Robot end-effector with automatic grabbing and posture adjusting functions and adjusting method

Abstract

The invention relates to a robot end-effector with automatic grabbing and posture adjusting functions and an adjusting method. The robot end-effector is mainly composed of a positioning adjusting plate, a lifting electric cylinder, laser displacement sensors, a clamping jaw mechanism, a connection flange, a base, a driving motor, fixed connection rods and hinges; after the positioning adjusting plate is attached to the positioning face of a part, the geometrical relationship of the relative position of the positioning face and the installing face of the part can be obtained through a geometrical structure; the actual posture and the normal direction of the profile of the assembled face can be judged through the four laser displacement sensors; and adjustment of the angle of the installingface of the part can be completed through the positioning adjusting plate under the action of the lifting electric cylinder according to the posture actually matched with the profile, and the effect that the normal directions of the installing face of the part and the assembled face are approximately consistent is ensured. The end-effector is installed at the tail end of a multi-joint robot and can complete automatic part grabbing, part posture adjusting and automatic part positioning, the assembling gap value between the part and the assembled face is ensured, and the part assembling qualityand efficiency are improved.

Description

technical field [0001] The invention relates to a robot end effector device for automatic grasping and posture adjustment, which is used for automatic grasping and posture adjustment during parts assembly, and belongs to the technical field of assembly and manufacturing. Background technique [0002] The launch vehicle and other rocket body cabin parts are cylindrical or conical thin-walled rotary structures, and bracket parts are installed on the inner or outer walls of the cabin. At present, the parts are completely assembled by manual marking, positioning and other operations. In order to realize the automatic assembly of bracket parts, based on the articulated arm robot, a robot end effector for automatic grasping and pose adjustment of bracket parts was developed. The cabin section of the rocket body has a certain deformation, so the matching surface of the cabin section and the part has a certain deviation from the theoretical value, and the current automatic grabbing...

AI Technical Summary

Problems solved by technology

The cabin section of the rocket body has a certain deformation, so the matching surface of the cabin section and the part has a certain deviation from the theoretical value, and the current automatic grabbing mechanism cannot judge the actual deformation of the matching surface and adjust the attitude of the part. The quality of the fit between the two is poor, resulting in a large assembly gap and interference

[0003] In addition, the mating surfaces and positioning surfaces of some parts are not approximately parallel. Therefore, when the parts are automatically adjusted and assembled inside the revolving cabin, the attitude of the end effector is adjusted to a large range, which will interfere with the product.

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