器件平衡放置而不侧翻。该器件放置装置可以放置不同类型的末端执行器，节省了放置空间，便于末端执行器的放置。

Description

一种器件放置装置
本申请要求于2020年07月22日在中国专利局提交的、申请号为202010709756.9、发明名称为“一种器件放置装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及器件存放技术领域，具体涉及一种器件放置装置。
 背景技术
随着科学技术的发展，机器人被越来越广泛地应用于不同的场合，例如，被应用在物流分拣、工厂流水线作业等。机器人通常是通过其末端执行器完成具体操作任务的，为了完成不同的操作任务，机器人需要更换不同的末端执行器。
现有技术中，当将机器人的末端执行器被替换下来后，通常是放置在地面上或桌面上予以存放。
然而，由于机器人的末端执行器种类较多，有些末端执行器的形状不规则、重心不居中，有些末端执行器的重量较重，将这些末端执行器直接放置在地面或桌面上予以存放，不利于节省空间，满足不了机器人快换时重复精度要求，且放置也不方便，因此，需要设计一种可以放置不同种类的末端执行器的装置。
 技术问题
本申请实施例的目的之一在于：提供一种器件放置装置，旨在解决如何放置不同类型的末端执行器，以更节省放置空间，更便于末端执行器的放置，使放置更稳定、可靠的问题。
 技术解决方案
为解决上述技术问题，本申请实施例采用的技术方案是：
提供了一种器件放置装置，包括：第一放置部件、第二放置部件、支撑部件，所述第二放置部件为弹性部件，所述第一放置部件、所述第二放置部件均安装在所述支撑部件上；
所述器件放置装置在使用时，所述支撑部件的末端支撑在支撑面上，待放置器件的两个不同的端部分别放置在所述第一放置部件、所述第二放置部件上，所述第二放置部件在自身弹性变形的作用下调节所述待放置器件的位姿，使所述待放置器件平衡放置而不侧翻。
在一个实施例中，所述第二放置部件包括：弹性件、放置件；
所述弹性件的一端固定在所述支撑部件上，所述弹性件的另一端固定连接所述放置件；
所述器件放置装置在使用时，待放置器件的两个不同的端部分别放置在所述第一放置部件、所述放置件上，所述放置件在所述弹性件自身弹性变形的作用下调节所述待放置器件的位姿，使所述待放置器件平衡放置而不侧翻。
在一个实施例中，在未放置待放置器件时，所述弹性件的状态可以为压缩状态。
在一个实施例中，所述器件放置装置还包括：定位部件；
所述定位部件连接在所述第一放置部件上，所述定位部件凸出于所述第一放置部件的用于放置待放置器件的放置面；
所述器件放置装置在使用时，待放置器件的定位件与所述定位部件配合，使得所述待放置器件放置在所述第一放置部件上的特定位置处。
在一个实施例中，所述定位部件为定位销，所述定位销的形状为锥形，所述定位销远离所述第一放置部件的一端的直径小于另一端的直径，便于放置部件刚接触时容易定位和导正。
在一个实施例中，所述第一放置部件位于所述第二放置部件的上方。
在一个实施例中，所述第一放置部件的用于放置待放置器件的放置面的边缘开设有贯通所述第一放置部件的卡槽；
所述器件放置装置在使用时，待放置器件的一端卡在所述卡槽的上表面，待放置器件的另一端从所述卡槽的下表面伸出后放置在所述第二放置部件上。
在一个实施例中，所述器件放置装置还包括：安装在所述支撑部件上的导正部件；
所述器件放置装置在使用时，待放置器件的一端卡在所述卡槽的上表面，所述导正部件将放置在所述第一放置部件上的待放置器件导正。
在一个实施例中，所述器件放置装置还包括：压力传感器，所述压力传感器安装在所述第一放置部件的用于放置待放置器件的放置面上；
所述压力传感器用于检测放置在所述第一放置部件上的待放置器件对所述第一放置部件的压力，进而检测所述待放置器件是否放置到位、平稳。
在一个实施例中，所述第一放置部件为板状结构。
 有益效果
本申请实施例提供的器件放置装置的有益效果在于：器件放置装置在使用时，支撑部件的末端支撑在支撑面上，待放置器件的两个不同的端部分别放置在第一放置部件、第二放置部件上，由于第二放置部件为弹性部件，当第二放置部件上放置了待放置器件后，第二放置部件能够在自身弹性变形的作用下调节待放置器件的位姿，使待放置器件平衡放置而不侧翻。在使用本申请提供的器件放置装置放置形状不规则型、较重型、偏心型、悬臂型等类型的末端执行器时，均可以将末端执行器的不同的端部分别放置在第一放置部件、第二放置部件上，通过第二放置部件调节待放置器件的位姿，使待放置器件平衡放置而不侧翻，且通过第二放置部件，也可以分担末端执行器对第一放置部件的压力，使末端执行器的重量分布施加在两个放置部件上，减少了器件放置装置因重压而受损的情况。可见，本申请提供的器件放置装置可以放置不同类型的末端执行器，节省了放置空间，便于末端执行器的放置，使放置更稳定、可靠，由于末端执行器放置可以通过定位部件放置在器件放置装置的特定位置，也可以更好地满足机器人末端执行器快换时重复精度要求。
 附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或示范性技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1为本申请实施例提供的器件放置装置的示意图；
图2为本申请实施例提供的器件放置装置上放置有待放置器件时的结构示意图；
图3为图2在A处的放大示意图。
 本发明的实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本申请。
需说明的是，当部件被称为“固定于”或“设置于”另一个部件，它可以直接在另一个部件上或者间接在该另一个部件上。当一个部件被称为是“连接于”另一个部件，它可以是直接或者间接连接至该另一个部件上。术语“上”、“下”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。术语“第一”、“第二”仅用于便于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明技术特征的数量。“多个”的含义是两个或两个以上，除非另有明确具体的限定。
为了说明本申请所提供的技术方案，以下结合具体附图及实施例进行详细说明。
本申请的一些实施例提供了一种器件放置装置，本申请提供的器件放置装置可以用于放置机器人的末端执行器，也可以用于放置其他器件，例如，机器人的其他零部件、设备的工装、产品的零部件等，本申请不限定器件放置装置的应用场景。
如图1-3所示，本申请提供的器件放置装置包括：第一放置部件10、第二放置部件20、支撑部件30，第二放置部件20为弹性部件，第一放置部件10、第二放置部件20均安装在支撑部件30上。
器件放置装置在使用时，支撑部件30的末端支撑在支撑面上，待放置器件40的两个不同的端部分别放置在第一放置部件10、第二放置部件20上，第二放置部件20在自身弹性变形的作用下调节待放置器件40的位姿，使待放置器件40平衡放置而不侧翻。
上述第一放置部件10可以是板状结构、框架结构、块状结构等，也可以是其他可以用于放置器件的结构，本申请不进行具体限定。
为了使器件放置装置的结构更紧凑、合理，使器件放置装置的承载能力更大、放置器件后结构更稳定，第一放置部件10可以是板状结构，该板状结构的材质可以是钢，也可以是其他刚性较好的材质，板状结构的厚度可依据放置器件对其强度要求进行设置，例如，本实施例中板状结构的厚度可以是10-15毫米，板状结构的板面形状可以根据待放置的器件的结构形状设计，例如，待放置的器件有多种类型，可以将板状结构的板面设计成同时满足多种器件的形状，以使得器件放置装置可以同时放置多种器件，使器件放置装置的适用范围更广。本领域技术人员可以根据实际需要确定第一放置部件10的具体结构形状、选材，本申请不具体限定。
当第二放置部件20为弹性部件时，若第二放置部件20上放置了待放置器件40，第二放置部件20可以发生弹性变形，使得待放置器件40的位姿跟随第二放置部件20的变形而发生变化，最终达到平衡状态。具体的，第二放置部件20可以为橡胶板、橡胶块、由弹簧支撑的板状结构，也可以是其他可以发生弹性和塑性变形的部件。
上述支撑部件30可以是支撑架、支撑板、支撑柱子、支撑块等结构的部件，也可以是其他能够支撑物体的部件，支撑部件30的具体结构不限定。在一种实施方式中，支撑部件30可以是支撑架，以使得器件放置部件的结构更合理、重量更轻、支撑更稳定。支撑架可以由铝型材搭建而成，铝型材可以是40毫米×40毫米的铝型材，也可以是其他尺寸的铝型材，具体尺寸不限，支撑架选择铝材搭建而成，可以使支撑部件30重量又轻、强度和稳定性又好。支撑架的材质也可以是其他强度和刚度较好的材质。
第一放置部件10、第二放置部件20可以安装在支撑部件30的端部，也可以安装在支撑部件30的中部。第一放置部件10、第二放置部件20安装在支撑部件30上后，能够用于放置待放置器件40即可，具体的安装部位不进行限定。本申请中，第一放置部件10、第二放置部件20安装在支撑部件30的端部，可以使支撑部件30的利用率更高，使器件放置装置的结构更合理。在一个具体实施方式中，第一放置部件10、第二放置部件20可以固定在支撑部件30上，具体的，第一放置部件10、第二放置部件20可以通过螺纹连接、铆接、焊接等方式固定在支撑部件30上。
在一种实施方式中，如图1所示，第一放置部件10可以位于第二放置部件20的上方，具体的，支撑部件30的端部可以呈阶梯状，第一放置部件10、第二放置部件20可以分别安装在支撑部件30端部的不同高度的台阶上，使得第一放置部件10位于第二放置部件20的上方。当第一放置部件10位于第二放置部件20上方时，如图2所示，当待放置器件40为悬臂型末端执行器时，悬臂型末端执行器的用于与机器人主体连接的连接端可以放置在第一放置部件10的上表面上，悬臂型末端执行器的工作端可以放置在第二放置部件20上。对于较重型的末端执行器、偏心型末端执行器，也可以像悬臂型末端执行器那样进行放置，具体放置方法不再赘述。对于重心居中且较轻型末端执行器，其侧翻的概率较小，因此可以将其仅放置在第一放置部件10。
在一种实施方式中，如图1所示，第一放置部件10的用于放置待放置器件40的放置面的边缘开设有贯通第一放置部件10的卡槽11。
器件放置装置在使用时，如图1所示，待放置器件40的一端卡在卡槽11的上表面，待放置器件40的另一端从卡槽11的下表面伸出后放置在第二放置部件20上。这样，更便于器件放置。
可选的，第一放置部件10的放置面的边缘开设有多个贯通第一放置部件10的卡槽11，以同时放置多个待放置器件40。
本申请中，器件放置装置可以包括多个第二放置部件20，以使得器件放置装置可以同时放置多个待放置器件40，当待放置器件40较重、较大时，也可以通过更多的第二放置部件20进行载荷均衡，防止待防止器件将器件放置装置压变形。
本申请提供的器件放置装置在使用时，支撑部件30的末端支撑在支撑面上，待放置器件40的两个不同的端部分别放置在第一放置部件10、第二放置部件20上，由于第二放置部件20为弹性部件，当第二放置部件20上放置了待放置器件40后，第二放置部件20能够在自身弹性变形的作用下调节待放置器件40的位姿，使待放置器件40平衡放置而不侧翻。在使用本申请提供的器件放置装置放置形状不规则型、较重型、偏心型、悬臂型等类型的末端执行器时，均可以将末端执行器的不同的端部分别放置在第一放置部件10、第二放置部件20上，通过第二放置部件20调节待放置器件40的位姿，使待放置器件40平衡放置而不侧翻，且通过第二放置部件20，也可以分担末端执行器对第一放置部件10的压力，使末端执行器的重量分布施加在两个放置部件上，减少了器件放置装置因重压而受损的情况，减少了放置时的冲击。可见，本申请提供的器件放置装置可以放置不同类型的末端执行器，节省了放置空间，便于末端执行器的放置。另外，本申请提供的器件放置装置结构简单、紧凑，实用性更强。
本申请中，为方便描述，以待放置器件40为机器人的末端执行器为例对本申请进行说明。
在一种实施方式中，如图111所示，第二放置部件20可以包括：弹性件21、放置件22，弹性件21的一端固定在支撑部件30上，弹性件21的另一端固定连接放置件22。
器件放置装置在使用时，待放置器件40的两个不同的端部分别放置在第一放置部件10、放置件22上，放置件22在弹性件21自身弹性变形的作用下调节待放置器件的位姿，使待放置器件40平衡放置而不侧翻。
弹性件21可以是弹簧、橡胶圈等弹性件21，也可以是其他具有弹性的部件。放置件22可以是板状结构、框架结构、块状结构。当放置件22为板状结构时，可以使结构更简单、使放置于其上的器件更稳定。
可选的，第二放置部件20还可以包括连接件23，弹性件21的一端固定在连接件23上，弹性件21的另一端固定连接放置件22，连接件23固定在支撑部件30上，这样，更便于弹性件21的安装与连接。
当第二放置部件20包括弹性件21、放置件22时，可以通过放置件22放置待放置器件40，减少了对弹性件21的损伤，当待放置器件40磨损了放置件22后，可以进行更换放置件22，另外，通过放置件22放置待放置器件40，可以使待放置器件40放置的更平稳。
在一个具体实施例中，在未放置待放置器件40时，弹性件21的状态可以为压缩状态。这样，可以使第二放置器件上放置了待放置器件40时，弹性变形的幅度较小，使待放置器件40放置好后震动幅度较小，更容易稳定平衡。
在一种实施方式中，如图1-2所示，器件放置装置还可以包括：定位部件50；定位部件50连接在第一放置部件10上，定位部件50凸出于第一放置部件10的用于放置待放置器件40的放置面。
器件放置装置在使用时，待放置器件40的定位件与定位部件50配合，使得待放置器件40放置在第一放置部件10上的特定位置处。
通常情况下，待放置器件40上设置有定位件。例如，末端执行器上设置有定位件，该定位件用于与机器人主体的定位件配合后定位，在实际应用中，末端执行器上的定位件为定位孔。器件放置装置在使用时，可以将末端执行器的定位孔套在定位部件50外，使得待放置器件40放置在第一放置部件10上的特定位置处。
本实施方式通过定位部件50可以快速地将待放置器件40准确放置在器件放置装置的特定位置处。
可选的，定位部件50的数量可以是多个，也可以是一个。定位部件50的数量可以根据待放置器件40上的定位件的数量、需要放置的待放置器件40的数量确定，本申请不具体限定。
在一种实施方式中，定位部件50可以为定位销，定位销的形状可以为锥形，定位销远离第一放置部件10的一端的直径小于另一端的直径。这样，更便于待放置器件40的快速定位放置。具体的，定位销的形状可以是带60°导向锥角的锥形。
在一种实施方式中，如图1-2所示，器件放置装置还可以包括：安装在支撑部件30上的导正部件60。
器件放置装置在使用时，待放置器件40的一端卡在卡槽11的上表面，导正部件60将放置在第一放置部件10上的待放置器件40导正。例如，如图1111所示，对于偏心型末端执行器，可以一端卡在卡槽11的上表面后，另一端从卡槽11伸出并卡在导正部件60外，通过导正部件60将末端执行器导正。
导正部件60可以是块状结构、杆状结构、板状结构，或者其他不规则形状的结构均可。导正部件60可以固定在支撑部件30上，导正部件60可以位于支撑部件30的端部。
本实施方式通过导正件，可以将偏心型末端执行器进行导正，以使得放置在器件放置装置上的器件平衡不侧翻，从而使器件放置装置的适用范围更广。
可以理解的是，本申请中的各个部件位于支撑部件30的端部，该端部指的是支撑部件30的不用于支撑在支撑面上的端部。
在一种实施方式中，器件放置装置还可以包括：压力传感器70，压力传感器70安装在第一放置部件10的用于放置待放置器件40的放置面上。
本申请中，可以包括多个压力传感器70，各个压力传感器70可以位于放置面上用于放置待放置器件40的位置处。
压力传感器70用于检测放置在第一放置部件10上的待放置器件40对第一放置部件10的压力。
本实施方式通过压力传感器70，可以反馈给机械臂末端执行器是否放置到位，也可以使机械臂及时知道末端执行器是否存在过压力放置的现象，减小了对第一放置部件10的过载损伤。
以上仅为本申请的可选实施例而已，并不用于限制本申请。对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (10)

  1. 一种器件放置装置，其特征在于，包括：第一放置部件（10）、第二放置部件（20）、支撑部件（30），所述第二放置部件（20）为弹性部件，所述第一放置部件（10）、所述第二放置部件（20）均安装在所述支撑部件（30）上；
    所述器件放置装置在使用时，所述支撑部件（30）的末端支撑在支撑面上，待放置器件的两个不同的端部分别放置在所述第一放置部件（10）、所述第二放置部件（20）上，所述第二放置部件（20）在自身弹性变形的作用下调节所述待放置器件的位姿，使所述待放置器件平衡放置而不侧翻。
  2. 根据权利要求1所述的器件放置装置，其特征在于，所述第二放置部件（20）包括：弹性件（21）、放置件（22）；
    所述弹性件（21）的一端固定在所述支撑部件（30）上，所述弹性件（21）的另一端固定连接所述放置件（22）；
    所述器件放置装置在使用时，待放置器件的两个不同的端部分别放置在所述第一放置部件（10）、所述放置件（22）上，所述放置件（22）在所述弹性件（21）自身弹性变形的作用下调节所述待放置器的位姿，使所述待放置器件平衡放置而不侧翻。
  3. 根据权利要求2所述的器件放置装置，其特征在于，在未放置待放置器件时，所述弹性件（21）的状态为压缩状态。
  4. 根据权利要求1所述的器件放置装置，其特征在于，所述器件放置装置还包括：定位部件（50）；
    所述定位部件（50）连接在所述第一放置部件（10）上，所述定位部件（50）凸出于所述第一放置部件（10）的用于放置待放置器件的放置面；
    所述器件放置装置在使用时，待放置器件的定位件与所述定位部件（50）配合，使得所述待放置器件放置在所述第一放置部件（10）上的特定位置处。
  5. 根据权利要求4所述的器件放置装置，其特征在于，所述定位部件（50）为定位销，所述定位销的形状为锥形，所述定位销远离所述第一放置部件（10）的一端的直径小于另一端的直径。
  6. 根据权利要求1所述的器件放置装置，其特征在于，所述第一放置部件（10）位于所述第二放置部件（20）的上方。
  7. 根据权利要求6所述的器件放置装置，其特征在于，所述第一放置部件（10）的用于放置待放置器件的放置面的边缘开设有贯通所述第一放置部件（10）的卡槽（11）；
    所述器件放置装置在使用时，待放置器件的一端卡在所述卡槽（11）的上表面，待放置器件的另一端从所述卡槽（11）的下表面伸出后放置在所述第二放置部件（20）上。
  8. 根据权利要求1所述的器件放置装置，其特征在于，所述器件放置装置还包括：安装在所述支撑部件（30）上的导正部件（60）；
    所述器件放置装置在使用时，待放置器件的一端卡在所述卡槽（11）的上表面，所述导正部件（60）将放置在所述第一放置部件（10）上的待放置器件导正。
  9. 根据权利要求1至8任一项所述的器件放置装置，其特征在于，所述器件放置装置还包括：压力传感器（70），所述压力传感器（70）安装在所述第一放置部件（10）的用于放置待放置器件的放置面上；
    所述压力传感器（70）用于检测放置在所述第一放置部件（10）上的待放置器件对所述第一放置部件（10）的压力，进而检测所述待放置器件是否放置到位、平稳。
  10. 根据权利要求1至8任一项所述的器件放置装置，其特征在于，所述第一放置部件（10）为板状结构。
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CN107953309A (zh) * 2017-12-28 2018-04-24 合肥小小作为信息科技有限公司 一种用于工业机器人臂的调节式存放装置
CN111890317A (zh) * 2020-07-22 2020-11-06 中建科技集团有限公司深圳分公司 一种器件放置装置
CN213034577U (zh) * 2020-07-22 2021-04-23 中建科技集团有限公司深圳分公司 一种器件放置装置

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