CN106671134B - A kind of mechanical arm configuration that can adjust contact force and Reducing distortion influence - Google Patents
A kind of mechanical arm configuration that can adjust contact force and Reducing distortion influence Download PDFInfo
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- CN106671134B CN106671134B CN201710033901.4A CN201710033901A CN106671134B CN 106671134 B CN106671134 B CN 106671134B CN 201710033901 A CN201710033901 A CN 201710033901A CN 106671134 B CN106671134 B CN 106671134B
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- plunger
- mechanical arm
- spring leaf
- end effector
- plate
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- 239000012636 effector Substances 0.000 claims abstract description 32
- 238000000034 method Methods 0.000 claims abstract description 6
- 238000003825 pressing Methods 0.000 claims description 7
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 235000014676 Phragmites communis Nutrition 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 230000001771 impaired effect Effects 0.000 claims description 2
- 238000012545 processing Methods 0.000 abstract description 5
- 238000006243 chemical reaction Methods 0.000 abstract description 4
- 239000000203 mixture Substances 0.000 abstract description 2
- 229920003266 Leaf® Polymers 0.000 description 45
- 101100334009 Caenorhabditis elegans rib-2 gene Proteins 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000003801 milling Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mechanical arm configurations that can adjust contact force and Reducing distortion influence, belong to precision machinery field.The mechanical arm is by ontology, tool unit and plunger unit composition；Ontology is used to connect tool unit and the guide rail or platform of plunger unit and assembly system；Tool unit realizes the fixation of end effector, and ensures that the axis of end effector is constant in operation process；Plunger unit controls the actuating range of end effector, it applies downward power to spring leaf can offset a part of reaction force, and Reducing distortion can control the size of contact force by adjusting the rotation amount of plunger.Operation is carried out using mechanical arm according to the present invention, the deflection after mechanical arm stress can be reduced, reduces end effector and is changed by deformation posterior axis angle, and then improve the positional precision of assembly or processing operation.
Description
Technical field
The present invention relates to a kind of mechanical arm configurations that can adjust contact force and Reducing distortion influence, belong to precision machinery neck
Domain, assembly and processing for part in precision machinery.
Background technology
With the propulsion of made in China 2025 and the growth to small accurate device throughput requirements, market is to automation
High-precision manufactures and assembly equipment Requirement constantly increases, and the wherein positional precision of end effector and repeatable position precision is by machine
The structure and stiffness effect of tool arm are larger, are had a major impact to manufacture and assembling quality and yield rate.
Most researchs both domestic and external at present concentrate on the measurement and compensation of error.The application laser tracker such as Zhu Jianmin recognizes
The structural failure of robot, for analysis of joint corner deviation with the variation of operating mode, it is pre- under ADAMS environment to establish spatial position precision
Model is surveyed, foundation is provided for the compensation of positional precision.【Zhu Jianmin etc., automated manufacturing, 2016 (3), 47-52】.Zhang Shengfang
Deng under D-H coordinate systems, in conjunction with kinematics analysis, end effector site error model is established based on differential of function method, is studied
The positional precision of helical milling end effector of robot, and establish under ADAMS softwares the virtual prototype of robot into
Row Kinematics Simulation verifies above-mentioned model.【Zhang Shengfang etc., Dalian University Of Communications' journal, 2014 (supplementary issues 1), 77-81】.What Asia is refined
Deng the Milling Accuracy of the industrial robot in order to improve software programming, coordinate system, the part of robot are sat using calibration tool
Mark system and tool coordinates system calibration, realize the consistent of software space and real space, later according to required completion after coordinate transform
Task be programmed, reduce site error.【What is sub- refined etc., lathe and hydraulic pressure, 2014 (17) 89-92】.
Also have and micro-vision is introduced into precision assembly, on-line measurement is realized to part using three road micro-visions, in order to carry
The clarity of part and end effector image is risen, is convenient for the identification and extraction of information, uses Lifting Wavelet algorithm.Pass through position
The closed-loop control set improves the positional precision of assembly.【Luan Fei etc., robot, 2016 (9) 563-568】.
In conclusion the existing method spininess for improving positional precision is demarcated or compensated to automated system, calculate
Method is comparatively laborious.In practical applications, it if end effector or the location of workpiece change, needs to re-scale, reduce automatic
Change processing works online the time with assembly system.If only with micro-vision, it is only suitable for assembly or process arming
With power and the case where operating force, the mechanical arm stress deformation of end effector is otherwise connected, causes position that deviation occurs.
Invention content
The present invention provides the mechanical arm configurations that can adjust contact force and Reducing distortion influence, and machinery is reduced from structure
The deflection that arm generates after by assembly force or operating force, to improve the precision of automatic assembling and system of processing.
Technical scheme of the present invention：
A kind of mechanical arm configuration that can adjust contact force and Reducing distortion influence, including ontology, tool unit and plunger list
Member；
Ontology includes mechanical arm bottom plate 1, reinforcing rib 2, sighting device mounting plate 3, mechanical arm mounting plate 4 and side plate, machinery
Mechanical arm configuration is integrally connected to the other parts of automated manufacturing or assembly equipment by arm bottom plate 1；Mechanical arm mounting plate 4 is used for
It connects end effector and carries out operation, reinforcing rib 2 is arranged below mechanical arm mounting plate 3, for connecting 4 He of mechanical arm mounting plate
Mechanical arm bottom plate 1, to improve the rigidity of tool arm configuration；Sighting device mounting plate 3 is fixed on mechanical arm mounting plate 4, for solid
Determine NI Vision Builder for Automated Inspection and microswitch 13, side plate connects plunger 12 by plunger retaining element；
Tool unit includes sucker changing-over head 9, end effector, spring leaf and spring leaf pressing plate, and sucker changing-over head 9 is through bullet
Reed top board and spring leaf lower platen are connect with spring leaf again, and different end effectors is replaced according to different mission requirements
Carry out operation；The other end of spring leaf is fixed on by two panels spring leaf pressing plate on mechanical arm mounting plate 4, realizes end effector
With the connection of mechanical arm configuration, play buffer protection in operation, impact is avoided to cause part impaired；Spring leaf goes out in pairs
It is existing so that even if end effector stress, causes spring leaf to deform, the axis of end effector is installed with mechanical arm always
Plate 4 is vertical；
Plunger unit includes plunger 12, plunger retaining element, microswitch 13, microswitch connecting plate 14 and support beam
7, plunger 12 contacts the spring leaf top board of tool unit after pushing, generate pretightning force；When end effector stress, spring pressure
It is lifted on plate, after touching microswitch 13, the workpiece stress that 13 disconnecting circuit of microswitch avoids end effector from being clamped is excessive
Damage；Plunger 12 is connect by plunger retaining element with side plate；Microswitch 13 passes through microswitch connecting plate 14 and sighting device
Mounting plate 3 connects；Support beam 7 is fixed on sighting device mounting plate 3, is contacted with spring leaf lower platen, and plunger 12 is prevented
Pretightning force is excessive to cause spring leaf to generate excessive deformation.
The plunger retaining element is that plunger fixes angled seat 11, and plunger is fixed angled seat 11 and is bolted with side plate,
Plunger 12 is inserted into plunger and fixes in the plunger hole of angled seat 11, and rotary plunger 12 touches spring leaf top board.
It is mobile when the sucker changing-over head connection end effector progress piece-holder of tool unit, when placing with precompressed, by
It can deform in the spring leaf of the effect of gravity and precompression, mechanical arm, to form displacement error.And plunger gives spring
The influence of pretightning force the energy partial offset gravity and precompression of piece top board.When twisting plunger applies pretightning force to it downwards,
Support beam gives spring leaf lower platen support, to limit the displacement of spring leaf lower platen.Due to this support presence,
Deformation after the stress of cantilever reduces.
The invention has the advantages that this can adjust contact force and the mechanical arm of Reducing distortion influence is compact-sized, electrically
Connection is simple, is easy to integrated with Precision Machining and assembly equipment, in small space operation be also not likely to produce interference.Utilize the machine
Tool arm carries out operation, can reduce the deflection after mechanical arm stress, the design of upper and lower spring leaf can reduce end effector
Changed by deformation posterior axis angle, and then improves the positional precision of assembly or processing operation.
Description of the drawings
Fig. 1 is the mechanical arm structure chart for reducing cantilever deflection.
In figure：1 mechanical arm bottom plate；2 reinforcing ribs；3 sighting device mounting plates；4 mechanical arm mounting plates；
5 spring leaf lower platens one；6 times spring leafs；7 support beams；8 spring leaf lower platens two；
9 sucker changing-over heads；10 spring leaf top boards one；11 plungers fix angled seat；12 plungers；
13 microswitches；14 microswitch connecting plates；Spring leaf on 15；16 spring leaf top boards two.
Specific implementation mode
Specific embodiments of the present invention are described in detail with reference to technical solution and attached drawing.
Mechanical arm is by ontology, tool unit and plunger unit composition.Wherein ontology includes mechanical arm bottom plate 1, mechanical arm peace
Loading board 4, sighting device mounting plate 3, side plate and reinforcing rib 2；Tool unit includes sucker changing-over head 9, end effector, upper and lower bullet
Reed 6,15 and spring leaf lower platen 1, spring leaf lower platen 28, spring leaf top board 1,2 16 groups of spring leaf top board
At；Plunger unit includes 7 groups of plunger 12, plunger fixation angled seat 11, microswitch 13, microswitch connecting plate 14 and support beam
At.
Different end effectors can be selected for different manipulating objects and carry out operation, to use vacuum cup as end
Illustrate for the actuator of end.
Vacuum cup is fixed on sucker changing-over head 9 first, the other end passes through under spring leaf top board 1, spring leaf
Pressing plate 28 is connect with upper spring leaf 15 and lower spring leaf 6；Upper spring leaf 15, lower spring leaf 6 again by spring leaf top board 2 16 and
Spring leaf lower platen 1 is fixed on mechanical arm mounting plate 4；
Plunger is fixed angled seat 11 and is bolted with side plate, and plunger 12 can be inserted into the plunger hole that plunger fixes angled seat 11
In, rotary plunger 12 touches spring leaf top board 1.Due to inside plunger 12 there are spring, when rotary plunger 12,
Spring-compressed generates elastic force, acts on spring leaf top board 1, applies downward power to spring leaf top board 1, leads to
The rotation amount for crossing adjustment plunger 12, can control the size of the power；
Microswitch 13 is fixed on microswitch connecting plate 14, is bolted with sighting device mounting plate 3；Vision
Device mounting plate 3 is connect by bolt with mechanical arm mounting plate 4；Mechanical arm bottom plate 1 is fixed on guide rail, mechanical arm mounting plate 4
It is connected on mechanical arm bottom plate 1 by reinforcing rib 2.
When operation, part is drawn using vacuum cup, the power that spring leaf top board 1 applies is given in gravity and plunger 12
Collective effect under, upper spring leaf 15 and lower spring leaf 6 can be bent downwardly deformation, and support beam 7 and spring leaf lower platen 28
Contact gives the support of spring leaf lower platen 28, to limit the downward displacement of vacuum cup, reduces the deformation of mechanical arm.
After part is placed on designated position by vacuum cup, apply a downward precompression to part so that vacuum is inhaled
Part does not move when disk lifts, and vacuum cup and mechanical arm are by upward reaction force.Under the action of reaction force, upper bullet
Reed 15 and lower spring leaf 6 can be bent upwards deformation.And plunger 12 applies downward power to spring leaf top board 1 and can offset
A part of reaction force reduces the upward deformation of vacuum cup.By adjusting the rotation amount of plunger 12, contact force can be controlled
Size.When one 10 displacement of spring leaf top board is excessive touches microswitch 13, mechanical arm acts stopping.
Claims (2)
1. a kind of mechanical arm configuration that can be adjusted contact force and Reducing distortion and influence, which is characterized in that the machinery arm configuration includes
Ontology, tool unit and plunger unit；Ontology is used to connect tool unit and the guide rail or platform of plunger unit and assembly system
It connects；Tool unit realizes the fixation of end effector, and ensures that the axis of end effector is constant in operation process；Plunger list
The actuating range of member control end effector, and the deformation after mechanical arm stress is reduced by the adjusting of contact force size；
Ontology includes mechanical arm bottom plate (1), reinforcing rib (2), sighting device mounting plate (3), mechanical arm mounting plate (4) and side plate,
Mechanical arm configuration is integrally connected to the other parts of automated manufacturing or assembly equipment by mechanical arm bottom plate (1)；Mechanical arm is installed
Plate (4) carries out operation for connecting end effector, and reinforcing rib (2) setting is below mechanical arm mounting plate (3), for connecting machine
Tool arm mounting plate (4) and mechanical arm bottom plate (1), to improve the rigidity of tool arm configuration；Sighting device mounting plate (3) is fixed on machinery
On arm mounting plate (4), it is used for stationary machines vision system and microswitch (13), side plate to connect plunger by plunger retaining element
(12)；
Tool unit includes sucker changing-over head (9), end effector, spring leaf and spring leaf pressing plate, and sucker changing-over head (9) is through bullet
Reed top board and spring leaf lower platen are connect with spring leaf again, and different end effectors is replaced according to different mission requirements
Carry out operation；The other end of spring leaf is fixed on by two panels spring leaf pressing plate on mechanical arm mounting plate (4), realizes that end executes
The connection of device and mechanical arm configuration, plays buffer protection in operation, and impact is avoided to cause part impaired；Spring leaf is pairs of
Occur so that even if end effector stress, causes spring leaf to deform, the axis of end effector is pacified with mechanical arm always
Loading board (4) is vertical；
Plunger unit includes that plunger (12), plunger retaining element, microswitch (13), microswitch connecting plate (14) and support are horizontal
Beam (7), plunger (12) contact the spring leaf top board of tool unit, generate pretightning force after pushing；When end effector stress, bullet
It is lifted on reed pressing plate, after touching microswitch (13), microswitch (13) disconnecting circuit avoids the work that end effector is clamped
The excessive damage of part stress；Plunger (12) is connect by plunger retaining element with side plate；Microswitch (13) is connected by microswitch
Plate (14) is connect with sighting device mounting plate (3)；Support beam (7) is fixed on sighting device mounting plate (3), and under spring leaf
Pressing plate contacts, and prevents the pretightning force of plunger (12) is excessive from spring leaf being caused to generate excessive deformation.
2. machinery arm configuration according to claim 1, which is characterized in that the plunger retaining element is plunger fixed angles
Seat (11), plunger are fixed angled seat (11) and are bolted with side plate, and plunger (12) is inserted into the plunger that plunger fixes angled seat (11)
Kong Zhong, rotary plunger (12), touches spring leaf top board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710033901.4A CN106671134B (en) | 2017-01-18 | 2017-01-18 | A kind of mechanical arm configuration that can adjust contact force and Reducing distortion influence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710033901.4A CN106671134B (en) | 2017-01-18 | 2017-01-18 | A kind of mechanical arm configuration that can adjust contact force and Reducing distortion influence |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106671134A CN106671134A (en) | 2017-05-17 |
| CN106671134B true CN106671134B (en) | 2018-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710033901.4A Active CN106671134B (en) | 2017-01-18 | 2017-01-18 | A kind of mechanical arm configuration that can adjust contact force and Reducing distortion influence |
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| Country | Link |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB658215A (en) * | 1948-05-29 | 1951-10-03 | Columbia Broadcasting Syst Inc | Improvements in phonograph reproducers |
| CN102079092A (en) * | 2009-11-30 | 2011-06-01 | 鸿富锦精密工业（深圳）有限公司 | Arm component of robot |
| CN102155930A (en) * | 2011-02-25 | 2011-08-17 | 大连理工大学 | Automatic resetting device for measuring head for measuring gear pitch variation |
| CN103862281A (en) * | 2014-03-11 | 2014-06-18 | 大连理工大学 | Assembly method for miniature parts |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5371457A (en) * | 1976-12-08 | 1978-06-24 | Hitachi Ltd | Driver for transfer chuck |
-
2017
- 2017-01-18 CN CN201710033901.4A patent/CN106671134B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB658215A (en) * | 1948-05-29 | 1951-10-03 | Columbia Broadcasting Syst Inc | Improvements in phonograph reproducers |
| CN102079092A (en) * | 2009-11-30 | 2011-06-01 | 鸿富锦精密工业（深圳）有限公司 | Arm component of robot |
| CN102155930A (en) * | 2011-02-25 | 2011-08-17 | 大连理工大学 | Automatic resetting device for measuring head for measuring gear pitch variation |
| CN103862281A (en) * | 2014-03-11 | 2014-06-18 | 大连理工大学 | Assembly method for miniature parts |
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| Publication number | Publication date |
|---|---|
| CN106671134A (en) | 2017-05-17 |
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