CN111687878B - Robot hand floating adaptive structure device - Google Patents

Abstract

The invention discloses a floating self-adaptive structure device of a robot. Comprises a rotary floating device, a front floating device, a rear floating device and a left floating device and a right floating device; one end of the rotary floating device is arranged at the end part of the six-axis flange of the manipulator, the other end of the rotary floating device is provided with a front floating device and a rear floating device, the front floating device and the rear floating device are provided with a left floating device and a right floating device, and the left floating device and the right floating device are provided with a three-jaw chuck; the rotary floating device comprises a fixed flange, a fixed balance plate, a rotary ball head shaft and two rotary floating plates; the front-back floating device comprises a large cylinder, a push plate, a bidirectional combined sliding block, a front guide rail, a rear guide rail and a left guide rail and a right guide rail; the left and right floating device comprises a small cylinder, a semi-ball head and a floating plate. The invention realizes the error adjustment during the installation of the workpiece, compensates the small error of the robot arm to realize the flexible installation, improves the automatic installation of the shaft parts, improves the production efficiency and reduces the labor intensity of staff.

Description

Robot hand floating adaptive structure device

Technical field

The invention relates to an internal driving structure device at the end of a robot in the field of intelligent assembly, and specifically to a floating adaptive structural device for a robot hand, which is used for automated installation of shaft parts.

Background technique

With the development of the domestic economy, labor resources are increasingly scarce, production batches are getting larger and larger, and the level of automation required is getting higher and higher. Currently, most parts are installed manually, and even using robots will encounter positioning errors and Machining errors lead to rigid extrusion of shaft parts during extrusion and assembly failure. This invention effectively provides two angle compensations and two displacement compensations for the robot to achieve flexible installation and improve the success of automated assembly.

Contents of the invention

In order to solve the problems existing in the above background technology, the present invention provides a floating adaptive structure device for a robot hand.

In order to achieve the above objects, the technical solution adopted by the present invention is:

The invention includes a rotating floating device, a front and rear floating device and a left and right floating device; one end of the rotating floating device is installed on the six-axis flange end of the manipulator, the other end of the rotating floating device is installed with a front and rear floating device, and the left and right floating devices are installed on the front and rear floating devices. , three-jaw chucks are installed on the left and right floating devices.

The rotary floating device includes a fixed flange, a fixed balance plate, a rotating ball head shaft, a rotating floating plate one, and a rotating floating plate two; the fixed flange is fixedly installed to the end of the six-axis flange, and the fixed balance plate is fixed on the fixed method. On the blue, the center of the fixed balance plate is fixedly installed and connected to the root of the rotating ball head shaft. A circular convex shaft is fixed on both sides of the symmetrical spherical end of the rotating ball head shaft as a rotating moving head. The two rotating moving heads are respectively on the sides. There are a rotating floating plate one and a rotating floating plate two. The rotating floating plate one and the rotating floating plate two are fixedly connected through a connecting rod; the rotating floating plate one and the rotating floating plate two are on the side close to the spherical end of the rotating ball head shaft. They are all opened into hemispherical grooves, and the two hemispherical parts of the spherical end of the rotating ball head shaft are respectively embedded in the hemispherical grooves of the rotating floating plate one and the rotating floating plate two to form a ball hinge connection; at the same time, the rotating floating plate one and the rotating floating plate two There is a strip-shaped through slot in the middle of the wall of the hemispherical tank. The strip-shaped slots of the rotating floating plate one and the rotating floating plate two are located on the same plane. The rotating moving heads on both sides are respectively embedded in the rotating floating plate one and the rotating floating plate two. In the strip groove of the hemispherical groove; a floating balance cylinder is installed at the four corners of the fixed balance plate, and the output end of each floating balance cylinder is connected through a rotating contact head and one corner of the rotating floating plate one or the rotating floating plate two , the rotating floating plate one and the rotating floating plate two are fixedly connected to the middle connecting plate at the end faces away from the fixed balance plate, and the front and rear floating devices are installed on the middle connecting plate.

The front and rear floating device includes a large cylinder, a push plate, a two-way combination slider, a front and rear guide rail, and a left and right guide rail; the two large cylinders are installed on the middle connecting plate through the large cylinder bracket, and the output end of the large cylinder and the respective push plate The middle part is fixedly connected, and two-way combined sliders are fixedly installed on both sides of the push plate; two parallel guide rails are provided on both sides of the middle connecting plate as the front and rear guide rails, and each large cylinder corresponds to two-way combined sliders on both sides of the push plate. One end is embedded in the two guide rails of the front and rear guide rails respectively and moves along the front and rear guide rails; the floating plates of the left and right floating devices are arranged with two parallel guide rails as the left and right guide rails on one end close to the front and rear floating devices. One of the two push plates corresponding to one large cylinder The other end of the two-way combination slider on one side is embedded on one of the left and right guide rails and moves along the left and right guide rails. The other end of the two-way combination slider on both sides of the push plate corresponding to the other large cylinder is embedded on the other of the left and right guide rails. on the guide rail and move along the left and right guide rails.

The left and right floating devices include a small cylinder, a hemispherical head and a floating plate. The floating plate is equipped with a small cylinder through a cylinder bracket at the four corners near one end of the front and rear floating devices. The output rod of the small cylinder is fixed with a hemispherical head and four small cylinders. The hemispherical heads of the cylinder are connected to the sides of the four corners of the middle connecting plate of the component, and a three-claw chuck is fixedly installed on the end of the floating plate away from the front and rear floating devices.

The output ends of the four floating balance cylinders are connected through respective rotating contact heads and the two outer corners of one end surface of the rotating floating plate and the two outer corners of the two end surfaces of the rotating floating plate.

The front and rear guide rails and the left and right guide rails are arranged along the axial direction perpendicular to the axis of the rotating ball head.

The output rod of the small cylinder is arranged axially parallel to the left and right guide rails.

The invention has a flexible connection between the manipulator and the gripper, and realizes a rotational floating and two displacement floating structures, thereby realizing error adjustment during workpiece installation, compensating for small errors in the robot hand, and realizing flexible adaptive installation and movement.

The beneficial effects of the present invention are:

The invention can realize flexible automatic assembly of shaft parts. When there is a slight error in the fit of the shaft hole, the robot can automatically adjust through the floating adaptive device to ensure the accurate fit of the shaft hole and successful assembly, improve the accuracy of flexible assembly and reduce the cost of assembly. Manual intervention improves assembly accuracy and efficiency.

The flexible structural device installed between the manipulator and the claw of the present invention improves the automated installation of shaft parts, improves production efficiency, and reduces employee labor intensity.

Description of the drawings

Figure 1 is an overall three-dimensional view of the present invention.

Figure 2 is a front view of the rotating floating device of the present invention;

Figure 3 is a top view of the front and rear floating device of the present invention;

Figure 4 is a front view of the left and right floating device of the present invention;

Figure 5 is a three-dimensional view of partial parts of the rotating floating device (including the rotating moving head and the rotating floating plate).

In the picture: rotating floating device A, front and rear floating device B, left and right floating device C; 1. Six-axis flange, 2. Fixed flange, 3. Fixed balance plate, 4. Floating balance cylinder, 5. Rotating contact head, 6 , Rotating floating plate one, 7. Intermediate connecting plate, 8. Rotating moving head, 9. Rotating floating plate two, 10. Rotating ball head shaft, 11. Large cylinder bracket, 12. Large cylinder, 13. Push plate, 14. Two-way combined slider, 15. Front and rear guide rails, 16. Left and right guide rails, 17. Small cylinder, 18. Semi-spherical head, 19. Cylinder bracket, 20. Floating plate, 21. Three-jaw chuck.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and examples.

The invention is installed at the end of the manipulator. The specific implementation includes a rotating floating device, a front and rear floating device and a left and right floating device. It mainly achieves accurate assembly by adaptively adjusting the degrees of freedom in all directions of the assembly workpiece.

As shown in Figure 1, one end of the rotating floating device A is installed on the end of the six-axis flange 1 of the manipulator. The other end of the rotating floating device A is equipped with a front and rear floating device B. The left and right floating devices C are installed on the front and rear floating device B. The left and right floating devices A three-jaw chuck 21 is installed on device C.

As shown in Figure 2, the rotating floating device A includes a fixed flange 2, a fixed balance plate 3, a rotating ball head shaft 10, a rotating floating plate 6, and a rotating floating plate 2 9; the fixed flange 2 is fixedly installed to the six-axis flange 1 end, the fixed balance plate 3 is fixed on the fixed flange 2, the center of the fixed balance plate 3 is fixedly installed and connected to the root of the rotating ball head shaft 10, the rotating ball head shaft 10 is arranged axially perpendicular to the fixed balance plate 3, the rotating ball The root of the head shaft 10 is rod-shaped, and the end of the rotating ball head shaft 10 is spherical. A circular convex shaft is fixed on both sides of the symmetrical spherical end of the rotating ball head shaft 10 as the rotating moving head 8. The circular convex shaft The diameter is smaller than the diameter of the spherical end of the rotating ball head shaft 10. The connecting direction of the two rotating moving heads 8 is perpendicular to the axial direction of the rotating ball head shaft 10. The two rotating moving heads 8 are respectively provided with rotating floating plates 16 and 6 on the sides. The rotating floating plate 2 9, the rotating floating plate 1 6 and the rotating floating plate 2 9 are also respectively located on the symmetrical sides of the spherical end of the rotating ball head shaft 10, and are assembled into a rectangular plate such as the fixed balance plate 3. The rotating floating plate 1 6 and The two rotating floating plates 9 are fixedly connected through connecting rods.

Rotating floating plate one 6 and rotating floating plate two 9 are provided with hemispherical grooves on the side close to the spherical end of the rotating ball head shaft 10, and the two hemispheric parts of the spherical end of the rotating ball head shaft 10 are respectively embedded in the rotating floating plate one. A spherical hinge connection is formed in the hemispherical grooves of the rotating floating plate 6 and the rotating floating plate 2 9; at the same time, a strip through groove is provided in the middle of the hemispherical groove wall of the rotating floating plate 16 and the rotating floating plate 29, and the rotating floating plate 16 and the rotating floating plate 2 The strip grooves of the two 9 are located on the same plane, and the rotating moving heads 8 on both sides are respectively embedded in the strip grooves of the hemispherical grooves of the rotating floating plate 1 6 and the rotating floating plate 2 9; in this way, the rotating ball head shaft 10 It is connected with two rotating and moving heads 8. The two rotating and moving heads 8 are stuck into the rotating floating plate one 6 and the rotating floating plate two 9. The rotating floating plate one 6 and the rotating floating plate two 9 are connected and fixed to form a ball hole slot in the middle. The spherical end of the rotating ball head shaft 10 is embedded in the middle of the groove.

A floating balance cylinder 4 is installed at the four corners of the fixed balance plate 3. The output end of each floating balance cylinder 4 is contact-connected with the rotating contact head 5 and one corner of the rotating floating plate 16 or the rotating floating plate 29. Specifically, the four The output ends of the floating balance cylinders 4 are connected through respective rotating contact heads 5 and the two outer corners of the end faces of the rotating floating plate 16 and the two outer corners of the end faces of the rotating floating plate 29. The rotating floating plate 16, the rotating The end faces of the floating plate 2 9 away from the fixed balance plate 3 are fixedly connected to the middle connecting plate 7 , and the middle connecting plate 7 is equipped with front and rear floating devices.

When the workpiece receives a force, the intermediate connecting plate 7 is driven to rotate along the rotating ball head axis 10, and then through rotation and extrusion, the four floating balance cylinders 4 extend and are connected to the rotating floating plate 1 6 and the rotating floating plate 2 9 The four corners formed as a whole drive the rotating floating plate one 6 and the rotating floating plate two 9 to rotate around the ball hinge under the limit of the rotating moving head 8 to achieve a new balance. The intermediate connecting plate 7 will drive the three-jaw chuck 21 to rotate together. Therefore, the entire rear intermediate connecting plate 7 and the left and right floating devices and the front and rear floating devices installed and connected thereto have two degrees of freedom to rotate and follow.

As shown in Figure 3, the front and rear floating device B includes a large cylinder 12, a push plate 13, a two-way combined slider 14, a front and rear guide rail 15 and a left and right guide rail 16; the two large cylinders 12 are installed on the middle connecting plate 7 through the large cylinder bracket 11 On both sides, the output end of the large cylinder 12 is fixedly connected to the middle part of the respective push plate 13. Two-way combination sliders 14 are fixedly installed on both sides of the push plate 13; the middle connecting plate 7 is located on both sides of the large cylinder 12. Two parallel guide rails are provided as the front and rear guide rails 15. One end of the two-way combined slide block 14 on both sides of the push plate 13 corresponding to each large cylinder 12 is respectively embedded in the two guide rails of the front and rear guide rails 15 and moves along the front and rear guide rails 15; left and right The floating plate 20 of the floating device C is provided with two parallel guide rails as the left and right guide rails 16 in the middle of one end surface close to the front and rear floating device B. The other end of the two-way combined slider 14 on both sides of the push plate 13 corresponding to one of the large cylinders 12 is embedded in the floating plate 20 of the floating device C. The other end of the two-way combination slider 14 on both sides of the push plate 13 corresponding to the other large cylinder 12 is embedded in the other guide rail of the left and right guide rails 16 and moves along the left and right guide rails 16 . The guide rails 16 move; the front and rear guide rails 15 and the left and right guide rails 16 are arranged in the axial direction perpendicular to the rotating ball head shaft 10 .

When the workpiece receives a force, the large cylinder 12 moves telescopically in one direction, and the other large cylinder 12 moves telescopically in the other direction. That is, the stretching of one cylinder and the compression of the other cylinder drive the floating plate 20 to move along the front and rear guide rails 15 , to achieve a new balance. In this way, the movement of the left and right guide rails 16 is realized, and the movement of the three-claw chuck 21 is also driven. Therefore, the left and right floating devices C, their floating plates and the three-jaw chuck have the freedom to follow forward and backward through the front and rear floating devices.

As shown in Figure 4, the left and right floating device C includes a small cylinder 17, a hemispherical head 18 and a floating plate 20. The floating plate 20 is equipped with a small cylinder 17 through a cylinder bracket 19 at the four corners near one end of the front and rear floating device B. The small cylinder 17 has four distributed at the four corners of the floating plate 20. The output rods of the small cylinder 17 are axially arranged parallel to the left and right guide rails 16. The output rods of the small cylinder 17 are fixed with hemispherical heads 18. The hemispherical heads 18 of the four small cylinders 17 are evenly spaced. Connected to the sides of the four corners of the middle connecting plate 7 of the piece, the floating plate 20 is fixedly installed with a three-claw chuck 21 on one end away from the front and rear floating devices B. The end of the three-claw chuck 21 is clamped with the workpiece.

When the workpiece receives the force, the two small cylinders 17 move the other two small cylinders 17 in the other direction, and a new balance is achieved through the stretching of the two cylinders and the compression of the two cylinders. In this way, the movement of the floating plate 20 is realized, and the movement of the three-jaw chuck 21 is also driven. Therefore, the three-claw chuck 21 has the freedom to follow left and right through the front and rear floating device.

The working process of the present invention is as follows:

The manipulator grabs the shaft parts and assembles the holes. When there is a slight deviation between the center of the shaft and the center of the hole, the manipulator continues to apply downward pressing force. At this time, rotation occurs between the rotary ball head shaft 10 and the rotary moving head 8. The offset, the interaction between the floating balance cylinder 4 and the rotating floating plate 6 and the rotating floating plate 9 ensures that only a slight rotational offset occurs between the rotating ball head shaft 10 and the rotating moving head 8, while the large cylinder 12 and the small cylinder 17 act respectively On the middle connecting plate 7, a two-way combined slider 14, a front and rear guide rail 15 and a left and right guide rail 16 are fixed on the middle connecting plate 7, which allows it to have floating freedom in four directions, and the three-claw chuck 21 is in the three Under the combined action of the two devices, the posture can be adjusted so that shaft parts can be accurately installed into the shaft hole.

Therefore, the present invention can realize flexible automatic assembly of shaft parts, improve the accuracy of flexible assembly, reduce manual intervention, and improve assembly accuracy and efficiency.

The above-mentioned specific embodiments are used to explain the present invention, rather than to limit the present invention. Within the spirit of the present invention and the protection scope of the claims, any modifications and changes made to the present invention fall within the protection scope of the present invention.

Claims (4)

1. A floating adaptive structure device for a robot hand, which is characterized by: including a rotating floating device (A), a front and rear floating device (B) and a left and right floating device (C); one end of the rotating floating device (A) is installed on the six sides of the robot hand. At the end of the shaft flange (1), the front and rear floating devices (B) are installed on the other end of the rotating floating device (A). The left and right floating devices (C) are installed on the front and rear floating devices (B), and the left and right floating devices (C) are installed on the end of the shaft flange (1). Three-jaw chuck (21); The rotary floating device (A) includes a fixed flange (2), a fixed balance plate (3), a rotating ball head shaft (10), a rotating floating plate (6), and a rotating floating plate (9); fixing method The flange (2) is fixedly installed to the end of the six-axis flange (1), the fixed balance plate (3) is fixed on the fixed flange (2), and the center of the fixed balance plate (3) is fixedly installed and connected to the rotating ball head shaft (10) ), a circular convex shaft is fixed on both sides of the spherical end of the rotating ball head shaft (10) as a rotating moving head (8), and a rotating floating plate is provided on the side of the two rotating moving heads (8). Rotating floating plate one (6) and rotating floating plate two (9) are fixedly connected through connecting rods; rotating floating plate one (6) and rotating floating plate two (9) ) Hemispherical grooves are opened on one side close to the spherical end of the rotating ball head shaft (10). The two hemispheric parts of the spherical end of the rotating ball head shaft (10) are respectively embedded in the rotating floating plate one (6) and the rotating floating plate. A spherical hinge connection is formed in the hemispherical groove of plate two (9); at the same time, a strip through groove is opened in the middle of the hemispherical groove wall of rotating floating plate one (6) and rotating floating plate two (9), and the rotating floating plate one (6) It is located on the same plane as the strip groove of the rotating floating plate two (9), and the rotating moving heads (8) on both sides are respectively embedded in the hemispheric grooves of the rotating floating plate one (6) and the rotating floating plate two (9). In the strip-shaped channel; a floating balance cylinder (4) is installed at the four corners of the fixed balance plate (3), and the output end of each floating balance cylinder (4) is connected through the rotating contact head (5) and the rotating floating plate ( 6) Or one corner of the rotating floating plate two (9) is connected in contact, and the rotating floating plate one (6) and the rotating floating plate two (9) are all fixedly connected to the middle connecting plate (7) at the end faces away from the fixed balance plate (3) , front and rear floating devices are installed on the middle connecting plate (7); The front and rear floating device (B) includes a large cylinder (12), a push plate (13), a two-way combined slider (14), a front and rear guide rail (15) and a left and right guide rail (16); the two large cylinders (12) pass The large cylinder bracket (11) is installed on the middle connecting plate (7). The output end of the large cylinder (12) is fixedly connected to the middle part of the respective push plate (13). Both sides of the push plate (13) are fixedly installed with two-way Combined slide block (14); two parallel guide rails are provided on both sides of the middle connecting plate (7) as the front and rear guide rails (15). The two-way combined slide blocks on both sides of the push plate (13) corresponding to each large cylinder (12) One end of the block (14) is embedded in the two guide rails of the front and rear guide rails (15) respectively and moves along the front and rear guide rails (15); the floating plates (20) of the left and right floating devices (C) are close to one end of the front and rear floating devices (B) Two parallel guide rails are arranged as the left and right guide rails (16). The other end of the two-way combined slide block (14) on both sides of the push plate (13) corresponding to one of the large cylinders (12) is embedded in one of the left and right guide rails (16). On the guide rail and moves along the left and right guide rails (16), the other end of the two-way combined slide block (14) on both sides of the push plate (13) corresponding to the other large cylinder (12) is embedded in the other guide rail of the left and right guide rail (16) move up and along the left and right guide rails (16); The left and right floating devices (C) include a small cylinder (17), a hemispherical head (18) and a floating plate (20). The four corners of the floating plate (20) close to the end surface of the front and rear floating devices (B) pass through the cylinder bracket ( 19) A small cylinder (17) is installed. The output rod of the small cylinder (17) is fixed with a hemispherical head (18). The hemispherical heads (18) of the four small cylinders (17) are all connected to the middle connecting plate (7). ) on the sides of the four corners, a three-jaw chuck (21) is fixedly installed on one end of the floating plate (20) away from the front and rear floating devices (B). 2. A floating adaptive structure device for a robot hand according to claim 1, characterized in that: The output ends of the four floating balance cylinders (4) are in contact with each other through their respective rotating contact heads (5) and the two outer corners of the end face of the rotating floating plate one (6) and the two outer corners of the end face of the rotating floating plate two (9). connect. 3. A floating adaptive structure device for a robot hand according to claim 1, characterized in that: The front and rear guide rails (15) and the left and right guide rails (16) are arranged along the axial direction perpendicular to the rotating ball head axis (10). 4. A floating adaptive structure device for a robot hand according to claim 1, characterized in that: The output rod of the small cylinder (17) is arranged axially parallel to the left and right guide rails (16).