CN208262857U - Fixture for robot system - Google Patents
Fixture for robot system Download PDFInfo
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- CN208262857U CN208262857U CN201820257369.4U CN201820257369U CN208262857U CN 208262857 U CN208262857 U CN 208262857U CN 201820257369 U CN201820257369 U CN 201820257369U CN 208262857 U CN208262857 U CN 208262857U
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Abstract
A kind of fixture for robot system is provided in accordance with an embodiment of the present disclosure.The fixture includes the first clamping device, is coupled to robot system and is suitable for being operated by robot system, which includes the first pairs of clamping part, clamps object suitable for moving towards each other；And second clamping device, it is coupled to the first clamping device and is moved with the first clamping device, which includes the second pairs of clamping part, clamps object suitable for moving towards each other；Wherein pairs of the first clamping part first distance apart, pairs of the second clamping part second distance apart, first distance are different from second distance, so that fixture has different clamping ranges.It using the fixture according to the disclosure, realizes while accurately and efficiently assembled to all workpiece of such as joint of robot module, additionally it is possible to which clamping workpiece clamps for the various functions such as operating tool with being processed.
Description
Technical field
This disclosure relates to a kind of fixture, more particularly, to a kind of fixture for robot system.
Background technique
Currently, as industrial automatization is higher and higher, more and more components need various parts to assemble and complete,
To meet the requirement of a variety of freedom degrees etc..For example, for the joint module of robot or mechanical arm, due to connection two to be related to
A or more than two arm modules simultaneously make a variety of freedom degrees realized between arm module, generally require more than ten parts to have assembled
At.These parts are typically all such as cylinder, cylinder or the pivoting part of plate-like.In current solution, these portions
Each component in part often respectively requires dedicated fixture and carries out clamping to complete to assemble.That is, make-up machinery arm
Joint module may need to multiple fixtures.This causes assembly system extremely complex, and then affects dress to a certain extent
The efficiency matched.
In addition, under normal circumstances, in order to guarantee the precision of assembly, it may be desirable to which sensor assists to assemble.For example, logical
Often will use the vision system of such as camera to identify and position the rigging position of workpiece to be assembled, for example, hole, edge or
Corner etc..Assembly device would generally use certain algorithm to handle acquired picture and obtain the feature of rigging position, so
After assembled.Due to the influence of the factors such as algorithm, shooting angle, light and blocking, the feature of obtained rigging position
There can be error, to seriously affect the precision of assembly.
In addition, possible each component requires a sensor to carry out in the assembling process of current mechanical arm etc.
Positioning etc. is to complete assembly.Which results in used number of sensors is numerous, control difficulty is increased, so that assembly
Inefficiency.And the calibration of each sensor might have deviation, to affect the precision of assembly.
Utility model content
An aspect of this disclosure provides a kind of fixture for robot system.The fixture includes the first clamping machine
Structure is coupled to robot system and is suitable for being operated by robot system, which includes the first pairs of clamping part,
Suitable for moving towards each other to clamp object；And second clamping device, it is coupled to the first clamping device and with the first clamping
Mechanism kinematic, second clamping device include the second pairs of clamping part, clamp object suitable for moving towards each other；Wherein
Pairs of the first clamping part first distance apart, pairs of the second clamping part second distance apart, first distance is not
It is same as second distance, so that fixture has different clamping ranges.
In some embodiments, fixture further includes driving mechanism, and the first clamping device is coupled to machine via driving mechanism
Device people's system, and driving mechanism is configured as being controlled according to the instruction from robot system to drive the first clamping device
Movement.
In some embodiments, the second clamping device further includes pairs of third clamping part, be suitable for it is away from one another movement with
Just the inner surface of object is supported to pick up object.
In some embodiments, fixture further includes displacement sensor, is coupled in driving mechanism and robot system extremely
It is one few, and be configured as at least detecting the size of object to be held；And wherein driving mechanism operation is according to displacement
The size for the object that sensor detects drives the first clamping device to move each other, to use first clamping part, the second folder
It holds one in portion and third clamping part and clamps or support object.
In some embodiments, fixture further includes force snesor, is coupled to driving mechanism and is configured as folded by detection
The object held or the supported power suffered when being assembled, and driving mechanism operation with the power that is detected according to force snesor come
It is activated by robot system to adjust position and/or angle of the object in assembly.
In some embodiments, displacement sensor is additionally configured to detect the placement location of object to be held or be used to
The rigging position of object is assembled, and driving mechanism operation is being placed to clamp or support according to detected placement location
The object of position；Or driving mechanism operation is to assemble object that is clamped or supporting according to detected rigging position
To rigging position.
In some embodiments, the cross sectional shape of the first clamping part and the second clamping part in perpendicular plane is in that
This opposite V-arrangement.
In some embodiments, fixture further includes being coupled in the first clamping part, the second clamping part and third clamping part extremely
Few one bolster, suitable for providing buffering between corresponding clamping part and object.
In some embodiments, cross sectional shape of the third clamping part in perpendicular plane is arc-shaped.
In some embodiments, be disposed on third clamping part for accommodate object, along third clamping part extend it is recessed
Slot.
By the way that the explanation of exemplary embodiment, the further feature of the disclosure will become aobvious and easy referring to the drawings
See.
It should be appreciated that disclosure part is not intended to the key or important feature of mark embodiment of the disclosure, it is also non-
It is intended for limiting the scope of the present disclosure.The other feature of the disclosure will be easy to understand by description below.
Detailed description of the invention
Described in detail below, the above and other objects, features and advantages general of the embodiment of the present disclosure by referring to accompanying drawing
It becomes more clearly understood from.In the accompanying drawings, by by example and it is unrestricted in a manner of multiple embodiments of the disclosure are said
It is bright, in which:
Fig. 1 shows the stereoscopic schematic diagram that robot system is coupled to according to the fixture of disclosure exemplary embodiment；
Fig. 2 shows the stereoscopic schematic diagrams according to the fixture of disclosure exemplary embodiment；
Fig. 3 shows the top view of the fixture according to disclosure exemplary embodiment；
Fig. 4 A- Fig. 4 D shows the three-dimensional signal according to the fixture of disclosure exemplary embodiment when clamping or supporting object
Figure；And
Fig. 5 shows the schematic diagram for the object being capable of clamping according to the fixture of disclosure exemplary embodiment, wherein the object
Body used tool when being assembly.
Specific embodiment
The principle of the disclosure is illustrated now with reference to various exemplary embodiments shown in the drawings.It should manage
Solution, the descriptions of these embodiments is just to better understood when those skilled in the art and further realize this public affairs
It opens, and is not intended to limit the scope of the present disclosure in any way.It should be noted that can make in figure under possibilities
With appended drawing reference similar or identical, and appended drawing reference similar or identical can indicate function similar or identical.Ability
The technical staff in domain will readily appreciate that from the following description, the substitution of structures and methods illustrated here is implemented
Example can be used without departing from the principle by the disclosure described herein.
As herein, term " includes " and its various variants are construed as open-ended term, it means that " including but
It is not limited to ".Term "based" is construed as " being based at least partially on ".Term " one embodiment " is construed as
" at least one embodiment ".Term " another embodiment " is construed as " at least one other embodiment ".
Robot system has been able to use at present to complete the assembly of some components.For example, to robot or mechanical arm
Joint module when being assembled, since rotary part type, the size that joint module is related to are different, it usually needs system of robot
System replaces dedicated fixture constantly to clamp used each part.It is extremely complex which results in assembly systems, Jin Erye
It is difficult to result in robot system control, also reduces assembly efficiency and precision to a certain extent.
Further, since needing to detect different sizes in assembly, multiple types and detection range are usually required at present
Sensor is completed to assemble.For example, in some assembly, it is understood that there may be multiple laser sensors, camera or orientation sensing
Multiple sensors such as device avoid some sensors from not being available when assembling certain components.This has also aggravated robot system
Thus duplication degree simultaneously brings various control problems.In addition, being identified and positioned using the vision system of such as camera
Assemble rigging position of workpiece, such as hole, edge or corner etc..Assembly device would generally use certain algorithm that will be obtained
The picture taken handles and obtains the feature of rigging position, is then assembled.Due to algorithm, shooting angle, light and blocking
Deng influence, the feature of obtained rigging position can have error, to seriously affect the precision of assembly.
Embodiment of the disclosure provides a kind of fixture 100 for robot system 200, with solution or at least partly
Solve above-mentioned and other potential problems of traditional scheme.
Improvement Fig. 1 of fixture 100 according to the exemplary embodiment of the disclosure is described in detail below in conjunction with Fig. 1 to Fig. 5
The stereoscopic schematic diagram that robot system 200 is coupled to according to the fixture 100 of disclosure exemplary embodiment is shown；Fig. 2 shows roots
According to the stereoscopic schematic diagram of the fixture 100 of disclosure exemplary embodiment；Fig. 3 shows the fixture according to disclosure exemplary embodiment
100 top view；Fig. 4 A- Fig. 4 D is shown according to the fixture 100 of disclosure exemplary embodiment when clamping or supporting object
Stereoscopic schematic diagram；And Fig. 5 shows the signal for the object being capable of clamping according to the fixture 100 of disclosure exemplary embodiment
Figure, used tool when wherein the object is assembly.
Generally, referring to Fig. 1 to Fig. 3, fixture 100 includes that at least two clamping devices are referred to as ease of description
" the first clamping device " 101 and " the second clamping device " 102.First clamping device 101 is coupled to robot system 200 and energy
It is enough to be operated by robot 200.First clamping device 101 includes the first pairs of clamping part 1011, the first pairs of clamping
Portion 1011 can be operating as moving towards each other to clamp the object 300 of such as workpiece or tool1.Second clamping device
102 are coupled to first clamping device 101 by certain mode, and can move with the first clamping device 101.Second clamping
Mechanism 102 includes the second pairs of clamping part 1021, which can move toward one another to clamp object 3002。
Referring to Fig. 3, the pairs of first distance D1 apart of the first clamping part 1011, the second pairs of clamping part 1021
Second distance D2 apart.In accordance with an embodiment of the present disclosure, first distance D1 is different from second distance D2.As a result, should
Fixture 100 has different clamping ranges, namely is capable of clamping various sizes of object.It is arranged so advantageously, on the one hand, folder
The clamping range of tool 100 increases.It is introduced by way of example below according to the fixture 100 of the disclosure is how to increase
Clamping range.Since the relative motion between the first pairs of clamping part 1011 has certain stroke S, i.e., in certain stroke S
It is moved back and forth between range.This stroke limiting clamping range of fixture 100.
In the case where only having a clamping part, it is limited to the driving method of clamping part, the minimum being generally capable of clamping
Size is assumed to be Dmin, the full-size being capable of clamping is D according to the stroke S of clamping partmin+S.For fixture 100, by
In the distance between two clamping parts difference, it is assumed that the minimum dimension that the first clamping part 1011 is capable of clamping is D1min, the second folder
Holding the minimum dimension that portion 1021 is capable of clamping is D2min, and D1minGreater than D2min.In the first clamping part 1011 and the second clamping
Portion 1021 is simultaneously after mobile range S, the full-size i.e. D1 that the first clamping part 1011 is capable of clampingmin+ S, the second clamping part
The 1021 i.e. D2 of the full-size being capable of clampingmin+ S, D1min+ S is greater than D2min+S。
For fixture 100, compared to only having the case where clamping part, the range being capable of clamping increases
, i.e. clamping range is D2minTo D1min+S.This range increased makes fixture 100 can adapt to the objects 100 of more sizes.
According to the fixture 100 of the disclosure, essentially all of part or work when the joint module of assembly such as robot can be clamped
Tool, as shown in attached drawing 4A-4C.
On the other hand, when the first clamping device 101 is in same position, the first clamping part 1011 and the second clamping part
1021 also have different clamping ranges.This is advantageous to clamping efficiency is improved.For example, due to the folder of the first clamping part 1011
Hold that range is larger, and the clamping range of the second clamping part 1021 is smaller.Therefore, larger ruler is being clamped using the first clamping part 1011
After very little workpiece, when then needing to clamp lesser workpiece.Compared with only having the case where clamping part, do not need controlling
Make the first clamping device 101 it is mobile it is far be just capable of clamping the lesser workpiece, and only need to move lesser distance to use the
Two clamping parts 1021 are completed to clamp.This has not only saved time cost, also as save because the first clamping device 101 of control moves
The consumption of energy brought by dynamic, which thereby enhances cost-effectiveness.
In addition, by increasing clamping range and different clamping parts being arranged, being realized according to the fixture 100 of the disclosure
The assembly of all workpiece of such as joint of robot module can just be completed substantially using only a fixture 100.It is multiple to reduce system
It is miscellaneous while spend, improve the efficiency of assembly.
It should be understood that above-mentioned showing about the first clamping device 101 and the second clamping device 102 and its associated components
Example is only schematical, it is not intended to limit the protection scope of the disclosure.Any structure appropriate or arrangement are all possible.Example
Such as, alternately, in some embodiments, it is also possible to be that the second clamping device 102 is coupled to robot system 200 or first
Both clamping device 101 and the second clamping device 102 are all coupled to robot system.
In some embodiments, as shown in figure 5, object 300 clamped by the fixture 1004It can be the work for operating
Tool.The tool can be set on bracket, and clamping device 301 is arranged in the corresponding position of bracket, by using the first clamping
Portion 1011 or the second clamping part 1021 clamp clamping device 301, so that will such as screw by the fixture 100
The tools such as knife 302 are operated in scheduled position.About fixture 100 tool is clamped it should be understood that above-mentioned
Embodiment is only exemplary, it is not intended to limit the protection scope according to the disclosure.Any other structure appropriate or arrangement
It is possible.For example, bracket can also be omitted, the clamping part of fixture 100 directly can clamp or support the appropriate of tool
Position is operated.
In some embodiments, which further includes driving mechanism 103, as depicted in figs. 1 and 2.In some embodiments
In, the first clamping device 101 can be coupled to robot system 200, and driving mechanism 103 by the driving mechanism 103
It can be controlled by the instruction from robot system 200 thus to drive the first driving mechanism 101 mobile.The operating mechanism 103
It may include shell 1031 and the electric motor (not shown) being arranged in shell 1031.In some embodiments, electronic horse
The output shaft reached can be coupled with lower section with two rack gears above by gear and respectively, and rack gear is separately connected pairs of first
One of them of clamping device 101.By this method, so that engagement between the rotation and gear, rack gear that pass through electric motor come
Realize that the first clamping device 101 of control is opposite or back movement.
It should be understood that the example of driving mechanism 103 mentioned above is only schematical, it is not intended to limit the disclosure
Protection scope, any other structure appropriate or arrangement be also it is possible.For example, driving mechanism 103 can also be respectively
Pneumatically perhaps hydraulic motor controls that the first clamping device 101 is opposite or back movement by certain mechanism.
By the way that driving mechanism 103 is arranged, so that the degree of modularity of fixture 100 is higher.Robot system 200 needs pair
Driving mechanism 103 is controlled the holding action that can complete fixture 100.Moreover, this also maintenance in fixture 100 and maintenance side
It provides convenience in face.
In accordance with an embodiment of the present disclosure, the first clamping device 101 and the second clamping device 102 can be by any suitable
Mode is coupled.For example, in some embodiments, the second clamping device 102 can be fastened on the first folder by fastener
It holds in mechanism 101.In some embodiments, the second clamping device 102 can be integrally formed with the first clamping device 101.Alternatively
Ground, in other some embodiments, the second clamping device 102 can be in a certain range relative to the first clamping device 101
Move through any position that the modes such as buckle or friction are locked in moving range.This is increased again to a certain extent
The clamping range of fixture 100.
In some embodiments, as shown in figure 3, the first clamping part 1011 and the second clamping part 1021 can have with its
Cross sectional shape in vertical plane is in V-arrangement relative to each other.First clamping part 1011 in the V-arrangement section and the second clamping part
1021 in clamping workpiece, especially rotary work piece, workpiece realization can be made to be automatically aligned to, as illustrated in figs. 4 a-4d.Pass through letter
Single structure realizes the automatic centering of workpiece, improves clamping and assembly efficiency, and this structure is also easy to process and make
It makes, thereby reduces manufacturing cost.
As shown in Fig. 2 and Fig. 4 D, in some embodiments, the second clamping device 102 can also include that pairs of third is pressed from both sides
Hold portion 1022.Third clamping part 1022 can be with back movement to support object 3003Inner surface pick up object 3003It is complete
At assembly.This aspect further increases the clamping range of fixture 100.On the other hand, in certain assembling process, due to essence
The a variety of causes such as degree and when the outer surface for being not easy to clamping workpiece or tool etc., can be by using the third clamping part 1022
Come support workpiece such as hole inner surface come complete assembly or workpiece processing.This is provided for the processing or assembly of workpiece
Convenience.
In some embodiments, workpiece is supported in order to easily facilitate, third clamping part 1022 is in perpendicular plane
Cross sectional shape can be arc.On the one hand, the third clamping part 1022 of arc section be in the inner surface for supporting workpiece will not
It damages the inner surface of workpiece.On the other hand, the power that supports that arc section can make to distribute on workpiece is uniformly distributed, improve to
Support stability when workpiece.
In addition, the third clamping part 1022 can also be used to grab O-ring, as shown in Figure 4 D.It is well known that O-ring exists
Industrial circle is widely used, however since the flexibility of O-ring is larger, it is easily deformed, so that traditional fixture can not grab
At assembly, therefore usually require installation manually.However it is grabbed according to using robot system 200 to pass through third clamping part 1022
O-ring can be grabbed predetermined position by supporting O-ring so that how no matter O-ring deform by O-ring.This is improved
The assembly efficiency of O-ring, and then also improve the whole efficiency when assembling the functional module of such as joint module.It should manage
Solution, third clamping part 1022 can also be used to clamp the compliant member of any other form.
In some embodiments, the groove 1023 extended along can be arranged on third clamping part 1022.This facilitates
Prevent the accidental falling of O-ring etc. when supporting the compliant members such as O-ring.In some embodiments, groove 1023 can have
Semicircular cross sectional shape, so that O-ring can be at least partially received therein, this effectively prevents when picking up O-ring
Accidental falling.However, it is to be understood that there is groove 1023 semicircular cross sectional shape to be only exemplary, it is not intended to limit
Determine the protection scope of the disclosure.Any other cross sectional shape appropriate is all possible.For example, the cross sectional shape of groove 1023
It can be other various shapes such as V-arrangement, trapezoidal or half elliptic.
It in some embodiments, can also include being coupled to the first clamping part 1011, second according to the fixture of the disclosure 100
Bolster 106 at least one of clamping part 1021 and third clamping part 1022.Bolster 106 can be in clamping such as work
Buffering is provided when the object 200 of part or tool.Bolster 106 can use any suitable material, such as rubber, plastics or
Person's silica gel etc..Bolster 106 can be coupled to the first clamping part 1011, the second clamping part 1021 and in any suitable way
On at least one of three clamping parts 1022, such as pass through fastener fastening, card slot connection etc..
In some embodiments, bolster 106 can with the first clamping device 101 or the one of the second clamping device 102 at
Type namely the first clamping device 101 or the second clamping device 102 can be made of material used in bolster.At this
In the case of planting, the higher of the part hardness setting of robot system 200 or operating mechanism 103 can be will be coupled into, and incited somebody to action
The hardness of the part of clamping part is configured lower to realize buffering.
In addition, the cross sectional shape of the perpendicular plane of bolster 106 can coupled the first clamping part extremely
1011, the cross sectional shape of the second clamping part 1021 or third clamping part 1022 is identical, as shown in Figure 3.In some embodiments, delay
The cross sectional shape of stamping 106 can also coupled the first clamping part 1011 extremely, the second clamping part 1021 or third clamping part
1022 cross sectional shape is different.For example, the first clamping part 1011, the second clamping part 1021 or third clamping part 1022 can only have
There is the cross sectional shape of plane, and the cross sectional shape of V-arrangement recited above or arc can pass through the cross sectional shape of bolster 106
To realize.This reduces the manufacture and assembly cost of fixture 100 to a certain extent.
In some embodiments, fixture 100 can also include except the first clamping device 101 and the second clamping device 102 with
Other outer clamping device (not shown).Other clamping devices can be coupled to the first clamping device by mode appropriate
101 and second clamping device 102 any one on or both be coupled to.In some embodiments, other clamping devices
Clamping range that can be having the same or different from the first clamping device 101 or the second clamping device 102.In some implementations
In example, which is also possible to any shape being formed on the first clamping device 101 or the second clamping device 102
(such as round, ellipse, the star or other arbitrary shapes) hole of shape or cylinder.
It in some embodiments, can also include displacement sensor 104 according to the fixture of the disclosure 100, referring to Fig. 1 and figure
2.Displacement sensor 104 is coupled to driving mechanism 103 and/or robot system 200, and can at least detect to be held
The size of height, diameter or the slope of object etc..Robot system 200 can control driving according to size detected
Mechanism 103 drives the first clamping device 101 to move each other, to use the first clamping part 1011,1021 and of the second clamping part
One in third clamping part 1022 clamps or supports object.
For example, in some embodiments, if it is larger by the size of detection confirmation workpiece, such as more than certain set
One threshold value, robot system 200, which is judged, completes clamping than advantageous using the first clamping part 1011, thus drives the first folder
101 relative motion of mechanism is held, to complete to clamp with the first clamping part 1011.After the assembly for completing the workpiece, then carry out
The assembly of another workpiece.By detection, the size of another workpiece is smaller than the size of a upper workpiece, and robot system 200
It is current with the second clamping part 1021 closely located to judge it, another work is thus clamped using the second clamping part 1021
Part.To improve efficiency and save energy cost.When needing to assemble O-ring, displacement sensor 104 can be according to detection
Determine that the workpiece is O-ring, to drive third clamping part 1022 to support the pickup that O-ring completes O-ring.
In some embodiments, displacement sensor 104 can detect the placement location of workpiece.After sensing, machine
Device people system 200 can drive fixture 100 be moved to placement location and control operating mechanism 103 come complete workpiece clamping or
It supports.In addition, in some embodiments, the rigging position that displacement sensor 104 can also assemble needs detects.Example
Such as, by the feature in the hole in the module to be assembled of detection, to determine going to assemble using which workpiece, and thus the first folder of control
It holds one in portion 1011, the second clamping part 1021 and third clamping part 1022 and completes assembly to clamp or support workpiece.It answers
It is above-mentioned to be only exemplary about 104 application scenarios of displacement sensor when understanding, it is not intended to limit the protection model of the disclosure
It encloses.Any other application scenarios appropriate or application mode are all possible.
In some embodiments, which can be laser sensor.The detection hand of displacement sensor 104
The direction of section such as laser can be any direction.For example, for the ease of the detection of workpiece, it can be by the inspection of displacement sensor 104
Survey means are set as straight down.Displacement sensor 104 can obtain object by the variation of the height caused by object as a result,
The size of body is to carry out aforesaid operations.
In some embodiments, the direction of displacement sensor 104 can be adjusted in real time by robot system 200.For example,
After assembling finished piece(s), when needing to detect assembled component, by by the detection means of displacement sensor 104 from vertically to
Under be switched to horizontal direction, to complete above-mentioned detection.Displacement sensor 104 can be coupled to driving machine in any suitable way
Structure 103 perhaps robot system 200 such as by bracket, multidirectional mechanism or universal joint.
It should be understood that about upper displacement sensors 104 example (such as laser sensor) or mounting means
Embodiment is only exemplary, it is not intended to limit the protection scope of the disclosure.Any other displacement sensor appropriate or installation
What mode was equally possible.For example, displacement sensor 104 can be using strain-type, inductance type, differential transformer type, eddy current type,
Any sensor of the sensing technologies such as Hall sensor or inductosyn, grating, capacitive grating, magnetic grid.
It in some embodiments, can also include force snesor 105 according to the fixture of the disclosure 100, such as Fig. 1 and Fig. 2 institute
Show.Force snesor 105 can be coupled to driving mechanism 103 in any suitable way.For example, force snesor 105 can couple
To between driving mechanism 103 and robot system 200 namely driving mechanism 103 can be coupled to machine by force snesor 105
Device people system 200.It is suffered in assembly, processing or operation that force snesor 105 is able to detect clamped workpiece or tool
The power arrived, and therefore activated by robot system 200 to adjust position and the angle of workpiece or tool.
For example, in some embodiments, when that will be assembled in hole with cylindrical workpiece, due to the size of cylindrical workpiece and hole
Smaller (such as being clearance fit between cylindrical workpiece and hole) is differed, when being assembled using traditional fixture, even if in the presence of
The detection means such as camera, but since there are errors, so still may make to touch between workpiece and hole in assembly
The problems such as hitting.To solve the above-mentioned problems, in accordance with an embodiment of the present disclosure, fixture 100 can be by using force snesor
105。
For example, in the pre-assembly, detection luggage of going forward side by side can be carried out by the position of 104 device to hole of displacement sensor and is matched.?
When assembly, force snesor 105 can continue power suffered on detection workpiece, when workpiece is inserted into hole or be inserted into it in hole
Afterwards, if the two has contact or collides, power therefore suffered be will increase on workpiece.Robot system 200 can basis
The increase of detected power and position so as to adjust workpiece is activated to fixture 100 to be accurately performed assembly.
For example, in some embodiments, when needing to assemble some gear-boxes, there are multiple some sections be ellipse and
Component similar in long axis and short axle (being approximately circular cross-section), and needed between the long axis of these components and short axle in assembly
There are certain angular relationship (such as coincidence or long axis are mutually perpendicular to).It is assembled using this traditional fixture
When, unless otherwise will be unable to the automatic assembling for completing these workpiece by particularly accurate detection means.However, especially accurate
Detection means often higher cost and also often there is error.Unlike this, in accordance with an embodiment of the present disclosure, fixture
100 carry out the operation such as pressing by detecting the stress of these workpiece in assembly and activating 100 system of fixture, so that in two portions
Part is accurately performed above-mentioned component when reaching predetermined rigging position (long axis of such as two components relationship at an angle)
Assembly.It can be seen that force snesor 105 can complete above-mentioned assembly in a manner of inexpensive and high-precision.
In some embodiments, force snesor 105 can be utilized to grasp workpiece in the equipment of such as press
The state of workpiece and thus position of the adjustment clamping part on workpiece are controlled when making.For example, when being compressed to workpiece, with
The upper holder block of press constantly moves down, and suffered power is also increasing on workpiece.Thus robot system 200 is according to being detected
Power come actuatable clamp portion to making clamping part move down.Which achieves while clamping workpiece is completed to operate, it is thus also avoided that
Fixture 100 is damaged.
In some embodiments, as shown in figure 5, in clamped object 3004In the case where being tool, force snesor 105
Such as screwdriver 302 can also be detected, and suffered power controls with accurately and efficiently screwdriver 302 in operation
Complete operation.By means of force snesor 105, it is suffered in processing, assembly or tool operation that workpiece can be detected in real time
Power, and according to detected power come to tool or workpiece position or angle be adjusted.This is equivalent to filling
It joined feedback with link to form closed-loop control.Be enable to by low cost in a manner of realize it is high-precision processing,
Operation and assembly.
It should be understood that the above-mentioned usage scenario about above-mentioned force snesor 105 is merely exemplary, it is not intended to which limitation is originally
Disclosed protection scope.Any other arrangement and usage mode are all possible.For example, force snesor 105 is in assembly O-ring
When can also detect the power on O-ring and O-ring is pressed, with ensure O-ring assembly success.
In conclusion realizing high-precision and efficiently to such as joint of robot module according to the fixture 100 of the disclosure
All workpiece while assembled, additionally it is possible to clamp or support workpiece to be processed.In some embodiments, according to this
Disclosed fixture 100 can also be clamped or be supported to used tool is assembled for operation etc..
Although passed through example illustrates some specific embodiments of the disclosure in detail, those skilled in the art should
Understand, above-mentioned example is intended merely to be exemplary rather than and limit the scope of the present disclosure.It should be appreciated by those skilled in the art that above-mentioned
Embodiment can be modified without departing from the scope and essence of the disclosure.The scope of the present disclosure is limited by the attached claims
Fixed.
In specification and following claim, unless the context requires otherwise, term " includes " and "comprising" are managed
Solution is not excluded for any other ingredient or at grouping for comprising illustrated ingredient or at grouping.
The reference to any prior art in this specification is not to be not construed as recognizing to imply that these are existing yet
Technological maheup common knowledge.
It it should be appreciated that following following claims is only provisional claims, and is the example of possible claim, and simultaneously
It is not intended to the patent application that the scope of the claims is limited to any future based on the application.It may be in the future exemplary
Increase in claim or delete ingredient, to further limit or redefine the disclosure.
Claims (10)
1. the fixture (100) that one kind is used for robot system (200) characterized by comprising
First clamping device (101) is coupled to the robot system (200) and is suitable for being grasped by the robot system (200)
Make, first clamping device (101) includes pairs of the first clamping part (1011), clamps object suitable for moving towards each other
Body；And
Second clamping device (102), is coupled to first clamping device (101) and can be with first clamping device
(101) move, second clamping device (102) includes pairs of the second clamping part (1021), suitable for move towards each other with
Just object is clamped；
Wherein described pairs of the first clamping part (1011) first distance apart (D1), the second pairs of clamping part
(1021) second distance (D2) apart, the first distance (D1) is different from the second distance (D2), so that described
Fixture (100) can clamp various sizes of object.
2. the fixture (100) according to claim 1 for robot system (200), which is characterized in that further include driving
Mechanism (103), first clamping device (101) are coupled to the robot system via the driving mechanism (103)
(200), and the driving mechanism (103) be configured as according to from the robot system (200) instruction come control come
First clamping device (101) is driven to move.
3. the fixture (100) according to claim 1 for robot system (200), which is characterized in that second folder
Holding mechanism (102) further includes pairs of third clamping part (1022), is supported in the object suitable for movement away from one another
The object is picked up on surface.
4. the fixture (100) according to claim 2 for robot system (200), which is characterized in that further include:
Displacement sensor (104) is coupled at least one of the driving mechanism (103) and robot system (200), and
It is configured as at least detecting the size of object to be held；And
Wherein the driving mechanism (103) operation is with the described of the object that is detected according to institute's displacement sensors (105)
Size drives first clamping device (101) to move each other, to use first clamping part (1011), described second
One in clamping part (1021) and the third clamping part (1022) clamps or supports the object.
5. the fixture (100) according to claim 2 for robot system (200), which is characterized in that further include:
Force snesor (105) is coupled to the driving mechanism (103) and is configured as the object that detection is clamped or supports
The body power suffered when being assembled, and
The driving mechanism (103) operates the power to detect according to the force snesor (104) come by the robot system
(200) it activates to adjust position and/or angle of the object in assembly.
6. the fixture (100) according to claim 4 for robot system (200), which is characterized in that the wherein position
Displacement sensor (104) is additionally configured to detect the placement location of object to be held or for assembling the assembly of object (300)
Position,
And driving mechanism (103) operation to clamp or support according to the detected placement location described to put
The object of seated position；Or
Driving mechanism (103) operation is to fill object that is clamped or supporting according to the detected rigging position
It is fitted on the rigging position.
7. the fixture (100) according to claim 1 for robot system (200), which is characterized in that first folder
The cross sectional shape of portion (1011) and second clamping part (1021) in perpendicular plane is held in V-arrangement relative to each other.
8. the fixture (100) according to claim 3 for robot system (200), which is characterized in that further include coupling
To at least one in first clamping part (1011), second clamping part (1021) and the third clamping part (1022)
Bolster (106), suitable for providing buffering between corresponding clamping part and object.
9. the fixture (100) according to claim 3 for robot system (200), which is characterized in that the third folder
It is arc-shaped to hold cross sectional shape of the portion (1022) in perpendicular plane.
10. the fixture (100) according to claim 3 for robot system (200), which is characterized in that the third
It is disposed on clamping part (1022) for groove accommodating the object, extending along the third clamping part (1022)
(1023)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820257369.4U CN208262857U (en) | 2018-02-13 | 2018-02-13 | Fixture for robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820257369.4U CN208262857U (en) | 2018-02-13 | 2018-02-13 | Fixture for robot system |
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| Publication Number | Publication Date |
|---|---|
| CN208262857U true CN208262857U (en) | 2018-12-21 |
Family
ID=64674283
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820257369.4U Active CN208262857U (en) | 2018-02-13 | 2018-02-13 | Fixture for robot system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109481040A (en) * | 2019-01-17 | 2019-03-19 | 厦门市领汇医疗科技有限公司 | A kind of manipulator fixture |
| CN111015703A (en) * | 2019-12-20 | 2020-04-17 | 河南机电职业学院 | Mechanical clamping jaw for mechanical manufacturing |
| CN112959347A (en) * | 2020-11-08 | 2021-06-15 | 新羿制造科技（北京）有限公司 | Automatic feeding paw device |
-
2018
- 2018-02-13 CN CN201820257369.4U patent/CN208262857U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109481040A (en) * | 2019-01-17 | 2019-03-19 | 厦门市领汇医疗科技有限公司 | A kind of manipulator fixture |
| CN111015703A (en) * | 2019-12-20 | 2020-04-17 | 河南机电职业学院 | Mechanical clamping jaw for mechanical manufacturing |
| CN112959347A (en) * | 2020-11-08 | 2021-06-15 | 新羿制造科技（北京）有限公司 | Automatic feeding paw device |
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