CN110745327A - Variable-rigidity floating robot end effector connecting device and robot - Google Patents
Variable-rigidity floating robot end effector connecting device and robot Download PDFInfo
- Publication number
- CN110745327A CN110745327A CN201911170086.1A CN201911170086A CN110745327A CN 110745327 A CN110745327 A CN 110745327A CN 201911170086 A CN201911170086 A CN 201911170086A CN 110745327 A CN110745327 A CN 110745327A
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- Prior art keywords
- end effector
- robot
- assembly
- connecting assembly
- coupling assembling
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- 239000012636 effector Substances 0.000 title claims abstract description 79
- 210000004907 gland Anatomy 0.000 claims abstract description 16
- 230000008878 coupling Effects 0.000 claims description 28
- 238000010168 coupling process Methods 0.000 claims description 28
- 238000005859 coupling reaction Methods 0.000 claims description 28
- 230000006835 compression Effects 0.000 claims description 12
- 238000007906 compression Methods 0.000 claims description 12
- 230000000694 effects Effects 0.000 claims description 7
- 230000001737 promoting effect Effects 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 abstract description 25
- 239000010959 steel Substances 0.000 abstract description 25
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011230 binding agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0025—Removing or cutting binding material, e.g. straps or bands
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a variable-rigidity floating robot end effector connecting device which comprises an upper connecting assembly, a lower connecting assembly and a connecting shaft assembly, wherein the upper connecting assembly is connected with the lower connecting assembly through a connecting shaft; the connecting shaft assembly comprises a connecting shaft and a balance disc, the connecting shaft is rotatably connected with the upper connecting assembly, the balance disc is a circular flat plate, the edges of the periphery of the balance disc are spherical surfaces, the lower connecting assembly is provided with a movable cavity for mounting the balance disc, the depth of the movable cavity is greater than the thickness of the balance disc, a gland is connected onto the movable cavity, and a plurality of groups of pushing pieces used for pushing the lower connecting assembly to move are arranged on the upper connecting assembly. In addition, the invention also provides a robot. According to the invention, the balance disc is limited by the gland, so that the rigidity of the end effector and the robot is high before the end effector contacts the steel coil, deflection does not occur, and the positioning is accurate; and after the end effector contacts the steel coil, the end effector is connected with the lower connecting component in a floating manner, so that the rigidity of the end effector and the robot is small, and the end effector is tightly attached to the steel coil.
Description
Technical Field
The invention belongs to the technical field of intelligent manufacturing equipment, and particularly relates to a variable-rigidity floating robot end effector connecting device and a robot.
Background
With the rise of intelligent manufacturing technology in China, in order to eliminate the risk of manual operation, improve the labor production efficiency and reduce the labor intensity, more and more steel enterprises in China transform and upgrade the existing mode of manually removing the binding belt from a steel coil into a mode of automatically removing the binding belt from a robot. A certain steel enterprise in China has introduced a plurality of sets of strapping opening robot systems from abroad, the overall use is better, but the strapping opening failure condition happens occasionally, and manual assistance is needed. In order to eliminate manual assistance, the success rate of band removal is further improved, and the reason is analyzed, and the reason that the band removal is unsuccessful is found to be mainly that the band removal end effector is not tightly attached to the steel coil, and the band is tight, so that a scraper knife on the end effector does not scrape the band and the band removal fails.
Disclosure of Invention
The invention aims to solve the problem that the end effector of the existing strapping opening robot is not tightly attached to a steel coil to cause failure in strapping opening.
Therefore, the invention provides a variable-rigidity floating robot end effector connecting device which comprises an upper connecting assembly, a lower connecting assembly and a connecting shaft assembly, wherein the upper connecting assembly is used for connecting a robot body, the lower connecting assembly is used for connecting an end effector of a robot, and the connecting shaft assembly is used for connecting the upper connecting assembly and the lower connecting assembly; the connecting axle subassembly includes that connecting axle and perpendicular connection are at the balance plate of connecting axle one end, the connecting axle other end rotates with last coupling assembling to be connected, the balance plate is the circle form flat board, and its all edges all around are the sphere, coupling assembling has the movable cavity that is used for installing the balance plate and makes down coupling assembling around balance plate centre of sphere wobbling, the degree of depth of activity cavity is greater than balance plate thickness, be connected with the restriction balance plate on the activity cavity and break away from movable cavity's gland along the connecting axle axial, it is equipped with the top that a plurality of groups are used for promoting down coupling assembling along connecting axle axial motion and pushes away the piece to go up the coupling assembling.
Further, go up coupling assembling including flange and connection organism, flange connects at the connection organism top for connect the robot body, the connection organism center is equipped with the centre bore of through connection organism, the connecting axle rotates to be connected in the centre bore.
Furthermore, a sliding sleeve is arranged in the central hole, an upper end cover for limiting the sliding sleeve is arranged at the top of the central hole, the connecting shaft is arranged in the sliding sleeve, and the upper end cover is fixedly connected with the end part of the connecting shaft.
Further, a lower end cover is arranged at the bottom of the balance disc and fixed at the end part of the connecting shaft through a screw.
Further, lower coupling assembling includes gland, cross piece and end effector connecting plate, the activity cavity sets up at the cross piece center, gland and end effector connecting plate are connected respectively at the activity cavity both ends of cross piece.
Further, the lower tip of going up coupling assembling is equipped with a plurality of vertical grooves, the cross piece edge connection has a plurality of antifriction bearings, antifriction bearing and vertical groove one-to-one, and antifriction bearing roll connection is in vertical inslot.
Furthermore, a plurality of groups of pushing pieces are distributed at equal intervals along the circumferential direction of the connecting shaft.
Further, the ejector piece includes compression spring and the slip ejector pin that is used for promoting coupling assembling down, compression spring one end is fixed go up coupling assembling on, the compression spring other end is connected with slip ejector pin.
In addition, the invention also provides a robot, which comprises a robot body, an end effector and the variable-rigidity floating robot end effector connecting device, wherein the robot body is fixedly connected with the upper connecting assembly, and the end effector is fixedly connected with the lower connecting assembly.
Compared with the prior art, the invention has the beneficial effects that:
(1) the variable-rigidity floating robot end effector connecting device limits the position of the balance disc through the gland of the lower connecting assembly, so that the end effector is connected with the robot with high rigidity without deflection and is positioned accurately before the end effector contacts a steel coil; and after the end effector contacts the steel coil, the end effector is connected with the lower connecting component in a floating manner, so that the rigidity of connection between the end effector and the robot body is small, and the end effector is tightly attached to the steel coil.
(2) The variable-rigidity floating robot end effector connecting device provided by the invention realizes the floating between the end effector and the robot body, solves the floating problem of the end effector after being contacted with a steel coil, and reduces the requirement on the absolute precision of the robot motion positioning.
The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of an end effector connecting device of a variable stiffness floating robot according to the present invention;
FIG. 2 is a connection state view of the connection device of FIG. 1 taken along section A-A before the end effector contacts the steel coil;
FIG. 3 is a view showing a connection state of the connection device along section A-A after the end effector of FIG. 1 contacts a steel coil;
FIG. 4 is a schematic cross-sectional view taken along line B-B of FIG. 1;
fig. 5 is a schematic cross-sectional view taken along the direction C-C in fig. 2.
Description of reference numerals: 1. a connecting flange; 2. connecting the machine body; 3. a vertical groove; 4. a rolling bearing; 5. an upper end cover; 6. a sliding sleeve; 7. a connecting shaft; 8. a gland; 9. a balance disc; 10. a movable cavity; 11. a cross block; 12. a lower end cover; 13. an end effector connecting plate; 14. a compression spring; 15. and (4) sliding the ejector rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. In the description of the present invention, the meaning of "plurality" or "a plurality" is two or more unless otherwise specified.
As shown in fig. 1, 2, 3 and 4, the present embodiment provides a variable stiffness floating robot end effector connecting device, comprising an upper connecting assembly for connecting a robot body, a lower connecting assembly for connecting an end effector of a robot, and a connecting shaft assembly connecting the upper connecting assembly and the lower connecting assembly; the connecting shaft assembly comprises a connecting shaft 7 and a balance disc 9 vertically connected to one end of the connecting shaft 7, the other end of the connecting shaft 7 is rotatably connected with the upper connecting assembly, the connecting shaft assembly and the upper connecting assembly can rotate along the axial direction of the connecting shaft 7, the balance disc 9 is a circular flat plate, the peripheral edges of the balance disc 9 are spherical surfaces, specifically, the spherical surfaces on the periphery of the balance disc 9 are spherical surfaces which are common balls, and the spherical surfaces are vertically symmetrical, so that the balance disc 9 can swing vertically symmetrically; lower coupling assembling has movable cavity 10, and the degree of depth of movable cavity 10 is greater than balance disc 9 thickness, and balance disc 9 is installed in this movable cavity 10, and balance disc 9's spherical edge and movable cavity 10 butt, and coupling assembling can be around the swing of balance disc 9 centre of sphere by a small margin down, be connected with restriction balance disc 9 on the movable cavity 10 and break away from movable cavity 10's gland 8 along connecting axle 7 axial, it is used for promoting down coupling assembling along connecting axle 7's axial motion's top push member to go up to be equipped with a plurality of groups on the coupling assembling. In this embodiment, before the end effector contacts the steel coil, the pushing member pushes the lower connecting assembly to move downward, so that the gland 8 is tightly attached to the balance disc 9, as shown in fig. 2, at this time, the lower connecting assembly is difficult to swing around the spherical center of the balance disc 9, so that the connection rigidity between the robot body connected to the device and the end effector is large, no deflection occurs, and the end effector positions the bundling band on the steel coil accurately; after the end effector contacts the steel coil, for guaranteeing that the end effector is hugged closely in the steel coil, the robot body can promote connecting assembly and connecting axle subassembly and advance a section distance, as shown in fig. 3, balance disc 9 is in unsettled state in lower connecting assembly's activity cavity 10 this moment, because balance disc 9 edge all around is the sphere, lower connecting assembly can be around the random small-amplitude swing of balance disc 9's centre of sphere, it is very little to make to connect the rigidity of connection between the robot body and the end effector on this device, end effector can swing along with the steel coil, thereby make end effector and steel coil obey inseparable, effectively solve because end effector and steel coil laminating are inseparable and lead to tearing the problem of binder failure.
The embodiment that refines, as shown in fig. 1 and 2, it includes flange 1 and connecting body 2 to go up coupling assembling, flange 1 is connected at connecting body 2 tops with the bolted connection for connect the robot body, connecting body 2 centers is equipped with the centre bore of through connection organism, connecting axle 7 is arranged in the centre bore for coupling assembling follows the axial motion of connecting axle 7 in the connecting axle subassembly drive. Specifically, be equipped with sliding sleeve 6 in the centre bore, the centre bore top is equipped with the upper end cover 5 of restriction sliding sleeve 6, connecting axle 7 sets up in sliding sleeve 6, upper end cover 5 and 7 end fixed connections of connecting axle to link together upper coupling assembling and connecting axle subassembly.
And in the connection of the connecting shaft assembly and the lower connecting assembly, the bottom of the balance disc 9 is provided with a lower end cover 12, the lower end cover 12 is fixed at the end part of the connecting shaft 7 through a screw, and the balance disc 9 is fixed on the connecting shaft 7 through the lower end cover 12. As shown in fig. 2, 3 and 5, the lower connecting assembly includes a gland 8, a cross block 11 and an end effector connecting plate 13, the center of the cross block 11 is provided with a cylindrical bore, i.e. a movable cavity 10, a balance disc 9 is disposed in the movable cavity 10, the gland 8 and the end effector connecting plate 13 are respectively connected to two ends of the movable cavity 10 of the cross block 11, and the balance disc 9 is limited in the movable cavity 10 of the cross block 11 by the gland 8 and the end effector connecting plate 13, so that the lower connecting assembly can float up and down and swing with a small amplitude.
Further optimize, as shown in fig. 1, the lower tip of going up coupling assembling is equipped with a plurality of vertical grooves 3, it is concrete, vertical grooves 3 have four, set up respectively around the connection organism 2 of last coupling assembling, correspondingly, four edges of cross piece 11 correspond respectively and are connected with four antifriction bearing 4, antifriction bearing 4 and vertical groove 3 one-to-one, and antifriction bearing 4 roll connection is in vertical groove 3, guarantee through this structure that end effector contacts the coil of strip after, cross piece 11 with connect organism 2 fluctuation and small amplitude swing, and can not rotate around the axial of connecting axle, further guaranteed that end effector closely pastes the clothes with the coil of strip.
In order to ensure that the end effector is uniformly applied to the pushing force of the lower connecting assembly before contacting the steel coil, the pushing pieces are distributed along the connecting shaft 7 in a circumferential and equidistant manner. Specifically, as shown in fig. 4, the pushing member includes a compression spring 14 and a sliding ejector rod 15 for pushing the lower connecting assembly, one end of the compression spring 14 is fixed on the upper connecting assembly, the other end of the compression spring 14 is connected with the sliding ejector rod 15, before the end effector contacts the steel coil, the compression spring 14 pushes the sliding ejector rod 15, the sliding ejector rod 15 pushes the end effector connecting plate 13 to move downward, so that the gland 8 of the lower connecting assembly is tightly attached to the balance disk 9, and the lower connecting assembly is difficult to swing, and after the end effector contacts the steel coil, the robot body pushes the connecting shaft assembly to move forward, due to the elastic force of the compression spring 14, the connecting shaft 7 and the balance disk 9 move downward, and the sliding ejector rod 15 pushes the end effector connecting plate 13 to be stationary, so that the balance disk 9 is in a suspended state in the movable cavity 10, so that the lower connecting assembly can swing freely with a small amplitude.
In addition, this embodiment still provides a robot, including robot body, end effector and the above-mentioned floating robot end effector connecting device that becomes rigidity, the robot body with go up coupling assembling fixed connection, end effector with lower coupling assembling fixed connection. The robot realizes the floating between the end effector and the robot body through the variable-rigidity floating robot end effector connecting device, solves the floating problem of the end effector after being contacted with a steel coil, and reduces the requirement on the absolute precision of the robot motion positioning.
Of course, the variable-rigidity floating robot end effector connecting device provided by the invention is not limited to the connection between the robot body and the end effector in the strapping robot, and can be popularized to the connection application of the robot and other end effectors.
The above examples are merely illustrative of the present invention and should not be construed as limiting the scope of the invention, which is intended to be covered by the claims and any design similar or equivalent to the scope of the invention.
Claims (9)
1. The utility model provides a become unsteady robot end effector connecting device of rigidity which characterized in that: the robot comprises an upper connecting assembly used for connecting a robot body, a lower connecting assembly used for connecting an end effector of the robot, and a connecting shaft assembly connecting the upper connecting assembly and the lower connecting assembly; the connecting axle subassembly includes that connecting axle and perpendicular connection are at the balance plate of connecting axle one end, the connecting axle other end rotates with last coupling assembling to be connected, the balance plate is the circle form flat board, and its all edges all around are the sphere, coupling assembling has the movable cavity that is used for installing the balance plate and makes down coupling assembling around balance plate centre of sphere wobbling, the degree of depth of activity cavity is greater than balance plate thickness, be connected with the restriction balance plate on the activity cavity and break away from movable cavity's gland along the connecting axle axial, it is equipped with the top that a plurality of groups are used for promoting down coupling assembling along connecting axle axial motion and pushes away the piece to go up the coupling assembling.
2. The variable stiffness floating robot end effector attachment device of claim 1, wherein: go up coupling assembling including flange and connection organism, flange connects at connection organism top for connect the robot body, connection organism center is equipped with the centre bore of through connection organism, the connecting axle rotates to be connected in the centre bore.
3. The variable stiffness floating robot end effector attachment device of claim 2, wherein: the connecting shaft is arranged in the sliding sleeve, and the upper end cover is fixedly connected with the end part of the connecting shaft.
4. The variable stiffness floating robot end effector attachment device of claim 1, wherein: and a lower end cover is arranged at the bottom of the balance disc and is fixed at the end part of the connecting shaft through a screw.
5. The variable stiffness floating robot end effector attachment device of claim 1, wherein: the lower connecting assembly comprises a gland, a cross block and an end effector connecting plate, the movable cavity is arranged in the center of the cross block, and the gland and the end effector connecting plate are connected to two ends of the movable cavity of the cross block respectively.
6. The variable stiffness floating robot end effector attachment device of claim 5, wherein: the lower tip of going up coupling assembling is equipped with a plurality of vertical grooves, the cross piece edge connection has a plurality of antifriction bearing, antifriction bearing and vertical groove one-to-one, and antifriction bearing roll connection is in vertical inslot.
7. The variable stiffness floating robot end effector attachment device of claim 1, wherein: and the plurality of groups of pushing pieces are distributed at equal intervals along the circumferential direction of the connecting shaft.
8. The variable stiffness floating robot end effector attachment device of claim 7, wherein: the pushing piece comprises a compression spring and a sliding ejector rod used for pushing the lower connecting assembly, one end of the compression spring is fixed to the upper connecting assembly, and the other end of the compression spring is connected with the sliding ejector rod.
9. A robot, characterized by: the variable-rigidity floating robot end effector connecting device comprises a robot body, an end effector and the variable-rigidity floating robot end effector connecting device as claimed in any one of claims 1 to 8, wherein the robot body is fixedly connected with the upper connecting assembly, and the end effector is fixedly connected with the lower connecting assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911170086.1A CN110745327A (en) | 2019-11-26 | 2019-11-26 | Variable-rigidity floating robot end effector connecting device and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911170086.1A CN110745327A (en) | 2019-11-26 | 2019-11-26 | Variable-rigidity floating robot end effector connecting device and robot |
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| CN110745327A true CN110745327A (en) | 2020-02-04 |
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| CN201911170086.1A Pending CN110745327A (en) | 2019-11-26 | 2019-11-26 | Variable-rigidity floating robot end effector connecting device and robot |
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| CN107511847A (en) * | 2017-10-13 | 2017-12-26 | 北京工业大学 | A kind of end gas circuit sealing device that robotic wafer may be reversed applied to end |
| CN108274452A (en) * | 2018-03-23 | 2018-07-13 | 苏州紫金港智能制造装备有限公司 | Industrial robot axial direction self-adapting flexible flange |
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| CN109551474A (en) * | 2018-11-20 | 2019-04-02 | 福州大学 | A kind of robot list leg hydraulic actuator based on the control of magnetorheological dynamic rate |
| CN209158439U (en) * | 2018-10-29 | 2019-07-26 | 挚优机器人(上海)有限公司 | Robot end omnidirectional floating installation |
| CN110450052A (en) * | 2019-08-09 | 2019-11-15 | 安徽理工大学 | A kind of milling robot spindle floating mechanism |
| CN211196867U (en) * | 2019-11-26 | 2020-08-07 | 中冶南方工程技术有限公司 | Variable-rigidity floating robot end effector connecting device and robot |
-
2019
- 2019-11-26 CN CN201911170086.1A patent/CN110745327A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08141970A (en) * | 1994-11-21 | 1996-06-04 | Fanuc Ltd | Tool attaching device for industrial robot |
| CN105619453A (en) * | 2016-03-28 | 2016-06-01 | 李伦锦 | Collision protection device |
| CN106426287A (en) * | 2016-11-09 | 2017-02-22 | 北京工业大学 | Flexible tail end connecting device for industrial robot |
| CN206665105U (en) * | 2017-04-26 | 2017-11-24 | 武汉斯蒂尔派科技有限公司 | Steel band tears bundled put and steel band tears bundle system open open |
| CN107511847A (en) * | 2017-10-13 | 2017-12-26 | 北京工业大学 | A kind of end gas circuit sealing device that robotic wafer may be reversed applied to end |
| CN108274452A (en) * | 2018-03-23 | 2018-07-13 | 苏州紫金港智能制造装备有限公司 | Industrial robot axial direction self-adapting flexible flange |
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