CN113442156A - Flexible clamp holder based on novel two-finger robot hand - Google Patents
Flexible clamp holder based on novel two-finger robot hand Download PDFInfo
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- CN113442156A CN113442156A CN202110575485.7A CN202110575485A CN113442156A CN 113442156 A CN113442156 A CN 113442156A CN 202110575485 A CN202110575485 A CN 202110575485A CN 113442156 A CN113442156 A CN 113442156A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 210000000078 claw Anatomy 0.000 claims description 18
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 6
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- 238000005859 coupling reaction Methods 0.000 claims description 6
- 239000002184 metal Substances 0.000 description 24
- 238000010586 diagram Methods 0.000 description 11
- 238000004519 manufacturing process Methods 0.000 description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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Abstract
The application provides a flexible clamp holder based on a novel two-finger robot hand, wherein an upper end cross arm is arranged on a vertical guide rail mechanism in a lifting manner, and two pneumatic clamps are respectively arranged on the bottoms of two ends of the upper end cross arm in parallel at intervals; the two lower-end cross arms are respectively fixed on the same side wall of the lower end of the vertical guide rail mechanism in parallel at intervals; the two-finger robot hands are respectively and movably arranged on each lower end cross arm along the axial direction of the lower end cross arm, and the moving direction is the same as the length extending direction of the lower end of the vertical guide rail mechanism; the driver is fixedly installed on the middle portion of the side wall of the lower end of the vertical guide rail mechanism and located between the two-finger robot hands, and the driving ends at the two ends of the driver are in transmission connection with the two-finger robot hands respectively and are used for driving the two-finger robot hands to move on the cross arms at the lower ends respectively. The device simple structure, and it is convenient to use, work efficiency is high.
Description
Technical Field
The application relates to the field of automobiles, in particular to a flexible clamp holder based on a novel two-finger robot hand.
Background
With the continuous subdivision of the automobile market, the automobile models are more and more, and robots in automobile processing and manufacturing also need higher flexibility, so that higher utilization rate and lower investment cost are realized. Therefore, in the production of the automotive industry, it is desirable for a robot hand to be able to grasp parts of different shapes and materials with a force that meets production requirements. Most of the traditional clamps are designed aiming at a workpiece with a specific size and shape, so that the traditional clamps have strong limitation, and when the structural shape and the size of the workpiece to be clamped are greatly changed, the other clamp needs to be used for clamping, so that the production cost is increased, and the production period is prolonged. And when the structure of the workpiece is complicated or a specific station is required, one gripper may not be capable of completing the gripping independently, and a plurality of grippers may be required to cooperate to grip, which not only complicates the mechanism but also requires more space for arranging the grippers, and the increase of the number of grippers also increases the possibility of the mechanism malfunctioning during operation, so that the reliability is reduced, which are very unfavorable factors for the modern automobile production process.
Disclosure of Invention
One of the purposes of the present application is to provide a flexible gripper based on a novel two-finger robot hand, aiming at improving the problem of low robot flexibility in the existing automobile manufacturing process.
The technical scheme of the application is as follows:
a flexible clamp holder based on a novel two-finger robot hand comprises a vertical guide rail mechanism, an upper end cross arm, two pneumatic clamps, two lower end cross arms, a driver and two-finger robot hands; the upper end cross arm is arranged on the vertical guide rail mechanism in a lifting manner, and the two pneumatic clamps are respectively arranged on the bottoms of the two ends of the upper end cross arm in parallel at intervals; the two lower-end cross arms are respectively fixed on the same side wall of the lower end of the vertical guide rail mechanism in parallel at intervals; the two robot hands are respectively and movably arranged on each lower end cross arm along the axial direction of the lower end cross arm, and the moving direction of the two robot hands is the same as the length extending direction of the lower end of the vertical guide rail mechanism; the driver is fixedly installed on the middle portion of the side wall of the lower end of the vertical guide rail mechanism and located between the two finger robot hands, and driving ends at two ends of the driver are in transmission connection with the two finger robot hands respectively and used for driving the two finger robot hands to move on the lower end cross arm respectively.
As a technical scheme of the present application, the vertical guide rail mechanism includes two vertical trailing arms, a stepping motor, a first connecting block, a second connecting block, a ball screw, a slider, a first positioning block, and a second positioning block; the two vertical longitudinal arms are arranged in parallel at intervals, and vertical sliding rails are arranged on the vertical longitudinal arms along the height direction; two ends of the first connecting block are respectively and fixedly connected between the inner walls of the upper parts of the two vertical longitudinal arms, two ends of the second connecting block are respectively and fixedly connected between the inner walls of the middle parts of the two vertical longitudinal arms, and the first connecting block is parallel to the second connecting block; the first positioning block is fixed on the first connecting block, the second positioning block is fixed on the second connecting block, and the first positioning block is parallel to the second positioning block; the stepping motor is arranged on the first connecting block, the driving end of the stepping motor is in transmission connection with one end of the ball screw, and the other end of the ball screw can rotatably penetrate through the first positioning block and can be rotatably connected to the second positioning block; the sliding block is movably arranged on the ball screw; the upper end cross arm is installed on the sliding block, and two ends of the upper end cross arm are installed in the two vertical sliding rails in a lifting mode respectively.
As a technical scheme of the application, the upper end cross arm comprises a moving block and a T-shaped connecting arm; the moving block is arranged on the vertical guide rail mechanism in a lifting manner; the middle part of the T-shaped connecting arm is fixedly connected to the moving block, and the pneumatic clamps are respectively arranged at the two ends of the T-shaped connecting arm.
As a technical scheme of the application, each two-finger robot hand comprises a base, a pneumatic cylinder, two claws and two groups of driving components, wherein the two groups of driving components are respectively used for controlling the clamping or the loosening of each claw; the base is transversely slidably mounted on the lower end cross arm, and the moving direction of the base is the same as the length extending direction of the lower end of the vertical guide rail mechanism; the two claws are symmetrically arranged in the inner cavity of the base; the pneumatic cylinder is arranged in the inner cavity of the base and is positioned between the two claws, and two driving ends of the pneumatic cylinder are respectively hinged with the two claws and are used for driving the two claws to move towards the directions close to or away from each other; the two groups of driving assemblies are respectively arranged on the outer side wall of the base, and each group of driving assemblies is in transmission connection with each paw and is used for driving the two paws to clamp or loosen.
As a technical scheme of the application, each paw comprises a first pin shaft, a first triangular plate and a connecting rod mechanism; the first pin shaft is arranged at the driving end of the pneumatic cylinder, and the first end of the first triangular plate is hinged to the first pin shaft; the connecting rod mechanism is hinged to the first triangular plate; each driving assembly is in transmission connection with each link mechanism and is used for driving the two link mechanisms to be clamped or unclamped.
As a technical solution of the present application, the link mechanism includes a second pin, a third pin, a fourth pin, a fifth pin, a sixth pin, a seventh pin, an eighth pin, a ninth pin, a tenth pin, a first coupler, a second coupler, a ball bearing, a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, a second triangle, and a clamping block; two ends of the second pin shaft respectively penetrate through two opposite outer sides of the second end of the first triangular plate, and two opposite side walls of one end of the first connecting rod are respectively rotatably sleeved on two ends of the second pin shaft; two ends of the third pin shaft respectively penetrate through two opposite outer sides of the third end of the first triangular plate, and two opposite side walls of one end of the third connecting rod are respectively rotatably sleeved on two ends of the third pin shaft; a side wall of one end of the second connecting rod is rotatably sleeved on one end of the third pin shaft and is positioned outside a side wall of one end of the third connecting rod, and a first motor shaft of the driving assembly is in transmission connection with one end of the second connecting rod through the first coupler and is used for driving the second connecting rod to rotate; a second motor shaft of the driving assembly is in transmission connection with the other side wall of one end of the third connecting rod through the second coupling and is used for driving the third connecting rod to rotate; the other end of the second connecting rod is sleeved on the second motor shaft through the ball bearing and is positioned outside the other side wall of one end of the third connecting rod; two ends of the fourth pin shaft are connected to two opposite side walls of the other end of the third connecting rod, and one end of the fourth connecting rod is rotatably sleeved on the fourth pin shaft; the first end of the second triangular plate is hinged to the other end of the first connecting rod through the fifth pin shaft, the second end of the second triangular plate is hinged to the other end of the second connecting rod through the sixth pin shaft, and the third end of the second triangular plate is hinged to one end of the sixth connecting rod through the ninth pin shaft; one end of the fifth connecting rod is rotatably sleeved on two ends of the sixth pin shaft and is positioned between two opposite side walls of the other end of the second connecting rod; two ends of the seventh pin shaft are connected to the middle parts of two opposite side walls of the fifth connecting rod, and the other end of the fourth connecting rod is rotatably sleeved on the seventh pin shaft; and two ends of the eighth pin shaft are connected to two opposite side walls of the other end of the fifth connecting rod, one end of the clamping block is rotatably sleeved on the eighth pin shaft, and the other end of the clamping block is hinged to the other end of the sixth connecting rod through the tenth pin shaft.
As a technical scheme of this application, install pressure sensor on the clamping face in the outside of grip block.
As a technical scheme of this application, first set square first connecting rod the second connecting rod and the second set square constitutes parallelogram link structure jointly, the second connecting rod the third connecting rod the fourth connecting rod and the fifth connecting rod constitutes parallelogram link structure jointly, the second set square the fifth connecting rod the grip block and the sixth connecting rod constitutes parallelogram link structure jointly.
As a technical scheme of this application, first set square with the second set square is right triangle.
As a technical scheme of this application, drive assembly includes first servo motor and second servo motor, first servo motor first motor shaft with second servo motor the coaxial setting of second motor shaft.
The beneficial effect of this application:
in the flexible clamp holder based on the novel two-finger robot hand, the clamp holder has the advantages of being high in flexibility, large in working space, capable of clamping thin plate pieces in different shapes and sizes and the like. When the novel two-finger robot hand is similar to two fingers of a human hand, when the robot hand needs to clamp a sheet metal part, the first servo motor and the second servo motor respectively drive the connecting rod mechanisms of the robot hand to move, and the clamping blocks are brought to two sides of the sheet metal part by the connecting rod mechanisms; meanwhile, the driving pneumatic cylinder extends towards two sides and can push the connecting rod mechanism to adjust the clamping orientation angle of the clamping block, so that the device can be suitable for different shapes and sizes of the clamped sheet metal, the sheet metal part is clamped by adjusting to a proper angle and position, clamping of sheet metal parts with different shapes and sizes is realized, multi-robot matching assembly is carried out, clamping work under different working conditions is completed, and the flexibility is high. In addition, a first motor shaft of a first servo motor and a second motor shaft of a second servo motor of the device can be driven coaxially, so that the driving task is well completed, the size of the mechanism is reduced, the overall occupied space is smaller, and the structure is compact; and the whole device has high flexibility, different clamping tasks can be well finished by a single clamp, other mechanisms are not needed for auxiliary clamping, the clamping process is simplified, and the reliability of the clamping work is improved. Simultaneously, this novel two indicate robot hand accessible pressure sensor of during operation records clamping pressure size to further control the clamping position and the pressure of two fingers, avoid causing the damage to car sheet metal component.
Drawings
In order to more clearly explain the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that for those skilled in the art, other related drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic working diagram of a flexible gripper based on a novel two-finger robot hand according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a flexible gripper based on a novel two-finger robot hand provided by an embodiment of the present application;
FIG. 3 is a schematic diagram of the movement of a flexible gripper based on a novel two-finger robot hand provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of a two-finger robot hand according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of an internal structure of a two-finger robot hand according to an embodiment of the present application;
fig. 6 is a schematic driving diagram of a first servo motor and a second servo motor of a two-finger robot hand according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a first operating position of a two-finger robotic hand according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a second operating position of a two-finger robotic hand according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a third operating position of a two-finger robotic hand according to an embodiment of the present application;
FIG. 10 is a schematic diagram of a fourth operating position of a two-finger robotic hand according to an embodiment of the present application;
fig. 11 is a schematic diagram of the movement of a pneumatic clamp according to an embodiment of the present disclosure.
Icon: 1-an automobile sheet metal part; 2-a vertical guide rail mechanism; 3-upper cross arm; 4-a pneumatic clamp; 5-a lower end cross arm; 6-a driver; 7-two finger robot hand; 8-vertical trailing arm; 9-a stepper motor; 10-a first connection block; 11-a second connection block; 12-a ball screw; 13-a first positioning block; 14-a second locating block; 15-vertical sliding rail; 16-a moving block; 17-T type connecting arm; 18-a base; 19-pneumatic cylinders; 20-paw; 21-a first pin; 22-a first set square; 23-a second pin; 24-a third pin; 25-a fourth pin; 26-a fifth pin; 27-a sixth pin; 28-a seventh pin; 29-eighth pin; 30-ninth pin shaft; 31-tenth pin; 32-ball bearings; 33-a first link; 34-a second link; 35-a third link; 36-a fourth link; 37-a fifth link; 38-sixth link; 39-second set square; 40-a clamping block; 41-a first motor shaft; 42-a second motor shaft; 43-a pressure sensor; 44-a first servomotor; 45-second servomotor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like refer to orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are used for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.
Further, in the present application, unless expressly stated or limited otherwise, the first feature may be directly contacting the second feature or may be directly contacting the second feature, or the first and second features may be contacted with each other through another feature therebetween, not directly contacting the second feature. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Example (b):
referring to fig. 1 and fig. 2 to 11, the present application provides a flexible gripper based on a novel two-finger robot hand, which can be used as an end effector of a robot, and when the flexible gripper works, the two-finger robot hand 7 at the lower end clamps an automobile sheet metal part 1, and the two sets of pneumatic clamps 4 at the upper end fix the automobile sheet metal part 1, so as to flexibly and stably grab the automobile sheet metal part 1.
The device mainly comprises a vertical guide rail mechanism 2, an upper end cross arm 3, two pneumatic clamps 4, two lower end cross arms 5, a driver 6 and two-finger robot hands 7; wherein, the upper end xarm 3 is installed on vertical guide rail mechanism 2 with liftable, and two air jig 4 are installed on the both ends bottom of upper end xarm 3 respectively with parallel interval, and the reciprocating of upper end xarm 3 can drive air jig 4 and reciprocate, plays the fixed action to car sheet metal component 1 during operation. Meanwhile, the two lower-end cross arms 5 are respectively fixed on the same side wall of the lower end of the vertical guide rail mechanism 2 in parallel at intervals, and the arrangement direction of the two lower-end cross arms is the same as the extension direction of the side end of the vertical guide rail mechanism 2, namely the width direction of the vertical guide rail mechanism 2; the two-finger robot hands 7 are respectively and movably arranged on each lower end cross arm 5 along the axial direction of the lower end cross arm 5, and the moving direction is the same as the length extending direction of the lower end of the vertical guide rail mechanism 2; the driver 6 is fixedly installed on the middle portion of the side wall of the lower end of the vertical guide rail mechanism 2 and located between the two-finger robot hands 7, and driving ends at two ends of the driver 6 are in transmission connection with the two-finger robot hands 7 respectively and are used for driving the two-finger robot hands 7 to move on the cross arms 5 at the lower ends respectively.
It should be noted that, in the present embodiment, the driver 6 is a bidirectional double-rod cylinder, which is fixedly mounted on the middle of the side wall of the lower end of the vertical guide rail mechanism 2 through a fixed seat. Two piston rods at two ends of the bidirectional double-rod cylinder are respectively connected with two-finger robot hands 7 through connecting blocks, the two-finger robot hands 7 can be pushed to horizontally move along a horizontal guide rail on the lower-end cross arm 5 by stretching of the piston rods, and the two-finger robot hands 7 play a flexible clamping role and can flexibly clamp the automobile sheet metal parts 1 in different shapes and positions. Therefore, the pneumatic clamp 4 and the two-finger robot hands 7 can be controlled to clamp the sheet metal parts 1 of different shapes and sizes of automobiles.
Further, the vertical guide rail mechanism 2 is of a frame structure and mainly comprises two vertical longitudinal arms 8, a stepping motor 9, a first connecting block 10, a second connecting block 11, a ball screw 12, a sliding block, a first positioning block 13 and a second positioning block 14; wherein, the two vertical trailing arms 8 are vertically arranged and are arranged in parallel at intervals; meanwhile, a vertical slide rail 15 is arranged on the vertical trailing arm 8 along the height direction. Two ends of the first connecting block 10 are respectively and fixedly connected between the inner walls of the upper parts of the two vertical longitudinal arms 8, two ends of the second connecting block 11 are respectively and fixedly connected between the inner walls of the middle parts of the two vertical longitudinal arms 8, the first connecting block 10 is parallel to the second connecting block 11, and the first connecting block 10 and the second connecting block are both positioned outside the vertical slide rail 15; moreover, the first positioning block 13 is fixedly installed on the first connecting block 10, the second positioning block 14 is fixedly installed on the second connecting block 11, and the first positioning block 13 and the second positioning block 14 are arranged in parallel and at an interval. The stepping motor 9 is fixedly arranged on the first connecting block 10, and the driving end of the stepping motor is in transmission connection with one end of a ball screw 12 and is used for driving the ball screw 12 to rotate; the other end of the ball screw 12 rotatably passes through the first positioning block 13 and is rotatably connected to the second positioning block 14; the slide block is movably arranged on the ball screw 12, and can move up and down on the ball screw 12 when the ball screw 12 rotates; the upper end cross arm 3 is fixedly arranged on the sliding block, and two ends of the upper end cross arm are respectively arranged in the two vertical sliding rails 15 in a lifting way; when the slide block moves up and down, the slide block can drive the upper cross arm 3 to move up and down.
Specifically, in the present embodiment, the upper-end cross arm 3 includes a moving block 16 and a T-shaped connecting arm 17; the moving block 16 is vertically arranged, is fixedly arranged on the outer surface of the sliding block through a stud bolt, and two ends of the moving block are respectively slidably arranged in the vertical slide rails 15 of the vertical guide rail mechanism 2; meanwhile, the T-shaped connecting arm 17 is of a T-shaped structure and horizontally arranged, the short rod in the middle of the T-shaped connecting arm 17 is vertically and fixedly connected to the vertical outer surface of the moving block 16, and the pneumatic clamps 4 are respectively installed on the bottoms of the two ends of the long rod of the T-shaped connecting arm 17 through stud bolts.
In addition, the two-finger robot hand 7 has a two-finger structure, two servo motors on each side drive the "fingers" in total, the two "fingers" are connected by the pneumatic cylinder 19, and the left side "finger" is now taken as an example for specific description.
Each two-finger robot hand 7 comprises a base 18, a pneumatic cylinder 19, two claws 20 and two groups of driving components which are respectively used for controlling the clamping or the loosening of each claw 20; the lower cross arm 5 is provided with a guide rail extending in the longitudinal direction of the lower cross arm 5, and the base 18 is attached to the lower cross arm 5 so as to be laterally slidable in the same direction as the longitudinal direction of the lower end of the vertical guide mechanism 2. Meanwhile, the two claws 20 are symmetrically arranged in the inner cavity of the base 18; the pneumatic cylinder 19 is arranged in the inner cavity of the base 18 and is positioned between the two claws 20, and two driving ends of the pneumatic cylinder 19 are respectively hinged with the two claws 20 and are used for driving the two claws 20 to move towards the directions close to or away from each other; two sets of drive assemblies are respectively installed on the lateral wall of base 18, and every set of drive assembly all is connected with every hand claw 20 transmission for drive two hand claws 20 clamp or unclamp.
Further, each gripper 20 comprises a first pin 21, a first triangle 22 and a link mechanism; wherein, the first pin 21 is installed on the driving end of the pneumatic cylinder 19, the first end of the first triangle 22 is hinged on the first pin 21; the link mechanism is hinged on the first triangular plate 22; each driving assembly is connected with each link mechanism in a transmission mode and used for driving the two link mechanisms to clamp or unclamp.
Specifically, the link mechanism includes a second pin 23, a third pin 24, a fourth pin 25, a fifth pin 26, a sixth pin 27, a seventh pin 28, an eighth pin 29, a ninth pin 30, a tenth pin 31, a first coupler, a second coupler, a ball bearing 32, a first connecting rod 33, a second connecting rod 34, a third connecting rod 35, a fourth connecting rod 36, a fifth connecting rod 37, a sixth connecting rod 38, a second triangular plate 39 and a clamping block 40; two ends of the second pin shaft 23 respectively penetrate through two opposite outer sides of the second end of the first triangular plate 22, and two opposite side walls of one end of the first connecting rod 33 are respectively rotatably sleeved on two ends of the second pin shaft 23; two ends of the third pin shaft 24 respectively penetrate through two opposite outer sides of the third end of the first triangular plate 22, and two opposite side walls of one end of the third connecting rod 35 are respectively rotatably sleeved on two ends of the third pin shaft 24; one side wall of one end of the second connecting rod 34 is rotatably sleeved on one end of the third pin shaft 24 and is positioned outside one side wall of one end of the third connecting rod 35, and a first motor shaft 41 of the driving assembly is connected to one end of the second connecting rod 34 through a first coupler in a transmission manner and is used for driving the second connecting rod 34 to rotate; a second motor shaft 42 of the driving assembly is in transmission connection with the other side wall of one end of the third connecting rod 35 through a second coupling, and is used for driving the third connecting rod 35 to rotate; the other end of the second connecting rod 34 is sleeved on the second motor shaft 42 through the ball bearing 32 and is positioned outside the other side wall of one end of the third connecting rod 35; two ends of the fourth pin shaft 25 are connected to two opposite side walls of the other end of the third connecting rod 35, and one end of the fourth connecting rod 36 is rotatably sleeved on the fourth pin shaft 25; a first end of the second triangular plate 39 is hinged to the other end of the first connecting rod 33 through a fifth pin shaft 26, a second end of the second triangular plate is hinged to the other end of the second connecting rod 34 through a sixth pin shaft 27, and a third end of the second triangular plate is hinged to one end of a sixth connecting rod 38 through a ninth pin shaft 30; one end of the fifth connecting rod 37 is rotatably sleeved on two ends of the sixth pin 27 and is positioned between two opposite side walls of the other end of the second connecting rod 34; two ends of the seventh pin 28 are connected to the middle parts of two opposite side walls of the fifth connecting rod 37, and the other end of the fourth connecting rod 36 is rotatably sleeved on the seventh pin 28; two ends of the eighth pin 29 are connected to two opposite side walls of the other end of the fifth connecting rod 37, one end of the clamping block 40 is rotatably sleeved on the eighth pin 29, and the other end is hinged to the other end of the sixth connecting rod 38 through the tenth pin 31.
In the present embodiment, the pressure sensor 43 is attached to the outer clamping surface of the clamping block 40.
The first triangle 22, the first link 33, the second link 34, and the second triangle 39 together form a parallelogram link structure, the second link 34, the third link 35, the fourth link 36, and the fifth link 37 together form a parallelogram link structure, and the second triangle 39, the fifth link 37, the clamp plate, and the sixth link 38 together form a parallelogram link structure.
In the present embodiment, the first triangular plate 22 and the second triangular plate 39 are both right triangles.
It should be noted that, in the present embodiment, the driving assembly includes a first servo motor 44 and a second servo motor 45, and the first motor shaft 41 of the first servo motor 44 and the second motor shaft 42 of the second servo motor 45 are coaxially disposed. The first servo motor 44 drives the second connecting rod 34 to rotate, the second servo motor 45 drives the third connecting rod 35 to rotate, a first motor shaft 41 of the first servo motor 44 on one side of the first triangular plate 22 drives the second connecting rod 34 to rotate around a first node of the first coupling through the first coupling, and a second motor shaft 42 of the second servo motor 45 on the other side of the first triangular plate 22 drives the third connecting rod 35 to rotate around the first node after passing through the second coupling and the second connecting rod 34. Therefore, the second connecting rod 34 and the third connecting rod 35 rotate independently, the first triangular plate 22 rotates around the first node along with the expansion and contraction of the pneumatic cylinder 19, each finger has three degrees of freedom, the two fingers move independently during working, and the clamping angle and position can be adjusted according to the shape and size of the automobile sheet metal part 1.
Meanwhile, the second connecting rod 34, the fifth connecting rod 37 and the second triangular plate 39 are connected to a second node through pin shafts, and the rotation of the second connecting rod 34 can drive the clamping block 40 to swing left and right; the third connecting rod 35 and the fourth connecting rod 36 are connected to a third joint point by a pin shaft, and the fourth connecting rod 36 and the fifth connecting rod 37 are connected to a fourth joint point, so that the rotation of the third connecting rod 35 can drive the clamping block 40 to swing up and down; therefore, when the first servo motor 44 and the second servo motor 45 work, the position of the clamping block 40 can be adjusted by driving the second connecting rod 34 and the third connecting rod 35, and the requirements of flexibly controlling the distance between the clamping block 40 and the automobile sheet metal part 1 and the position of the clamping point are met. When the pneumatic cylinder 19 is driven to stretch, the pneumatic cylinder 19 pushes the first triangular plate 22 to rotate around the first node, and at the moment, the straight angle formed by the first node and the fifth node at the position of the first pin shaft 21 is changed, so that the clamping orientation angle of the clamping block 40 can be adjusted by driving the pneumatic cylinder 19, the clamping orientation angle can be adjusted according to the shape and size requirements of the automobile sheet metal part 1 in the clamping process, and the automobile sheet metal part 1 is clamped at the most proper position and angle.
As shown in fig. 8, the pneumatic clamp 4 is a structure in the prior art, and is driven by a pneumatic cylinder, and the expansion and contraction of the pneumatic cylinder can drive the contraction and expansion of a connecting rod connected with the pneumatic cylinder, so that the clamping and the release of the automobile sheet metal part 1 are realized during working.
To sum up, in the flexible clamp holder based on the novel two-finger robot hand, the clamp holder has the advantages of being high in flexibility, large in working space, capable of clamping thin plate pieces in different shapes and sizes and the like. When the novel two-finger robot hand 7 needs to clamp a sheet metal part, the link mechanisms of the two-finger robot hand are driven to move through the first servo motor 44 and the second servo motor 45 respectively, and the clamping blocks 40 are brought to two sides of the sheet metal part by the link mechanisms; meanwhile, the driving pneumatic cylinder 19 extends towards two sides and can push the connecting rod mechanism to adjust the clamping orientation angle of the clamping block 40, so that the device can be suitable for different shapes and sizes of the clamped sheet metal, and the sheet metal parts are clamped by adjusting to a proper angle and position, thereby clamping the sheet metal parts with different shapes and sizes, performing the matching assembly of multiple robots, completing the clamping work under different working conditions, and having high flexibility. In addition, the first motor shaft 41 of the first servo motor 44 and the second motor shaft 42 of the second servo motor 45 of the device can be driven coaxially, so that the driving task is well completed, the size of the mechanism is reduced, the overall occupied space is smaller, and the structure is compact; and the whole device has high flexibility, different clamping tasks can be well finished by a single clamp, other mechanisms are not needed for auxiliary clamping, the clamping process is simplified, and the reliability of the clamping work is improved. Simultaneously, this novel two indicate robot hand 7 accessible pressure sensor 43 at the during operation records the clamping pressure size to further control the clamping position and the pressure of two fingers, avoid causing the damage to car sheet metal component 1.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A flexible clamp holder based on a novel two-finger robot hand is characterized by comprising a vertical guide rail mechanism, an upper end cross arm, two pneumatic clamps, two lower end cross arms, a driver and two-finger robot hands; the upper end cross arm is arranged on the vertical guide rail mechanism in a lifting manner, and the two pneumatic clamps are respectively arranged on the bottoms of the two ends of the upper end cross arm in parallel at intervals; the two lower-end cross arms are respectively fixed on the same side wall of the lower end of the vertical guide rail mechanism in parallel at intervals; the two robot hands are respectively and movably arranged on each lower end cross arm along the axial direction of the lower end cross arm, and the moving direction of the two robot hands is the same as the length extending direction of the lower end of the vertical guide rail mechanism; the driver is fixedly installed on the middle portion of the side wall of the lower end of the vertical guide rail mechanism and located between the two finger robot hands, and driving ends at two ends of the driver are in transmission connection with the two finger robot hands respectively and used for driving the two finger robot hands to move on the lower end cross arm respectively.
2. The novel two-finger robot hand-based flexible gripper according to claim 1, wherein the vertical guide rail mechanism comprises two vertical trailing arms, a stepping motor, a first connecting block, a second connecting block, a ball screw, a sliding block, a first positioning block and a second positioning block; the two vertical longitudinal arms are arranged in parallel at intervals, and vertical sliding rails are arranged on the vertical longitudinal arms along the height direction; two ends of the first connecting block are respectively and fixedly connected between the inner walls of the upper parts of the two vertical longitudinal arms, two ends of the second connecting block are respectively and fixedly connected between the inner walls of the middle parts of the two vertical longitudinal arms, and the first connecting block is parallel to the second connecting block; the first positioning block is fixed on the first connecting block, the second positioning block is fixed on the second connecting block, and the first positioning block is parallel to the second positioning block; the stepping motor is arranged on the first connecting block, the driving end of the stepping motor is in transmission connection with one end of the ball screw, and the other end of the ball screw can rotatably penetrate through the first positioning block and can be rotatably connected to the second positioning block; the sliding block is movably arranged on the ball screw; the upper end cross arm is installed on the sliding block, and two ends of the upper end cross arm are installed in the two vertical sliding rails in a lifting mode respectively.
3. The novel two-finger robot hand-based flexible gripper according to claim 1, wherein the upper end cross arm comprises a moving block and a T-shaped connecting arm; the moving block is arranged on the vertical guide rail mechanism in a lifting manner; the middle part of the T-shaped connecting arm is fixedly connected to the moving block, and the pneumatic clamps are respectively arranged at the two ends of the T-shaped connecting arm.
4. The novel two-finger robot hand-based flexible gripper according to claim 1, wherein each of said two-finger robot hands comprises a base, a pneumatic cylinder, two grippers and two sets of drive assemblies for controlling the gripping or releasing of each of said grippers, respectively; the base is transversely slidably mounted on the lower end cross arm, and the moving direction of the base is the same as the length extending direction of the lower end of the vertical guide rail mechanism; the two claws are symmetrically arranged in the inner cavity of the base; the pneumatic cylinder is arranged in the inner cavity of the base and is positioned between the two claws, and two driving ends of the pneumatic cylinder are respectively hinged with the two claws and are used for driving the two claws to move towards the directions close to or away from each other; the two groups of driving assemblies are respectively arranged on the outer side wall of the base, and each group of driving assemblies is in transmission connection with each paw and is used for driving the two paws to clamp or loosen.
5. The novel two-finger robot hand-based flexible gripper according to claim 4, wherein each of said grippers comprises a first pin, a first triangle, and a linkage; the first pin shaft is arranged at the driving end of the pneumatic cylinder, and the first end of the first triangular plate is hinged to the first pin shaft; the connecting rod mechanism is hinged to the first triangular plate; each driving assembly is in transmission connection with each link mechanism and is used for driving the two link mechanisms to be clamped or unclamped.
6. The novel two-finger robot hand-based flexible gripper according to claim 5, wherein the linkage comprises a second pin, a third pin, a fourth pin, a fifth pin, a sixth pin, a seventh pin, an eighth pin, a ninth pin, a tenth pin, a first coupler, a second coupler, a ball bearing, a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, a second triangle, and a gripper block; two ends of the second pin shaft respectively penetrate through two opposite outer sides of the second end of the first triangular plate, and two opposite side walls of one end of the first connecting rod are respectively rotatably sleeved on two ends of the second pin shaft; two ends of the third pin shaft respectively penetrate through two opposite outer sides of the third end of the first triangular plate, and two opposite side walls of one end of the third connecting rod are respectively rotatably sleeved on two ends of the third pin shaft; a side wall of one end of the second connecting rod is rotatably sleeved on one end of the third pin shaft and is positioned outside a side wall of one end of the third connecting rod, and a first motor shaft of the driving assembly is in transmission connection with one end of the second connecting rod through the first coupler and is used for driving the second connecting rod to rotate; a second motor shaft of the driving assembly is in transmission connection with the other side wall of one end of the third connecting rod through the second coupling and is used for driving the third connecting rod to rotate; the other end of the second connecting rod is sleeved on the second motor shaft through the ball bearing and is positioned outside the other side wall of one end of the third connecting rod; two ends of the fourth pin shaft are connected to two opposite side walls of the other end of the third connecting rod, and one end of the fourth connecting rod is rotatably sleeved on the fourth pin shaft; the first end of the second triangular plate is hinged to the other end of the first connecting rod through the fifth pin shaft, the second end of the second triangular plate is hinged to the other end of the second connecting rod through the sixth pin shaft, and the third end of the second triangular plate is hinged to one end of the sixth connecting rod through the ninth pin shaft; one end of the fifth connecting rod is rotatably sleeved on two ends of the sixth pin shaft and is positioned between two opposite side walls of the other end of the second connecting rod; two ends of the seventh pin shaft are connected to the middle parts of two opposite side walls of the fifth connecting rod, and the other end of the fourth connecting rod is rotatably sleeved on the seventh pin shaft; and two ends of the eighth pin shaft are connected to two opposite side walls of the other end of the fifth connecting rod, one end of the clamping block is rotatably sleeved on the eighth pin shaft, and the other end of the clamping block is hinged to the other end of the sixth connecting rod through the tenth pin shaft.
7. The novel two-finger robot hand-based flexible gripper according to claim 6, wherein a pressure sensor is mounted on the gripping surface on the outer side of the gripping block.
8. The novel two-fingered robotic hand-based flexible gripper according to claim 6, wherein the first set square, the first link, the second link, and the second set square collectively comprise a parallelogram link structure, the second link, the third link, the fourth link, and the fifth link collectively comprise a parallelogram link structure, and the second set square, the fifth link, the gripper plate, and the sixth link collectively comprise a parallelogram link structure.
9. The novel two-fingered robotic hand-based flexible gripper according to claim 6, wherein the first and second set of triangles are each right triangles.
10. The novel two-finger robot hand-based flexible gripper of claim 6, wherein the drive assembly comprises a first servo motor and a second servo motor, the first motor shaft of the first servo motor and the second motor shaft of the second servo motor being coaxially arranged.
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| CN202110575485.7A CN113442156B (en) | 2021-05-26 | 2021-05-26 | Flexible clamp holder based on two-finger robot hand |
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| CN202110575485.7A CN113442156B (en) | 2021-05-26 | 2021-05-26 | Flexible clamp holder based on two-finger robot hand |
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| CN113442156B CN113442156B (en) | 2022-12-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117140571A (en) * | 2023-11-01 | 2023-12-01 | 哈尔滨学院 | Industrial robot chuck and robot |
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| CN113442156B (en) | 2022-12-23 |
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