CN114347094A - Flexible clamping mechanism and method for self-adaptive attitude error compensation of tail end of mechanical arm - Google Patents
Flexible clamping mechanism and method for self-adaptive attitude error compensation of tail end of mechanical arm Download PDFInfo
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Abstract
The invention relates to the field of engineering machinery or robots, and discloses a flexible clamping mechanism for compensating a tail end self-adaptive attitude error of a mechanical arm, which comprises a top plate, a bottom plate, clamping blocks, linear slide rails and a hydraulic cylinder, wherein the top surface of the bottom plate is connected with the top plate through a connecting column, and the bottom surface of the bottom plate is provided with a pair of opposite clamping blocks through the linear slide rails at the lower part; the top surface of the bottom plate is provided with a driving block through a linear slide rail at the upper part, connecting rods are hinged on the driving block and positioned at two sides of the linear slide rail at the upper part, and the two connecting rods are respectively hinged with the two clamping blocks in a one-to-one correspondence manner; the hydraulic cylinder consists of a cylinder body arranged on the bottom plate and a piston rod which is stretched in the cylinder body and connected with the driving block; the connecting column is provided with a safety pin device consisting of a guide column and a spring. The clamping mechanism can automatically compensate attitude errors when clamping workpieces, and prevent damage to the mechanical arm and the workpieces caused by excessive contact force. The invention further provides a flexible clamping method for the tail end of the mechanical arm with self-adaptive attitude error compensation.
Description
Technical Field
The invention belongs to the technical field of engineering machinery or robots, and particularly relates to a flexible clamping mechanism and a flexible clamping method for self-adaptive attitude error compensation at the tail end of a mechanical arm.
Background
The hydraulic mechanical arm has the advantages of large power-weight ratio, easy realization of stepless speed regulation and accurate control, strong radiation resistance and high-temperature resistance and the like, is widely applied to the fields of underwater, nuclear power, metallurgy, building construction and the like, and completes tasks such as heavy object carrying and the like by installing an operation accessory or a clamping mechanism at the tail end. Because the working environment of the hydraulic mechanical arm is complex and severe, an operator is often required to remotely control the mechanical arm in real time by means of a teleoperation technology. In the remote operation process, due to the influence of factors such as human operation errors, part manufacturing errors and assembly errors, the tail end clamping mechanism inevitably has attitude errors when contacting with the environment, and if the environment rigidity is large, a small attitude error generates overlarge contact force, so that the mechanical arm or a clamping workpiece is damaged, and the problems of low operation efficiency, high safety risk and the like exist in heavy-load clamping operation. However, the existing active flexible control scheme can control the contact force to a desired value through a complex control system and algorithm, but has the problems of high cost, great technical difficulty, low reliability and the like.
Disclosure of Invention
In view of the above, the present invention provides a flexible clamping mechanism at a tail end of a mechanical arm, which is capable of automatically adapting to and compensating for an attitude error, and aims to implement automatic compensation of the attitude error of the clamping mechanism in a simple, reliable and low-cost manner, so as to reduce a contact force between the clamping mechanism and an environment and make an operation more flexible and safer. The invention also aims to provide a flexible clamping method for compensating the self-adaptive attitude error of the tail end of the mechanical arm.
In order to achieve the above and other related purposes, the invention intends to disclose a flexible clamping mechanism for compensating the tail end adaptive attitude error of a mechanical arm, comprising a top plate, a bottom plate, clamping blocks, linear slide rails and a hydraulic cylinder, wherein the top surface of the bottom plate is connected with the top plate through a connecting column, and the bottom surface of the bottom plate is provided with a pair of opposite clamping blocks through the linear slide rails at the lower part; the top surface of the bottom plate is provided with a driving block through a linear slide rail at the upper part, connecting rods are hinged on the driving block and positioned at two sides of the linear slide rail at the upper part, and the two connecting rods are respectively hinged with the two clamping blocks in a one-to-one correspondence manner; the hydraulic cylinder consists of a cylinder body arranged on the bottom plate and a piston rod which is stretched in the cylinder body and connected with the driving block; set up the safety pin device on the spliced pole, the safety pin device by stretch out and draw back in the guide post of spliced pole, locate in the spliced pole and act on the spring of guide post and constitute, the guide post runs through the bottom plate and extends towards pressing from both sides tight piece.
Further, the linear slide rail at the upper part is arranged on the central axis of the bottom plate; the projections of the upper linear slide rail and the lower linear slide rail on the bottom plate are mutually vertical, and both the upper linear slide rail and the lower linear slide rail consist of guide rails and slide blocks; the number of the linear slide rails at the lower part is set to be one group, two groups or four groups; the linear slide rail on the upper part is of a single-guide rail structure or a double-guide rail structure.
Furthermore, the connecting columns are three in a triangular distribution or four in a front-back and left-right symmetrical distribution.
Furthermore, at least one connecting column is provided with a safety pin device, the top of the guide column is a cone, the axial length of the guide column is longer than the vertical height of the clamping blocks, and the guide column is always positioned between the two clamping blocks; the connecting column is a flange type connecting column, and the top plate is provided with a communicating hole communicated with the inside of the connecting column.
Furthermore, the clamping block is in a shape similar to a Chinese character 'shan' and is provided with clamping jaws at two sides and the center, trapezoidal teeth are arranged on the inner sides of the clamping jaws, the clamping jaws at the side edges of the clamping blocks are rectangular, and the clamping jaws in the middle are triangular.
Furthermore, a boss which corresponds to the clamping block and is used for installing a pin shaft of the connecting rod is arranged on the clamping block and back to the middle clamping jaw, and an observation hole which penetrates through the boss in the thickness direction of the clamping block is formed in the boss.
Furthermore, the bottom plate is I-shaped, and the waist parts at the two sides of the bottom plate are used for avoiding the lug bosses arranged on the clamping blocks.
Furthermore, a large rubber pad is arranged at the top of the top plate, and a small rubber pad is arranged between the top plate and the connecting column.
The invention also provides a clamping method based on the mechanical arm tail end self-adaptive attitude error compensation flexible clamping mechanism, which comprises the following steps: firstly, the hydraulic cylinder retracts to enable the connecting rod to open the clamping block; then the guide post is inserted into a guide hole which is processed in advance on the workpiece, and the contact force between the guide post and the workpiece in the insertion process is buffered by utilizing a spring; and then, the hydraulic cylinder is extended out to drive the connecting rod to close the clamping block to clamp the workpiece, and the guide post is used for being matched with the clamping block to interlock the workpiece in the clamping of the clamping block.
Preferably, a combined structure of a large rubber pad and a small rubber pad is also used for automatically compensating the attitude error of the clamping mechanism relative to the tail end of the mechanical arm in the wrist pitching or wrist yawing direction.
The invention has the advantages that: according to the invention, the compact hydraulically-driven clamping device can ensure the operability of the tail end of the mechanical arm and simultaneously realize the reliable clamping of a high-quality workpiece, and the elastic deformation of the elastic element in the flexible frame enables the attitude error of the tail end of the mechanical arm to be automatically compensated when the clamping mechanism clamps the workpiece, so that the contact force between the clamping mechanism and the workpiece is reduced, and the damage to the mechanical arm body or the workpiece is avoided.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings, in which:
FIG. 1 is a schematic view of the overall structure of the flexible clamping mechanism at the tail end of the heavy-duty hydraulic arm of the present invention;
FIG. 2 is a side cross-sectional view of the heavy duty hydraulic arm tip flexible clamping mechanism of the present invention;
FIG. 3 is a schematic view of the fully opened end flexible clamping mechanism of the heavy duty hydraulic arm;
FIG. 4 is a schematic view of the fully clamped end flexible clamping mechanism of the heavy duty hydraulic arm;
reference numerals: 1 is big rubber pad, 2 is the roof, 3 is little rubber pad, 4 is the spliced pole, 5 is the bottom plate, 6 is the guide rail, 7 is the slider, 8 is the clamp piece, 9 is trapezoidal tooth, 10 is the guide post, 11 is the drive block, 12 is the connecting rod, 13 is the round pin axle, 14 is the spring, 15 is the intercommunicating pore, 16 is the piston rod, 17 is the cylinder body, 18 is the observation hole, 19 is the clamping jaw.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
As shown in fig. 1-2, the flexible clamping mechanism for robot arm end adaptive attitude error compensation according to the present embodiment is composed of a flexible frame and a clamper, wherein the flexible frame mainly includes a large rubber pad 1, a top plate 2, a small rubber pad 3, a connecting column 4, a guide post 10, a spring 14 and a bottom plate 5, and compensates an attitude error of a robot arm (not shown) end through an elastic element therein, thereby increasing the flexibility of the clamping mechanism at the robot arm end, and reducing a contact force between the robot arm and a workpiece by using the guide post and the spring. The clamping device mainly comprises a hydraulic cylinder, a driving block 11, a linear slide rail, a connecting rod 12, a pin shaft 13 and a clamping block 8, and the clamping device is driven by hydraulic pressure to realize reliable clamping of a large-mass workpiece. Therefore, the flexible clamping mechanism at the tail end of the mechanical arm can automatically compensate attitude errors when clamping workpieces and prevent the mechanical arm and the workpieces from being damaged due to excessive contact force.
Specifically, the flexible frame is a structural base body of the clamping mechanism and is used for connecting the tail end of the mechanical arm with the clamping device. Wherein, big rubber pad 1 is the ring shape, has evenly distributed eight circular through-holes along the circumference. Roof 2 is the fillet rectangle, and its center department is equipped with the locating hole to the locating hole has been equipped with eight circular through-holes along circumference evenly distributed as the centre of a circle, is equipped with four groups of through-holes respectively at four angles of roof 2, and every group through-hole includes intercommunicating pore 15 at center and six bolt holes along circumference evenly distributed. The tail end connecting flange of the mechanical arm, the large rubber pad 1 and the top plate 2 are matched with each other by aligning eight circular through holes and are tightly connected by using a bolt with an elastic sleeve and an elastic washer. The top surface of the bottom plate 5 is connected with the top plate 2 through four connecting columns 4 which are symmetrically distributed in the front, back, left and right directions, and the number of the connecting columns can be three in a delta-shaped distribution or a plurality of structures in a radial annular distribution in different examples; and the top plate 2 is fixedly connected with one ends of four groups of small rubber pads 3 and a flange type connecting column 4 through bolts with elastic washers. The rubber pad 3 is in a ring shape, the inner diameter and the outer diameter of the rubber pad are respectively equal to the central aperture and the outer diameter of the connecting column 4, and six through holes which are equal to the hole diameters of the bolt holes at the four corners of the top plate are uniformly distributed along the circumference. The two ends of the connecting column 4 are both provided with flange seats, and the flange seats at the two ends are also provided with six through holes with the same size as the small rubber pads 3. The base plate 5 is integrally I-shaped and is tightly connected with the other ends of the four connecting columns 4 through common bolts. At least one connecting column 4 is provided with a safety pin device which consists of a guide post 10 extending and retracting in the connecting column 4 and a spring 14 arranged in the connecting column 4 and acting on the guide post 10, and the guide post 10 penetrates through the bottom plate 5 and extends towards the clamping block 8. The top of the guide post 10 is a cone, and the axial length of the guide post 10 is longer than the vertical height of the clamping block 8; the bottom is provided with a circular truncated cone with the diameter slightly smaller than the diameter of the central through hole of the connecting column 4 but larger than the diameter of the central through hole of the connecting column, and four notches for communicating are uniformly distributed on the circular truncated cone along the circumference. The tops of the four guide posts 10 penetrate through the central through hole of the connecting post 4 and the guide through hole of the bottom plate 5, and the round table at the bottom of the guide posts is pressed on the surface of the bottom plate 5 under the action of the restoring force of the four springs 14. The diameter of the spring 14 is slightly smaller than the central aperture of the connecting column 4, and the other end of the spring is in contact with the lower surface of the top plate 2. The diameter of the communicating hole 15 arranged on the top plate 2 is smaller than that of the spring 14, and the communicating hole connects the inner space and the outer space of the flange type connecting column.
The clamping device is fixed on the flexible frame and driven by the hydraulic cylinder to clamp or release the workpiece. The hydraulic cylinder consists of a cylinder body 17 arranged on the bottom plate 5 and a piston rod 16 which is telescopic in the cylinder body 17 and connected with the driving block; the bottom surface of the bottom plate 5 is provided with a pair of opposite clamping blocks 8 through a linear slide rail at the lower part; the top surface of the bottom plate 5 is provided with a driving block 11 through a linear slide rail at the upper part, two connecting rods 12 are hinged on the driving block 11 and positioned at two sides of the linear slide rail at the upper part, and the two connecting rods 12 are respectively hinged with the two clamping blocks 8 in a one-to-one correspondence manner; the head of the piston rod 16 is provided with an earring, and the cylinder body 17 is fixed on the central axis of the bottom plate 5 through four bolts; the upper linear slide rail is also arranged on the central axis of the bottom plate 5 to ensure that the hydraulic cylinder drives the driving block to move on the upper linear slide rail; the projections of the upper linear slide rail and the lower linear slide rail on the bottom plate 5 are mutually vertical, and both the upper linear slide rail and the lower linear slide rail consist of a guide rail 6 and a slide block 7; the number of the linear sliding rails at the lower part is set to four groups, and the four groups are symmetrically arranged at four corners of the lower surface of the bottom plate 5, are symmetrically distributed in a direction vertical to the central axis of the bottom plate 5 and are used for respectively corresponding to the two clamping blocks 8 in pairs; in different examples, the linear sliding rails at the lower part can be set as one group, namely, at the middle part of the clamping block, or set as two groups, namely, two oppositely arranged rails in the four groups are combined into one; the linear slide rail on the upper part is of a single-guide rail structure or a double-guide rail structure. One end of the driving block 11 is connected with a head ear ring of the piston rod 16 through a rotating shaft (not shown), the other end is connected with the sliding block 7 on the central axis of the bottom plate 5 through a screw, and pin shafts 13 which are respectively positioned on the clamping blocks 8 are symmetrically distributed on the left and the right below the driving block 11. The rotating shaft on the driving block 11 has the same size as the pin shaft 13 on the clamping block 8 and is connected through a connecting rod 12. Connecting earrings are arranged at two ends of the connecting rod 12, and needle bearings are embedded in the earrings at the two ends to reduce friction between the connecting rod and the connecting column and between the connecting rod and the clamping block. The clamping block 8 is in a shape like a Chinese character shan, three clamping jaws 19 are arranged below the clamping block, rectangular clamping jaws are arranged at two ends of the clamping block, an alignment clamping jaw is arranged in the middle of the clamping block, the clamping block is triangular, the workpiece can be conveniently aligned and clamped, and trapezoidal teeth 9 are arranged on the inner sides of the clamping jaws 19 to increase friction force during clamping. A boss (marked) is arranged above the alignment clamping jaw, and the center position of the top of the boss is a pin shaft 13 installation position. The side of the boss is provided with a viewing aperture 18 for viewing the relative position of the fixture and the workpiece. The two clamping blocks 8 are symmetrically distributed along the central axis of the bottom plate 5, and each clamping block 8 is connected with the two sliding blocks 7 through a screw. The bottom plate 5 is I-shaped, and the waist parts at two sides of the bottom plate are used for avoiding the lug bosses arranged on the clamping blocks 8.
The top cones of the four guide posts 10 of the flexible frame slightly exceed the ends of the clamping blocks 8 and are always positioned between the two clamping blocks 8. When the clamping mechanism clamps a workpiece, the four guide posts 10 are firstly contacted with the workpiece, the top cones of the four guide posts are used for guiding and positioning under the action of the workpiece positioning holes, and the springs 14 contacted with the bottoms of the guide posts 10 can be used for buffering to reduce the initial contact force. After the guide post 10 is completely inserted into the workpiece positioning hole, the guide post 10 serves as a safety pin to prevent the workpiece from being separated from the clamping mechanism in the process of carrying. The large rubber pad 1 and the four small rubber pads 3 are made of elastic rubber materials, and the thicknesses of the large rubber pads and the four small rubber pads are determined according to the maximum errors of the wrist deflection and the wrist pitching direction which need to be compensated at the tail end of the mechanical arm. The diameter of the connecting hole between the large rubber pad 1 and the top plate 2 and the diameter of the corresponding elastic connecting element are determined according to the maximum error of the rotation direction of the wrist which needs to be compensated at the tail end of the mechanical arm. In the process of clamping the workpiece by the clamping mechanism, if the clamping mechanism has an error in the wrist pitching or wrist deflection direction to the tail end of the mechanical arm, the thicknesses of the two small rubber pads 3 on one side to be pressed can be compressed in the four small rubber pads 3, and the thicknesses of the two small rubber pads 3 on the other side can be increased, so that the clamping mechanism can rotate in the wrist pitching or wrist deflection direction relative to the tail end of the mechanical arm, and the error in the wrist pitching or wrist deflection direction can be compensated. When this fixture had wrist rotation direction's error for the arm end, eight elastic sleeve and elastic washer can produce elastic deformation for the bolt inclines along big rubber pad 1's tangential direction, thereby makes between arm end and this fixture take place relative rotation along wrist rotation direction, thereby compensates wrist rotation error. When the piston rod 16 of the clamping device is completely retracted into the cylinder 17, the two connecting rods 12 are positioned on the same straight line, and the clamping mechanism is in a completely opened state. When the piston rod 16 is completely extended out, the sliding block 7 and the driving block 11 move to the farthest position along the guide rail 6 of the central axis, and the driving block 11 drives the clamping blocks 8 at the two sides to move along the sliding rail 7 through the pin shaft 13 and the connecting rod 12 and close to the middle, so that the clamping mechanism is in a completely clamping state.
The clamping method of the flexible clamping mechanism with the self-adaptive attitude error compensation at the tail end of the mechanical arm comprises the following steps: firstly, the hydraulic cylinder retracts to enable the connecting rod 12 to open the clamping block 8; then the guide post 10 is inserted into a guide hole which is processed in advance on a workpiece (not shown), and the contact force between the guide post 10 and the workpiece in the insertion process is buffered by a spring 14; then, the hydraulic cylinder is extended out to drive the connecting rod 12 to close the clamping block 8 to clamp the workpiece, and the guide post 10 is used for being matched with the clamping block 8 to interlock the workpiece in the clamping process of the clamping block 8. The combined structure of the large rubber pad 1 and the small rubber pad 3 is also used for automatically compensating the attitude error of the clamping mechanism relative to the tail end of the mechanical arm in the wrist pitching or wrist yawing direction.
When the clamping mechanism is used, the top plate 2, the large rubber pad 1 and the tail end connecting flange of the mechanical arm are sequentially connected through eight groups of bolts with elastic sleeves and elastic washers, so that the clamping mechanism is fixed at the tail end of the mechanical arm. Before clamping a workpiece, guide holes corresponding to the four guide posts 10 are drilled in advance in the workpiece to be clamped, and the diameter of each guide hole is slightly larger than the diameter of each guide post 10. And the rod cavity of the hydraulic cylinder is communicated with the oil tank through high-pressure oil and the rodless cavity, so that the piston rod 16 is completely retracted into the oil body 17, and the clamping device is driven, and the clamping mechanism is in a completely opened state (as shown in figure 3). When a workpiece is clamped, the mechanical arm drives the clamping mechanism to be close to the workpiece, and the correct clamping position is roughly determined by observing and aligning the positions of the clamping jaw and the four guide columns 10 relative to the workpiece positioning hole. After the substantially correct clamping position is found, the robot arm drives the clamping mechanism to approach the workpiece, so that the guide post 10 contacts the workpiece. Because the spring 14 is arranged at the bottom of the guide post 10, the contact force between the guide post 10 and the workpiece is increased slowly, so that the requirement on the position control precision of the tail end of the mechanical arm during initial contact is reduced, and the tolerance to misoperation of people is increased. In addition, since the contact force is proportional to the amount of compression of the spring 14, the current contact force can be estimated approximately by observing the length of retraction of the guide post 10, and thus adjusted in time. The cone at the top of the guide post 10 can ensure that the guide post 10 is accurately inserted into the guide hole of the workpiece when the clamping mechanism contacts the workpiece, thereby determining the correct clamping position. When the four guide posts 10 are accurately inserted into the guide holes of the workpiece and the distance between the lower surface of the bottom plate 5 of the clamping mechanism and the surface of the workpiece is small enough, high-pressure oil is introduced into a rodless cavity of the hydraulic cylinder, a rod cavity is communicated with an oil tank, a piston rod 16 extends out, and therefore the clamping device is driven to clamp the workpiece. At this time, the maximum oil pressure of the rodless chamber is determined according to the required maximum clamping force. When the piston rod 16 is fully extended, the clamping mechanism is in a fully clamped state (as shown in fig. 4), and the minimum distance between the two clamping blocks 8 is the minimum size of the object that can be clamped. In the process of clamping the workpiece by the clamping mechanism, if the clamping mechanism has an error in the wrist pitching or wrist yawing direction to the tail end of the mechanical arm, the thicknesses of the two small rubber pads 3 on the pressed side in the four small rubber pads 3 can be compressed, and the thicknesses of the two small rubber pads 3 on the other side can be increased, so that the clamping mechanism can rotate in the wrist pitching or wrist yawing direction relative to the tail end of the mechanical arm, and the error in the wrist pitching or wrist yawing direction can be compensated. When fixture had wrist rotation direction's error for the arm end, eight elastic sleeve and elastic washer can produce elastic deformation for the bolt inclines along big rubber pad 1's tangential direction, thereby makes between arm end and the fixture take place relative rotation along wrist rotation direction, thereby compensates wrist rotation error. The elastic deformation of the big rubber pad 1 and the small rubber pad 3 compensates the direction error, so that the excessive internal stress and contact force generated by small error in rigid connection can be avoided. After the workpiece is clamped by the clamping mechanism, the mechanical arm can start to carry the workpiece, and the guide column 10 serves as a safety pin in the process to prevent the workpiece from accidentally sliding down. After the workpiece is conveyed to a designated place, the clamping mechanism is changed from a clamping state to an opening state, and the workpiece can be separated from the guide post under the action of gravity or through the movement of the clamping mechanism.
The clamping mechanism has the advantages that reliable clamping of a large-mass workpiece can be realized while operability of the tail end is guaranteed in a simple, reliable and low-cost mode, and the attitude error of the tail end of the mechanical arm can be automatically compensated when the clamping mechanism clamps the workpiece, so that the contact force between the clamping mechanism and the workpiece is reduced, and the damage to a mechanical arm body or the workpiece is avoided.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and it is apparent that those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The flexible clamping mechanism comprises a top plate (2), a bottom plate (5), clamping blocks (8), linear slide rails and a hydraulic cylinder, and is characterized in that the top surface of the bottom plate is connected with the top plate through a connecting column (4), and the bottom surface of the bottom plate is provided with a pair of opposite clamping blocks through the linear slide rails at the lower part; the top surface of the bottom plate is provided with a driving block (11) through a linear slide rail at the upper part, connecting rods (12) are hinged to the driving block and positioned at two sides of the linear slide rail at the upper part, and the two connecting rods are respectively hinged to the two clamping blocks in a one-to-one correspondence manner; the hydraulic cylinder consists of a cylinder body (17) arranged on the bottom plate and a piston rod (16) which stretches out and draws back the cylinder body and is connected with the driving block; set up the safety catch device on the spliced pole, the safety catch device comprises guide post (10) by flexible in the spliced pole, spring (14) of locating in the spliced pole and acting on the guide post, the guide post runs through the bottom plate and extends towards pressing from both sides tight piece.
2. The self-adaptive attitude error compensation flexible clamping mechanism for the tail end of the mechanical arm according to claim 1, wherein a linear slide rail at the upper part is arranged on a central axis of a bottom plate; the projections of the upper linear slide rail and the lower linear slide rail on the bottom plate are mutually vertical, and both the upper linear slide rail and the lower linear slide rail are composed of a guide rail (6) and a slide block (7); the number of the linear slide rails at the lower part is set to be one group, two groups or four groups; the linear slide rail on the upper part is of a single-guide rail structure or a double-guide rail structure.
3. The adaptive attitude error compensation flexible clamping mechanism for the tail end of the mechanical arm as claimed in claim 1, wherein the connecting columns are arranged into three in a delta-shaped distribution or four in a front-back left-right symmetrical distribution.
4. The self-adaptive attitude error compensation flexible clamping mechanism for the tail end of the mechanical arm as claimed in claim 3, wherein at least one connecting column is provided with a safety pin device, the top of the guide column is a cone, and the axial length of the guide column is longer than the vertical height of the clamping blocks and is always positioned between the two clamping blocks; the connecting column is a flange type connecting column, and the top plate is provided with a communicating hole (15) communicated with the inside of the connecting column.
5. The adaptive attitude error compensation flexible clamping mechanism for the tail end of the mechanical arm as claimed in claim 1, wherein the clamping block is in a chevron shape and is provided with clamping jaws (19) at two sides and the center, trapezoidal teeth (9) are arranged on the inner sides of the clamping jaws, the clamping jaws at the side sides are rectangular, and the clamping jaws in the middle are triangular.
6. The self-adaptive attitude error compensation flexible clamping mechanism for the tail end of the mechanical arm as claimed in claim 5, wherein a boss corresponding to the middle clamping jaw and used for installing a pin shaft (13) of the connecting rod is arranged on the clamping block and faces away from the middle clamping jaw, and the boss is provided with a viewing hole (18) penetrating in the thickness direction of the clamping block.
7. The self-adaptive attitude error compensation flexible clamping mechanism at the tail end of the mechanical arm as claimed in claim 6, wherein the bottom plate is I-shaped, and the waist parts at two sides of the bottom plate are used for avoiding a boss arranged on the clamping block.
8. The adaptive attitude error compensation flexible clamping mechanism for the tail end of the mechanical arm as claimed in any one of claims 1 to 7, wherein a big rubber pad (1) is arranged at the top of the top plate, and a small rubber pad (3) is arranged between the top plate and the connecting column.
9. The clamping method of the robot arm tail end adaptive attitude error compensation flexible clamping mechanism based on claim 8 is characterized by comprising the following steps: firstly, the hydraulic cylinder retracts to enable the connecting rod to open the clamping block; then the guide post is inserted into a guide hole which is processed in advance on the workpiece, and the contact force between the guide post and the workpiece in the insertion process is buffered by utilizing a spring; and then, the hydraulic cylinder is extended out to drive the connecting rod to close the clamping block to clamp the workpiece, and the guide post is used for being matched with the clamping block to interlock the workpiece in the clamping of the clamping block.
10. The method of claim 9, further comprising using a combination of a large rubber pad and a small rubber pad to automatically compensate for an attitude error of the clamping mechanism relative to the end of the robot arm in a wrist pitch or wrist yaw direction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111506492.8A CN114347094A (en) | 2021-12-10 | 2021-12-10 | Flexible clamping mechanism and method for self-adaptive attitude error compensation of tail end of mechanical arm |
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| CN202111506492.8A CN114347094A (en) | 2021-12-10 | 2021-12-10 | Flexible clamping mechanism and method for self-adaptive attitude error compensation of tail end of mechanical arm |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114536034A (en) * | 2022-04-22 | 2022-05-27 | 沈阳和研科技有限公司 | XYZ-axis three-direction precision compensation structure suitable for precision carrying mechanism |
| CN115351584A (en) * | 2022-08-31 | 2022-11-18 | 珞璜(重庆)机器人有限公司 | Automatic cylinder head machining system |
| CN115847486A (en) * | 2022-12-22 | 2023-03-28 | 国网安徽省电力有限公司宁国市供电公司 | RPA flow robot fault self-checking system |
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| CN114536034A (en) * | 2022-04-22 | 2022-05-27 | 沈阳和研科技有限公司 | XYZ-axis three-direction precision compensation structure suitable for precision carrying mechanism |
| CN115351584A (en) * | 2022-08-31 | 2022-11-18 | 珞璜(重庆)机器人有限公司 | Automatic cylinder head machining system |
| CN115847486A (en) * | 2022-12-22 | 2023-03-28 | 国网安徽省电力有限公司宁国市供电公司 | RPA flow robot fault self-checking system |
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