A self-adaptive clamping tool and method of using the same
By designing adaptive clamping tools, using symmetric clamping finger components and guide hole limiting parts, efficient grasping of tool handles of different specifications is solved, and the use of clamping tools in the prior art is high and the use rate of robots is low. Problem, providing flexible and stable clamping solutions.
Patent Information
- Application Number
- CN202211188324.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-09-28
- Publication Date
- 2024-12-13
- Estimated Expiration
- 2042-09-28
AI Technical Summary
When grabbing different specifications of tool holders, existing robot end effectors need to replace different jaws and adjust control programs, resulting in high usage costs and low robot usage.
An adaptive clamping tool is designed, including two symmetrical clamping finger assemblies, each of which includes clamping fingers, movable clamping ends and fixed clamping ends, adaptive adjustment is achieved through guide holes and limiting parts. The clamping spring and limiting spring ensure stable clamping, and the proximity sensor assists the clamping process.
It realizes efficient and stable grabbing of tool holders of different specifications without replacing the front-end effector, saving manpower, material resources and financial resources, expanding the scope of application, simplifying the operation process, and not requiring modification of drivers.
Smart Images
Figure CN115741748B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of automated clamping of robot end effectors, and in particular to an adaptive clamping tool and a method for using the tool. Background Art
[0002] In the robotics industry and automation industry, robotic equipment is widely used. With the rise of intelligent production, the use of robots has become increasingly widespread. Robots have the advantages of high quality and high efficiency, and can well replace manual labor and reduce the risk of errors. However, robots can only complete a certain fixed action, and cannot complete other unknown actions. They have certain limitations and insufficient adaptive capabilities. With the rise of intelligent manufacturing, automated production and automated clamping are becoming more and more common. In the clamping and measurement of CNC tools, using robots to grab and measure the tools can well reduce manual intervention and reduce the occurrence of errors.
[0003] In the prior art, a Chinese utility model patent document with publication number CN209190797U and authorization announcement date of August 2, 2019 is proposed. The technical solution disclosed in the patent document is as follows: a tool handle grasping device, comprising: a control device, a clamping jaw for grasping the tool handle and an air clamping jaw connected to the clamping jaw, the control device is used to control the opening and closing of the air clamping jaw, and the air clamping jaw is used to drive the clamping jaw to move to achieve the opening and closing of the clamping jaw.
[0004] The above technical solution may cause the following problems during actual use:
[0005] The above technical solution uses the air gripper to drive the clamping jaw to open and close the clamping jaw to grasp the tool handle. However, if tool handles of different specifications are to be realized, it can only be realized by replacing different clamping jaws. Therefore, the clamping tool of the end effector of the robot is limited. If the clamping jaws are not replaced, only tool handles of the same specifications can be grasped. If tool handles of different specifications are to be grasped, clamping jaws of different specifications must be purchased. However, the mutual coordination relationship between clamping jaws and air grippers of different specifications may also need to be adjusted. Furthermore, the control program of the robot may also need to be adjusted accordingly, resulting in the original robot being unusable, greatly increasing the use cost and reducing the utilization rate of the robot. Summary of the invention
[0006] In order to solve the above technical problems, the present invention proposes an adaptive clamping tool and a method of using the same, which can effectively solve the problems of high use cost and reduced robot utilization rate.
[0007] The present invention is achieved by adopting the following technical solutions:
[0008] A self-adaptive clamping tool for clamping a tool handle, characterized in that it comprises two symmetrically arranged clamping finger assemblies, each clamping finger assembly comprises a clamping finger and a first movable clamping end, a fixed clamping end and a second movable clamping end which are sequentially arranged on the clamping finger; the fixed clamping end is used for supporting and limiting; the clamping finger is also provided with a guide hole for installing the first movable clamping end and the second movable clamping end; when the clamping finger assembly is driven to move toward the middle, the first movable clamping end and the second movable clamping end can move axially along the corresponding guide hole.
[0009] A limiting member for limiting the rotation of the first movable clamping end or the second movable clamping end is arranged in the guide hole.
[0010] The ends of the first movable clamping end and the second movable clamping end are connected to guide wheels for closely contacting the clamped tool handle through positioning pins.
[0011] The first movable clamping end and the second movable clamping end are also provided with a clamping spring, and the clamping spring is located between the guide wheel and the clamping finger.
[0012] It also includes limiting clamping springs which respectively limit the first movable clamping end and the second movable clamping end.
[0013] In the same clamping finger assembly, the angle between the axis of the first movable clamping end and the symmetry center line is 110°, the angle between the axis of the fixed clamping end and the symmetry center line is 90°, and the angle between the axis of the second movable clamping end and the symmetry center line is 70°.
[0014] It also includes a proximity sensor, which is installed at the end of the fixed clamping end close to the clamped tool handle.
[0015] The clamping fingers include a horizontal section, a first vertical section, a first inclined section inclined outwardly away from a tool handle to be clamped, a second vertical section, and a second inclined section inclined inwardly toward a tool handle to be clamped, which are connected in sequence. The first movable clamping end is arranged on the second inclined section, the fixed clamping end is arranged on the second vertical section, and the second movable clamping end is arranged on the first inclined section.
[0016] A method for using an adaptive clamping tool, characterized in that: the tool is driven to move inward, that is, to move in the direction of the symmetric center line; the first movable clamping end and the second movable clamping end move outward due to the squeezing effect, and the clamping spring provides an inward clamping force to the corresponding first movable clamping end and the second movable clamping end respectively; when the proximity sensor installed on the fixed clamping end senses the tool handle, the drive is stopped and the current position is maintained to complete the clamping of the tool handle; when the tool handle needs to be replaced, the tool is driven to move outward, the tool releases the tool handle, the first movable clamping end and the second movable clamping end are reset under the action of the clamping spring, and then the tool is driven to move inward, and the above steps are repeated to complete the clamping of the next tool handle. .
[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:
[0018] 1. The tool of the present invention has a small size, a simple structure, is easy to use, and has an adaptive adjustment function. When the robot grabs the tool handle, it can grab tool handles of different specifications without changing the front-end actuator. It has a wide range of applications and can be used for tool handles with diameters of Φ63 to Φ100. While saving time, it greatly saves manpower, material resources and financial resources.
[0019] During the clamping process, the lengths of the first movable clamping end and the second movable clamping end are automatically adjusted according to the diameter of the tool handle, so that all clamping ends are subjected to force on the tool handle. The whole process is fast and efficient, with uniform force, high stability and strong practicality.
[0020] 2. The limiting member arranged in the guide hole can prevent the first movable clamping end and the second movable clamping end from rotating around the axis during axial movement.
[0021] 3. The ends of the first movable clamping end and the second movable clamping end are connected with a guide wheel for tightly fitting the clamped tool handle through a positioning pin. The guide wheel plays a role of sliding guide in the adaptive process and can eliminate the force of radial movement when the first movable clamping end and the second movable clamping end move axially.
[0022] 4. The first movable clamping end and the second movable clamping end are also provided with clamping springs, so that the first movable clamping end and the second movable clamping end always maintain a reset state when not working.
[0023] 5. The setting of the limit clamping spring can prevent the first movable clamping end and the second movable clamping end from falling off from the guide hole.
[0024] 6. The arrangement of the first inclined section, the second vertical section and the second inclined section facilitates the better installation of the first movable clamping end, the fixed clamping end and the second movable clamping end, and also facilitates the first movable clamping end, the fixed clamping end and the second movable clamping end to cooperate with each other, so as to provide a better clamping force for the clamped tool handle. The arrangement of the horizontal section facilitates better connection with the end drive.
[0025] 7. In the same clamping finger assembly, the angle between the axis of the first movable clamping end and the symmetry center line is 110°, the angle between the axis of the fixed clamping end and the symmetry center line is 90°, and the angle between the axis of the second movable clamping end and the symmetry center line is 70°, which is more conducive to clamping tool handles of different specifications.
[0026] 8. This tool is simple to use, easy to operate, and does not require modifying the driver. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, wherein:
[0028] Figure 1 It is a structural schematic diagram of the present invention;
[0029] Figure 2 It is a schematic diagram of the mechanical assembly of the present invention;
[0030] Figure 3 It is a schematic diagram of the structure of the fixed clamping end in the present invention;
[0031] Figure 4 It is a structural schematic diagram of the first movable clamping end or the second movable clamping end in the present invention;
[0032] Figure 5 It is a schematic diagram of the use state of the present invention;
[0033] Markings in the figure:
[0034] 1. Clamping finger, 2. Fixed clamping end, 3. First movable clamping end, 4. Clamping spring, 5. Guide wheel, 6. Positioning pin, 7. Limiting spring, 8. Second movable clamping end, 9. First vertical section, 10. First inclined section, 11. Second vertical section, 12. Second inclined section, 13. Horizontal section. DETAILED DESCRIPTION
[0035] Example 1
[0036] As a basic embodiment of the present invention, the present invention includes an adaptive clamping tool, which is used to be connected to the end driver, and clamps or releases the tool handle under the action of the end driver, so as to facilitate the replacement of tool handles of different specifications. The tool includes two symmetrically arranged clamping finger assemblies, each of which includes a clamping finger 1. The clamping finger 1 can be in a strip shape, one end of which is connected to the end driver, and the other end is connected to the first movable clamping end 3, the fixed clamping end 2 and the second movable clamping end 8 in sequence. Among them, the fixed clamping end 2 can be directly fixed on the clamping finger 1 to play a supporting and limiting role. The first movable clamping end 3 and the second movable clamping end 8 can be connected to the clamping finger 1 through a guide hole, and the guide hole matches the outer diameter of the first movable clamping end 3 and the second movable clamping end 8, so that the first movable clamping end 3 and the second movable clamping end 8 can move axially along the corresponding guide hole, and will not rotate axially along the guide hole, and will never leave the guide hole, and the guide hole plays a certain directional role on it.
[0037] When in use, after the tool is installed on the end driver, the end driver causes the two symmetrically structured clamping finger assemblies in the tool to move toward the symmetry center line, and the moving direction is parallel to the fixed clamping end 2. The two first movable clamping ends 3 and the two second movable clamping ends 8 contact the clamped tool handle at the same time until the clamped tool handle contacts the fixed clamping end 2, thereby completing the clamping of the tool handle.
[0038] Example 2
[0039] As a preferred embodiment of the present invention, the present invention includes an adaptive clamping tool for clamping a tool handle. The tool includes two symmetrically arranged clamping finger assemblies, each clamping finger assembly includes a clamping finger 1 and a first movable clamping end 3, a fixed clamping end 2 and a second movable clamping end 8 arranged on the clamping finger 1. The clamping finger 1 can be L-shaped, including a connected horizontal section 13 and a vertical section. Among them, the horizontal section 13 is provided with a connecting hole for connecting to an external end drive to drive the two clamping finger assemblies to move toward or away from each other. Three guide holes are spaced apart on the vertical section, which are respectively used to install the first movable clamping end 3, the fixed clamping end 2 and the second movable clamping end 8. The fixed clamping end 2 is fixed between the first movable clamping end 3 and the second movable clamping end 8, does not undergo displacement changes, and is used for support and limitation.
[0040] The guide hole is a hole with a directional plane. More specifically, a limiter is provided in the guide hole for limiting the rotation of the first movable clamping end 3 or the second movable clamping end 8. The limiter can be in the shape of a strip, and is arranged on the inner wall of the guide hole, and is arranged along the axial direction of the guide hole, so that the first movable clamping end 3 and the second movable clamping end 8 can move axially along the corresponding guide hole, but cannot rotate around the axis. Furthermore, in order to offset the force of radial movement when the first movable clamping end 3 and the second movable clamping end 8 move axially, the ends of the first movable clamping end 3 and the second movable clamping end 8 are connected to a guide wheel 5 for tightly fitting the clamped tool handle through a positioning pin 6.
[0041] Example 3
[0042] As another preferred embodiment of the present invention, the present invention includes an adaptive clamping tool for clamping a tool handle. The tool includes two symmetrically arranged clamping finger assemblies. Each clamping finger assembly includes a clamping finger 1, and the clamping finger 1 is provided with three guide holes for sequentially installing a first movable clamping end 3, a fixed clamping end 2, and a second movable clamping end 8 from bottom to top. The fixed clamping end 2 is fixed between the first movable clamping end 3 and the second movable clamping end 8 for support and position limiting. The first movable clamping end 3 and the second movable clamping end 8 are also provided with a limit spring 7 at the end away from the side of the tool handle to be clamped to prevent the first movable clamping end 3 and the second movable clamping end 8 from falling off. In the same clamping finger assembly after installation, the angle between the axis of the first movable clamping end 3 and the symmetry center line is 70°, the angle between the axis of the fixed clamping end 2 and the symmetry center line is 90°, and the angle between the axis of the second movable clamping end 8 and the symmetry center line is 110° respectively.
[0043] The first movable clamping end 3 and the second movable clamping end 8 can move axially along the corresponding guide holes. Furthermore, the first movable clamping end 3 and the second movable clamping end 8 are provided with a guide wheel 5 at the end of the side of the tool handle to be clamped, and the guide wheel 5 is connected to the end of the first movable clamping end 3 and the second movable clamping end 8 through a positioning pin 6, and is used to be in close contact with the clamped tool handle. Furthermore, in order to make the first movable clamping end 3 and the second movable clamping end 8 more stable when moving outward and to facilitate timely resetting, a clamping spring 4 is also provided on the first movable clamping end 3 and the second movable clamping end 8, and the clamping spring 4 is located between the guide wheel 5 and the clamping finger 1.
[0044] Example 4
[0045] As the best embodiment of the present invention, refer to the attached specification Figure 1 And the instruction manual Figure 2The present invention includes an adaptive clamping tool that can clamp tool handles of the same model but different specifications of CNC machine tools. The tool includes two symmetrically arranged clamping finger assemblies, each of which includes a clamping finger 1, a first movable clamping end 3, a fixed clamping end 2, a second movable clamping end 8, two clamping springs 4, two guide wheels 5 and three limit springs 7. The clamping finger 1 includes a horizontal section 13, a first vertical section 9, a first inclined section 10 inclined outwardly away from the tool handle to be clamped, a second vertical section 11 and a second inclined section 12 inclined inwardly toward the tool handle to be clamped.
[0046] Each clamping finger 1 is also provided with three guide holes for installing the first movable clamping end 3, the fixed clamping end 2 and the second movable clamping end 8. Through the guide holes, the first movable clamping end 3 is arranged on the second inclined section 12, the fixed clamping end 2 is arranged on the second vertical section 11, and the second movable clamping end 8 is arranged on the first inclined section 10. And in the same clamping finger assembly, the angle between the axis of the first movable clamping end 3 and the symmetry center line is 110°, the angle between the axis of the fixed clamping end 2 and the symmetry center line is 90°, and the angle between the axis of the second movable clamping end 8 and the symmetry center line is 70°.
[0047] The fixed clamping end 2 is fixed in the guide hole by a limit clamping spring 7 to prevent loosening. The first movable clamping end 3 and the second movable clamping end 8 are respectively fixed by limit clamping springs 7, so that the first movable clamping end 3 and the second movable clamping end 8 can move axially along the corresponding guide hole, but will not fall off from the corresponding guide hole. Figure 3 And the instruction manual Figure 4 , the guide hole is a hole with an orientation plane, that is, a limiter may be provided in the guide hole, and the limiter may be a partition, and the partition and the inner wall of the guide hole are enclosed to form a small cut circle shape. The first movable clamping end 3, the fixed clamping end 2 and the second movable clamping end 8 are all provided with an orientation plane matching the partition, and the orientation plane is obtained by vertically cutting the cylindrical first movable clamping end 3, the fixed clamping end 2 and the second movable clamping end 8, and the cross-section of the first movable clamping end 3, the fixed clamping end 2 and the second movable clamping end 8 after cutting is in the shape of a large cut circle. Among them, the orientation planes of the first movable clamping end 3, the fixed clamping end 2 and the second movable clamping end 8 have an orientation function to prevent the clamping end from rotating along the axis.
[0048] The ends of the first movable clamping end 3 and the second movable clamping end 8 are also connected to the guide wheel 5 through the positioning pin 6. The size of the positioning pin 6 just matches the guide wheel 5. The guide wheel 5 can rotate smoothly on the positioning pin 6 and is firmly installed on the first movable clamping end 3 and the second movable clamping end 8, so that the guide wheel 5 can be close to the clamped tool handle.
[0049] The first movable clamping end 3 and the second movable clamping end 8 are also provided with a clamping spring 4, and the clamping spring 4 is located between the guide wheel 5 and the clamping finger 1, so that the first movable clamping end 3 and the second movable clamping end 8 generate a reverse force during the axial movement. This force satisfies the imagination that the first movable clamping end 3 and the second movable clamping end 8 will not slide backward during the clamping process, and always keeps the first movable clamping end 3 and the second movable clamping end 8 close to the clamped tool handle.
[0050] The horizontal section 13 is provided with a connecting hole for mounting the tool on the end driver. The end driver drives the two symmetrically structured clamping finger assemblies in the tool to move toward the middle in a direction parallel to the fixed clamping end 2. The four guide wheels 5 contact the clamped tool handle at the same time, and the clamping spring 4 produces elastic deformation until the clamped tool handle contacts the fixed clamping end 2.
[0051] Furthermore, in order to facilitate more accurate displacement of the clamping finger assembly, a proximity sensor may be provided, wherein the proximity sensor is mounted at the end of the fixed clamping end 2 close to the clamped tool handle.
[0052] The method of using the above-mentioned adaptive clamping tool specifically includes: the tool is driven to move inward, that is, to move in the direction of the symmetry center line. The first movable clamping end 3 and the second movable clamping end 8 move outward due to the squeezing effect, and the clamping spring 4 provides an inward clamping force to the corresponding first movable clamping end 3 and the second movable clamping end 8 respectively. When the proximity sensor installed on the fixed clamping end 2 senses the tool handle, the drive is stopped and the current position is maintained to complete the clamping of the tool handle. The state after clamping can be referred to the attached manual. Figure 5 When the tool handle needs to be replaced, the tool is driven to move outward, the tool releases the tool handle, the first movable clamping end 3 and the second movable clamping end 8 are reset under the action of the clamping spring 4, and then the tool is driven to move inward, and the above steps are repeated to complete the clamping of the next tool handle.
[0053] In summary, after reading the present invention document, ordinary technicians in this field can make various other corresponding transformation schemes based on the technical scheme and technical concept of the present invention without creative mental labor, which all fall within the scope of protection of the present invention.
Claims
1. A method for using an adaptive clamping tool, characterized in that: The adaptive clamping tool is used for clamping a tool handle, and comprises two clamping finger assemblies which are symmetrically and independently arranged, each clamping finger assembly comprising a clamping finger (1) and a first movable clamping end (3), a fixed clamping end (2) and a second movable clamping end (8) which are arranged on the clamping finger (1) in sequence; the fixed clamping end (2) is used for supporting and limiting; the clamping finger (1) is also provided with a guide hole for mounting the first movable clamping end (3) and the second movable clamping end (8); when the clamping finger assembly is driven to move toward the middle, the first movable clamping end (3) and the second movable clamping end (8) can move axially along the corresponding guide hole; It also includes a proximity sensor, which is mounted on an end of the fixed clamping end (2) close to the clamped tool handle; The method of use comprises: the tool is driven to move inward, that is, to move in the direction of the symmetry center line; the first movable clamping end (3) and the second movable clamping end (8) move outward due to the squeezing effect, and the clamping spring (4) respectively provides an inward clamping force to the corresponding first movable clamping end (3) and the second movable clamping end (8); when the proximity sensor installed on the fixed clamping end (2) senses the tool handle, the drive is stopped and the current position is maintained to complete the clamping of the tool handle; when the tool handle needs to be replaced, the tool is driven to move outward, the tool releases the tool handle, the first movable clamping end (3) and the second movable clamping end (8) are reset under the action of the clamping spring (4), and the tool is driven to move inward again, and the above steps are repeated to complete the clamping of the next tool handle.
2. The method for using the adaptive clamping tool according to claim 1, characterized in that: A limiting member for limiting the rotation of the first movable clamping end (3) or the second movable clamping end (8) is provided in the guide hole.
3. The method for using the adaptive clamping tool according to claim 2, characterized in that: The ends of the first movable clamping end (3) and the second movable clamping end (8) are connected to a guide wheel (5) for closely contacting the clamped tool handle via a positioning pin (6).
4. The method for using the adaptive clamping tool according to claim 3, characterized in that: A clamping spring (4) is also provided on the first movable clamping end (3) and the second movable clamping end (8), and the clamping spring (4) is located between the guide wheel (5) and the clamping finger (1).
5. The method for using the adaptive clamping tool according to claim 1, characterized in that: It also includes a limit spring (7) which respectively limits the first movable clamping end (3) and the second movable clamping end (8).
6. The method for using the adaptive clamping tool according to claim 1, characterized in that: In the same clamping finger assembly, the angle between the axis of the first movable clamping end (3) and the symmetry center line is 110°, the angle between the axis of the fixed clamping end (2) and the symmetry center line is 90°, and the angle between the axis of the second movable clamping end (8) and the symmetry center line is 70°.
7. The method for using the adaptive clamping tool according to claim 1, characterized in that: The clamping finger (1) comprises a horizontal section (13) connected in sequence, a first vertical section (9), a first inclined section (10) inclined outwardly in a direction away from a tool handle to be clamped, a second vertical section (11), and a second inclined section (12) inclined inwardly in a direction close to the tool handle to be clamped, wherein the first movable clamping end (3) is arranged on the second inclined section (12), the fixed clamping end (2) is arranged on the second vertical section (11), and the second movable clamping end (8) is arranged on the first inclined section (10).