Rigidness-softness compounded end effector for correction of assembly postures of robot
A technology of end effectors and robots, which is applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of unrealizable, insufficient assembly adaptability, etc., achieve strong adaptability, realize assembly posture recognition, and realize the effect of error correction
Active Publication Date: 2019-09-27
ZHEJIANG UNIV OF TECH
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[0005] In order to overcome the deficiencies of the existing robotic end effectors, such as insufficient assembly adaptability, inability to realize assembly posture perception, and deviation correction, the present invention provides a robot assembly posture with strong adaptability, capable of realizing assembly posture perception and active error correction, and strong versatility Rigid-soft composite end effector for deflection correction
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[0027] The present invention will be further described below in conjunction with the accompanying drawings.
[0028] refer to Figure 1 to Figure 7 , a rigid-soft composite end effector for robot assembly posture correction, including an actuator base plate 1, a clamping mechanism, a rigid-soft composite assembly posture sensing and deflection correction actuation mechanism composed of pneumatic software and rigid clamping mechanism mounting rods. , and a restraining mechanism consisting of a restraining top ball, a top ball spring, a top ball installation rod and a top tight cylinder.
[0029] Among them, the posture recognition and deviation correction actuators of rigid-soft composite assembly include: figure 2 As shown, a three-chamber cylindrical pneumatic software device 4 , a clamping mechanism mounting rod 5 and a clamping mechanism fixing plate 10 . One end of the software device is fixed on the bottom plate 1 of the end effector, and the other is shortly installed...
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A rigidness-softness compounded end effector for correction of assembly postures of a robot comprises an effector bottom plate, a clamping mechanism, a rigidness-softness compounded assembly posture sensing and correction actuating mechanism and a restraining mechanism, wherein the rigidness-softness compounded assembly posture sensing and correction actuating mechanism comprises a pneumatic soft body and a rigid clamping mechanism mounting rod which are fixedly connected; the restraining mechanism comprises restraining jacking balls, a jacking ball spring, jacking ball mounting rods and a jacking cylinder, the restraining jacking balls are ball-headed and cylindrical, and the end effector is fixed to the tail end of the robot through the effector bottom plate in a screw connection manner; the pneumatic soft body of the rigidness-softness compounded assembly posture sensing and correction actuating mechanism is a cylindrical pneumatic soft body device with three cylindrical cavities distributed at the included angle of 120 degrees, and the pneumatic soft body is made of silica gel and connected with the rigid clamping mechanism mounting rod through glue. The end effector has high adaptability and universality and can realize assembly posture sensing and active error correction.
Description
technical field [0001] The invention relates to a robot end effector, in particular to a rigid-soft composite end effector for rectifying the assembly posture of a robot. Background technique [0002] With the improvement of the automation level of industrial robots, more and more industrial robots are applied in the field of automatic assembly. The performance of the end effector, as an assembly action actuator directly in contact with the workpiece, will directly affect the assembly effect of the workpiece. [0003] Robotic end effectors currently on the market can be divided into three categories according to their adaptability to the operating object: rigid end effectors, partially flexible end effectors, and flexible end effectors. Among them, the rigid end effector is the most widely used in the automatic assembly of robots. Its contact with the workpiece during the clamping and positioning process of the assembly can be regarded as a rigid connection and the assembly...
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IPC IPC(8): B25J15/00
CPCB25J15/0019
Inventor 张立彬王佳才陈教料胥芳鲍官军
Owner ZHEJIANG UNIV OF TECH