A robot end flexible gripper and operation method

Abstract

A flexible gripper at the end of a robot comprises a clamping mechanism (1), a camera fixing module (2), and a seal module (3). The robot gripper is connected to the robot via a base (4). The clamping mechanism (1) is composed of a guide rod fixing plate (12) and a guide rod, three guide rods are fixed on the base (4), the guide rod fixing plate (12) is sleeved on the guide rod via a copper sleeve (15), and the clamping mechanism (1) is respectively implemented with a small spring (13) and a large spring (14) to achieve floating adjustment, one end of the spring is connected with a spring gasket, and each guide rod fixing plate is provided with an oiling nozzle (16). The flexible gripper at the end of a robot described in the present invention clamps a hydraulic tensioner body through the cooperation of the guide fixing plate and the guide rod, so that it matches the servo tightening gun, the axial mechanism can float, the camera fixing module can achieve visual auxiliary positioning, and the seal function can also be achieved through cylinder drive.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a flexible gripper at the end of a robot and an operating method thereof. Background Art

[0002] At present, with more and more application scenarios of robots, the demand for corresponding matching grippers is also increasing. For example, in order to achieve rapid tightening of bolts, in some harsh working conditions such as dim light and uncontinuous operation, the installation window period is short, manual operation is difficult, and equipment utilization is extremely low.

[0003] In order to solve similar problems, a robot end flexible gripper and operation method are introduced here. Summary of the invention

[0004] Therefore, in order to solve the above-mentioned deficiencies, the present invention provides a robot end flexible gripper and an operating method.

[0005] Compared with the prior art, the present invention has the following beneficial effects:

[0006] A flexible gripper at the end of a robot, the flexible gripper at the end of the robot is connected to the robot as a whole through a base 4; the flexible gripper at the end of the robot comprises a clamping mechanism 1, a floating adjustment mechanism, a camera fixing module 2, and a seal module 3; wherein:

[0007] The clamping mechanism 1 includes a base 4 in the shape of an annular ring, a top seat, three guide rods and a guide rod fixing plate 12, wherein the outer periphery of the base 4 is provided with three fixing blocks 401 protruding outwards and having threaded holes, the bottoms of the three guide rods are fixed in the fixing blocks 401 of the base 4 by threaded connection, and the tops of the three guide rods are installed in the top seat; the guide rod fixing plate 12 is in the shape of an annular ring, and the guide rod fixing plate 12 is sleeved on the guide rods through a copper sleeve 15; a guide rod fixing ring 1201 is provided on the top of the guide rod fixing plate 12, and the guide rod fixing ring 1201 is sleeved on the guide rods through a copper sleeve 15;

[0008] The floating adjustment mechanism includes a large spring 14 and a small spring 13; the clamping mechanism 1 realizes floating adjustment through the large spring 14 and the small spring 13 respectively; wherein:

[0009] The guide rod fixing plate 12 and the guide rod fixing ring 1201 are provided with a vertical small spring shaft 1302, the bottom end of the small spring shaft 1302 is fixed on the guide rod fixing plate 12, the top end of the small spring shaft 1302 passes through and extends out of the guide rod fixing ring 1201, a small spring 13 is sleeved on the extended small spring shaft 1302, and a small spring fixing nut 1301 is installed on the top of the small spring shaft 1302, which is used to fix the small spring 13 on the small spring shaft 1302 between the small spring fixing nut 1301 and the guide rod fixing ring 1201;

[0010] A large spring 14 is sleeved on the guide rod between the guide rod fixing plate 12 and the base 4, and a large spring adjusting bolt 1401 is also sleeved on the guide rod at the lower part of the guide rod fixing plate 12, which is used to fix the large spring 14 on the guide rod between the large spring adjusting bolt 1401 and the base 4;

[0011] The camera fixing module 2 includes a camera fixing bracket 17, a fill light bracket 18, a fill light ring 181, a laser sensor fixing plate, and a laser sensor 191; wherein,

[0012] The camera fixing bracket 17 is fixedly connected to the bracket base 1702 by bolts, and the other end of the bracket base 1702 is fixedly connected to the base 4 by bolts, and the visual camera 171 is fixed to the camera fixing bracket 17;

[0013] The fill light bracket 18 is a bent plate and is fixedly connected to one side of the bottom of the camera fixing bracket 17 by bolts. A fill light ring 181 is installed on the fill light bracket 18; the fill light ring 181 can provide additional light source for the visual camera 171;

[0014] The laser sensor fixing plate is a bent plate and is fixedly connected to the other side of the bottom of the camera fixing bracket 17 by bolts, and a laser sensor 191 is installed on the laser sensor fixing plate;

[0015] The seal module 3 includes a seal pen 31, a cylinder 32, a guide rod I33, and a guide plate 34, wherein two guide rods I33 are respectively installed between the base 4 and the top seat, and the two guide rods I33 are sleeved with guide plates 34, and the guide plates 34 can slide freely along the two guide rods I33; the bottom of the cylinder 32 is fixed to the base 4, the top of the telescopic shaft is fixed to the inner side of the guide plate 34, and the outer side of the guide plate 34 is installed with a seal pen 31; the seal pen cylinder 32 drives the guide plate 34 to slide along the guide rod I33 to complete the telescopic movement.

[0016] Beneficial effects of the present invention:

[0017] The flexible gripper at the end of the robot of the present invention clamps the hydraulic stretcher body through the guide fixing plate and the guide rod to match the servo tightening gun. The axial mechanism can float, the camera fixing module can realize visual assisted positioning, and the seal function can also be realized through the cylinder drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention;

[0019] Figure 2 is a schematic diagram of the clamping mechanism of the present invention;

[0020] Figure 3 This is a structural schematic diagram of a hidden tightening gun and a hydraulic tensioner of the present invention;

[0021] Figure 4 It is another perspective schematic diagram of the present invention;

[0022] Figure 5 This is a structural diagram of the guide fixing plate of the present invention;

[0023] Figure 6 This is a schematic diagram of the base structure of the present invention;

[0024] Figure 7 It is a schematic structural diagram of the camera fixing module of the present invention.

[0025] Explanation of the reference numerals: clamping mechanism 1, camera fixing module 2, seal module 3, seal pen 31, cylinder 32, guide rod I33, guide plate 34, base 4, hydraulic stretcher 6, first tightening gun 7, second tightening gun 8, guide rod fixing plate 12, guide rod fixing ring 1201, small spring 13, small spring fixing nut 1301, small spring shaft 1302, large spring 14, large spring adjusting bolt 1401, copper sleeve 15, oiling nozzle 16, camera fixing bracket 17, visual camera 171, fill light bracket 18, fill light ring 181, laser sensor 191. DETAILED DESCRIPTION

[0026] The present invention will be described in detail below in conjunction with the accompanying drawings, and the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] A flexible gripper at the end of a robot, which is integrally connected to the robot via a base 4; the flexible gripper at the end of the robot comprises a clamping mechanism 1, a floating adjustment mechanism, a camera fixing module 2, and a seal module 3.

[0028] The clamping mechanism 1 is fixed with two servo tightening guns and matched with the gear box of the hydraulic tensioner body. The gear box is a device for transmitting torque on the hydraulic tensioner.

[0029] The clamping mechanism 1 includes a ring-shaped base 4, a top seat, three guide rods and a guide rod fixing plate 12, wherein the outer periphery of the base 4 is provided with three outwardly protruding fixing blocks 401 with threaded holes, the bottoms of the three guide rods are fixed in the fixing blocks 401 of the base 4 by threaded connection, and the tops of the three guide rods are installed in the top seat; the guide rod fixing plate 12 is ring-shaped, and the guide rod fixing plate 12 is sleeved on the guide rods through copper sleeves 15; a guide rod fixing ring 1201 is provided on the top of the guide rod fixing plate 12, and the guide rod fixing ring 1201 is sleeved on the guide rods through copper sleeves 15.

[0030] The floating adjustment mechanism includes a large spring 14 and a small spring 13 .

[0031] The guide rod fixing plate 12 and the guide rod fixing ring 1201 are provided with a vertical small spring shaft 1302, the bottom end of the small spring shaft 1302 is fixed on the guide rod fixing plate 12, the top end of the small spring shaft 1302 passes through and extends out of the guide rod fixing ring 1201, a small spring 13 is sleeved on the extended small spring shaft 1302, and a small spring fixing nut 1301 is installed on the top of the small spring shaft 1302, which is used to fix the small spring 13 on the small spring shaft 1302 between the small spring fixing nut 1301 and the guide rod fixing ring 1201.

[0032] A large spring 14 is sleeved on the guide rod between the guide rod fixing plate 12 and the base 4, and a large spring adjusting bolt 1401 is also sleeved on the guide rod at the lower part of the guide rod fixing plate 12, which is used to fix the large spring 14 on the guide rod between the large spring adjusting bolt 1401 and the base 4.

[0033] The clamping mechanism 1 realizes floating adjustment through the large spring 14 and the small spring 13 respectively. The meaning of "floating adjustment" is that the displacement of the guide rod fixing plate 12 in the axial movement can be limited by the compression of the large spring 14 and the small spring 13. The floating design purpose of the large spring 14 is to reduce the impact of the workpiece in the axial direction. When the large spring 14 is compressed, it plays a buffering role for the entire robot gripper. The floating design purpose of the small spring 13 is to protect the hydraulic tensioner from exceeding the limit due to stretching when the screw is working.

[0034] A spring washer is provided at one end of the large spring 14 close to the base 4 , and a spring washer is provided at one end of the small spring 13 close to the guide rod fixing ring 1201 .

[0035] The guide rod fixing plate 12 and the guide rod fixing ring 1201 are both provided with an oiling nozzle 16 ; the oiling nozzle 16 is used to inject oil into the copper sleeve 15 to play a lubricating role and reduce friction.

[0036] The camera fixing module 2 includes a camera fixing bracket 17 , a fill light bracket 18 , a laser sensor fixing plate, a fill light ring 181 , and a laser sensor 191 .

[0037] The camera fixing bracket 17 is fixedly connected to the bracket base 1702 by bolts, and the other end of the bracket base 1702 is fixedly connected to the base 4 by bolts, and the visual camera 171 is fixed to the camera fixing bracket 17 .

[0038] The fill light bracket 18 is a bent plate and is fixedly connected to one side of the bottom of the camera fixing bracket 17 by bolts. A fill light ring 181 is installed on the fill light bracket 18; the fill light ring 181 can provide additional light source for the visual camera 171.

[0039] The laser sensor fixing plate is a bent plate and is fixedly connected to the other side of the bottom of the camera fixing bracket 17 by bolts. The laser sensor 191 is mounted on the laser sensor fixing plate.

[0040] The seal module 3 includes a seal pen 31, a cylinder 32, a guide rod 133, and a guide plate 34, wherein two guide rods 133 are respectively installed between the base 4 and the top seat, and the two guide rods 133 are sleeved with guide plates 34, and the guide plates 34 can slide freely along the two guide rods 133; the bottom of the cylinder 32 is fixed to the base 4, the top of the telescopic shaft is fixed to the inner side of the guide plate 34, and the seal pen 31 is installed on the outer side of the guide plate 34; the seal pen cylinder 32 drives the guide plate 34 to slide along the guide rod 133 to complete the telescopic movement;

[0041] The clamping mechanism 1 is fixed with a servo tightening assembly and a hydraulic tensioner 6. The servo tightening assembly includes a first tightening gun 7 and a second tightening gun 8. The first tightening gun 7 and the second tightening gun 8 are both products that can be purchased on the market and are not technical features of the present invention. The servo tightening assembly is fixed to the guide rod fixing plate by bolts. The hydraulic tensioner 6 is a product that can be purchased on the market. It will not be described in detail later.

[0042] The creativity of the present invention lies in integrating a hydraulic stretcher and a servo tightening gun to complete the tensioning of bolts, which provides a structural basis for introducing robots into the scene of bolt tensioning work.

[0043] The present invention adopts a hydraulic tensioner to achieve the tensioning of the bolts, and a tightening gun is used as the power source to transmit torque to the hydraulic tensioner, and a converter is provided at the front end of the tightening gun.

[0044] A method for operating a flexible gripper at the end of a robot comprises the following steps:

[0045] Step 1, to achieve fast tightening of bolts, screws and nuts, the laser sensor 191 on the robot gripper first detects whether the bolts are in place, the fill light ring 181 provides light source assistance, and then the visual camera 171 implements auxiliary alignment;

[0046] Step 2, after the robot gripper is aligned, the screw rod will impact the robot gripper axially, and at this time the large spring 14 is compressed to cushion the entire robot gripper.

[0047] At this time, the hydraulic stretcher 6 works, the first tightening gun 7 tightens the screw, and then the hydraulic stretcher pressurizes the screw to stretch it;

[0048] After reaching the rated pressure, the screw rod extends, the guide rod fixing plate 12 moves backward, and the small spring 13 is compressed to prevent the screw rod from exceeding the limit due to extension.

[0049] The second tightening gun 8 tightens the nut, and after reaching the target torque value, the hydraulic tensioner releases the pressure, and the robot gripper withdraws from the screw workpiece position. The cylinder 32 drives the seal pen 31 to extend, and the screw end is tightened and marked.

[0050] Step 3, repeat the above steps.

[0051] The stretching and tensioning process is manual pre-tightening and then hydraulic stretching and tightening. The tensioner tensioning gearbox has a target tightening torque, and all the bolts that can be tightened are tightened three times at 50%, 80%, and 100% of the hydraulic target tensile force. I will not elaborate on this here.

[0052] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described above in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0053] Therefore, the above detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0055] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A flexible gripper at the end of a robot, characterized in that: The flexible gripper at the end of the robot is connected to the robot as a whole via a base (4); the flexible gripper at the end of the robot comprises a clamping mechanism (1), a floating adjustment mechanism, a camera fixing module (2), and a seal module (3); wherein: The clamping mechanism (1) comprises a base (4) in the shape of an annular ring, a top seat, three guide rods and a guide rod fixing plate (12), wherein the outer periphery of the base (4) is provided with three fixing blocks (401) protruding outwards and having threaded holes, the bottoms of the three guide rods are fixed in the fixing blocks (401) of the base (4) by threaded connection, and the tops of the three guide rods are installed in the top seat; the guide rod fixing plate (12) is in the shape of an annular ring, and the guide rod fixing plate (12) is sleeved on the guide rods via copper sleeves (15); a guide rod fixing ring (1201) is provided on the top of the guide rod fixing plate (12), and the guide rod fixing ring (1201) is sleeved on the guide rods via the copper sleeves (15); The floating adjustment mechanism comprises a large spring (14) and a small spring (13); the clamping mechanism (1) realizes floating adjustment through the large spring (14) and the small spring (13); wherein: The guide rod fixing plate (12) and the guide rod fixing ring (1201) are provided with a vertical small spring shaft (1302), the bottom end of the small spring shaft (1302) is fixed on the guide rod fixing plate (12), the top end of the small spring shaft (1302) penetrates and extends out of the guide rod fixing ring (1201), a small spring (13) is sleeved on the extended small spring shaft (1302), and a small spring fixing nut (1301) is installed on the top of the small spring shaft (1302) for fixing the small spring (13) on the small spring shaft (1302) between the small spring fixing nut (1301) and the guide rod fixing ring (1201); A large spring (14) is sleeved on the guide rod between the guide rod fixing plate (12) and the base (4), and a large spring adjusting bolt (1401) is sleeved on the guide rod at the lower part of the guide rod fixing plate (12) for fixing the large spring (14) on the guide rod between the large spring adjusting bolt (1401) and the base (4); The camera fixing module (2) comprises a camera fixing bracket (17), a fill light bracket (18), a fill light ring (181), a laser sensor fixing plate, and a laser sensor (191); wherein: The camera fixing bracket (17) is fixedly connected to the bracket base (1702) by means of bolts, the other end of the bracket base (1702) is fixedly connected to the base (4) by means of bolts, and the visual camera (171) is fixed to the camera fixing bracket (17); The fill light bracket (18) is a bent plate and is fixedly connected to one side of the bottom of the camera fixing bracket (17) by bolts. A fill light ring (181) is installed on the fill light bracket (18); the fill light ring (181) can provide additional light source for the visual camera (171); The laser sensor fixing plate is a bent plate and is fixedly connected to the other side of the bottom of the camera fixing bracket (17) by bolts, and the laser sensor (191) is mounted on the laser sensor fixing plate; The seal module (3) comprises a seal pen (31), a cylinder (32), a guide rod I (33), and a guide plate (34), wherein two guide rods I (33) are respectively installed between a base (4) and a top base, and the two guide rods I (33) are sleeved with guide plates (34), and the guide plates (34) can slide freely along the two guide rods I (33); the bottom of the cylinder (32) is fixed to the base (4), the top of the telescopic shaft is fixed to the inner side of the guide plate (34), and the seal pen (31) is installed on the outer side of the guide plate (34); the cylinder (32) drives the guide plate (34) to slide along the guide rod I (33) to complete the telescopic operation; The clamping mechanism (1) is fixed with a servo tightening assembly and a hydraulic tensioner (6); the servo tightening assembly is fixed to the guide rod fixing plate by bolts, and the servo tightening assembly includes a first tightening gun (7) and a second tightening gun (8); The operation method of the flexible gripper at the end of the robot includes the following steps: Step 1, if fast tightening of the bolt is to be achieved, the laser sensor (191) on the robot gripper first detects whether the bolt is in place, the fill light ring (181) provides light source assistance, and then the visual camera (171) performs auxiliary alignment; Step 2, after the robot gripper is aligned, the screw rod will impact the robot gripper axially, and the large spring (14) will be compressed to cushion the entire robot gripper; At this time, the hydraulic tensioner (6) is working, the first tightening gun (7) is used to tighten the screw, and then the hydraulic tensioner applies pressure to stretch the screw; When the rated pressure is reached, the screw rod extends, the guide rod fixing plate (12) moves backward, and the small spring (13) is compressed to prevent the screw rod from extending beyond the limit. The second tightening gun (8) tightens the nut. After reaching the target torque value, the hydraulic tensioner releases the pressure and the robot gripper withdraws from the screw workpiece position; the cylinder (32) drives the stamp pen (31) to extend and mark the end of the screw as tightening is completed; Step 3, repeat the above steps.

2. The flexible gripper at the end of a robot according to claim 1, characterized in that: The guide rod fixing plate (12) and the guide rod fixing ring (1201) are both provided with oil injection nozzles (16).

3. The flexible gripper at the end of a robot according to claim 1, characterized in that: A spring washer is provided at one end of the large spring (14) close to the base (4), and a spring washer is provided at one end of the small spring (13) close to the guide rod fixing ring (1201).

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