A flexible multi-degree-of-freedom fixture at the end of a robot with a large working space

Abstract

A flexible multi-degree-of-freedom fixture at the end of a robot with a large working space, which relates to the field of fixtures. The flexible multi-degree-of-freedom fixture at the end of a robot with a large working space includes a fixing plate and a plurality of gripper fixtures arranged at intervals along the circumferential direction; the gripper fixture includes a lifting rod, a first rotating cylinder and a second rotating cylinder rotatably connected to the fixing plate, and a first connecting block, a second connecting block and a third connecting block rotatably sleeved on the lifting rod. The cylinder rods of the first rotating cylinder and the second rotating cylinder are respectively connected to the first connecting block and the second connecting block. The third connecting block is connected with a lifting cylinder for driving the lifting rod to move axially. The bottom end of the lifting rod is connected with a gripper; the first connecting block is connected with a third rotating cylinder for driving the third connecting block to rotate around the lifting rod. The flexible multi-degree-of-freedom fixture at the end of a robot with a large working space has high flexibility to adapt to the fixation and clamping of the external or internal voids of plate-shaped parts of different sizes.

Description

Technical Field

[0001] This application relates to the field of fixtures. Specifically, it relates to a flexible multi-degree-of-freedom fixture at the end of a robot with a large working space. Background Art

[0002] Existing industrial welding fixtures are similar to molds. Usually, one fixture is designed for one type of part, which has great limitations on the parts that can be clamped. They lack flexibility during use and cannot well adapt to different parts. For different parts, new fixtures have to be developed additionally, which greatly increases production costs, causes serious waste, affects the product update cycle. Moreover, during the process of grasping and handling parts by existing fixtures, due to the vibration of the parts themselves, it is easy to affect the clamping position and the stress deformation situation, ultimately affecting the qualified rate of the finished product. Summary of the Invention

[0003] The purpose of this application is to provide a flexible multi-degree-of-freedom fixture at the end of a robot with a large working space, which has high flexibility to adapt to fixing and clamping the external or internal voids of plate-shaped parts of different sizes.

[0004] The embodiments of this application are implemented as follows:

[0005] The embodiments of this application provide a flexible multi-degree-of-freedom fixture at the end of a robot with a large working space, which includes a fixed plate and a plurality of gripper fixtures arranged at intervals along the circumferential direction and connected to the fixed plate; the gripper fixture includes a vertically arranged lifting rod, a first rotating cylinder and a second rotating cylinder rotatably connected to the fixed plate along the horizontal plane, and a first connecting block, a second connecting block and a third connecting block slidably sleeved on the lifting rod and rotatable along the horizontal plane. The cylinder rods of the first rotating cylinder and the second rotating cylinder are respectively connected to the first connecting block and the second connecting block. The third connecting block is connected with a lifting cylinder for driving the lifting rod to move axially. The bottom end of the lifting rod is connected with a claw; the first connecting block is connected with a third rotating cylinder for driving the third connecting block to rotate around the lifting rod.

[0006] In some alternative embodiments, it further includes a connecting plate corresponding to each gripper fixture, a first connecting seat correspondingly connected to the first rotating cylinder, and a second connecting seat correspondingly connected to the second rotating cylinder. The connecting plate is parallel to the fixed plate and connected to the fixed plate through a connecting column. The top and bottom of the first connecting seat and the second connecting seat are respectively rotatably connected to the fixed plate and the corresponding connecting plate along the horizontal direction.

[0007] In some alternative embodiments, the first connecting seat is connected with at least one first guide rod that slidably penetrates through it and is connected to the first connecting block, and / or, the second connecting seat is connected with at least one second guide rod that slidably penetrates through it and is connected to the second connecting block.

[0008] In some alternative embodiments, corresponding first laser displacement sensors and first reflectors are provided on the first connecting seat and the first connecting block, and / or corresponding second laser displacement sensors and second reflectors are provided on the second connecting seat and the second connecting block.

[0009] In some alternative embodiments, both ends of the connecting plate of each gripper fixture are respectively hinged to the end portions of the connecting plates of adjacent gripper fixtures through connecting rods.

[0010] In some alternative embodiments, the third rotating cylinder is fixed to the first connecting seat and the cylinder rod is hinged to the third connecting block through a push rod.

[0011] In some alternative embodiments, the gripper includes multiple pairs of upper and lower arranged chucks arranged at intervals along the circumferential direction of the lifting rod.

[0012] In some alternative embodiments, a limiting block is fixedly sleeved on the top of the lifting rod.

[0013] In some alternative embodiments, the lifting rod is connected with a positioning pin for limiting the position of the limiting block.

[0014] The beneficial effects of the present application are as follows: The flexible multi-degree-of-freedom fixture at the end of the robot with a large working space provided by the present application includes a fixing plate and multiple gripper fixtures arranged at intervals along the circumferential direction and connected to the fixing plate; the gripper fixture includes a vertically arranged lifting rod, a first rotating cylinder and a second rotating cylinder rotatably connected to the fixing plate along the horizontal plane, and a first connecting block, a second connecting block and a third connecting block slidably sleeved on the lifting rod and rotatable along the horizontal plane. The cylinder rods of the first rotating cylinder and the second rotating cylinder are respectively connected to the first connecting block and the second connecting block. The third connecting block is connected with a lifting cylinder for driving the lifting rod to move axially, and the bottom end of the lifting rod is connected with a gripper; the first connecting block is connected with a third rotating cylinder for driving the third connecting block to rotate around the lifting rod. The flexible multi-degree-of-freedom fixture at the end of the robot with a large working space provided by the present application has high flexibility to adapt to the fixation and clamping of the external or internal voids of plate-shaped parts of different sizes, and at the same time has a large working space and a large number of degrees of freedom to complete the clamping work under different working conditions. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1Schematic structural diagram of the first perspective of the flexible multi-degree-of-freedom fixture at the end of the robot with a large working space provided by the embodiment of the present application;

[0017] Figure 2 Schematic structural diagram of the second perspective of the flexible multi-degree-of-freedom fixture at the end of the robot with a large working space provided by the embodiment of the present application;

[0018] Figure 3 Schematic structural diagram of the third perspective of the flexible multi-degree-of-freedom fixture at the end of the robot with a large working space provided by the embodiment of the present application;

[0019] Figure 4 Schematic structural diagram of the fourth perspective of the flexible multi-degree-of-freedom fixture at the end of the robot with a large working space provided by the embodiment of the present application;

[0020] Figure 5 Schematic structural diagram of the first perspective of the gripper fixture in the flexible multi-degree-of-freedom fixture at the end of the robot with a large working space provided by the embodiment of the present application;

[0021] Figure 6 Schematic structural diagram of the second perspective of the gripper fixture in the flexible multi-degree-of-freedom fixture at the end of the robot with a large working space provided by the embodiment of the present application;

[0022] Figure 7 Schematic structural diagram of the third perspective of the gripper fixture in the flexible multi-degree-of-freedom fixture at the end of the robot with a large working space provided by the embodiment of the present application;

[0023] Figure 8 Schematic structural diagram of the connection structure of the lifting rod, the first connecting block, the second connecting block and the third connecting block in the gripper fixture in the flexible multi-degree-of-freedom fixture at the end of the robot with a large working space provided by the embodiment of the present application;

[0024] Figure 9 Schematic structural diagram of the connection structure of the fixing plate, the connecting plate, the connecting column and the connecting rod in the flexible multi-degree-of-freedom fixture at the end of the robot with a large working space provided by the embodiment of the present application.

[0025] In the figure: 100, fixed plate; 110, connecting plate; 120, connecting column; 130, connecting rod; 140, push rod; 150, limit block; 160, positioning pin; 200, gripper fixture; 210, lifting rod; 220, first connecting block; 230, second connecting block; 240, third connecting block; 250, first rotating cylinder; 260, second rotating cylinder; 270, lifting plate; 280, lifting cylinder; 290, clamping jaw; 291, chuck; 300, third rotating cylinder; 310, first connecting seat; 320, second connecting seat; 330, first guide rod; 340, second guide rod; 350, first laser displacement sensor; 360, first reflector; 370, second laser displacement sensor; 380, second reflector. Detailed implementation manners

[0026] To make the objectives, 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 accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some but not all of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0028] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0029] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this application is usually placed during use. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance.

[0030] In addition, terms such as "horizontal", "vertical", "hanging", etc. do not mean that the components are required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0031] In the description of the present application, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "installed", "connected", and "connected" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0032] In the present application, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "below", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than that of the second feature.

[0033] The features and performance of the flexible multi-degree-of-freedom fixture at the end of the robot with a large working space of the present application will be further described in detail below in conjunction with embodiments.

[0034] As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 9 As shown in

[0035] Among them, the gripper fixture 200 includes a vertically arranged lifting rod 210, a first connecting seat 310 and a second connecting seat 320 symmetrically arranged on both sides of the lifting rod 210, a U-shaped first connecting block 220, a U-shaped second connecting block 230 and a third connecting block 240. The lifting rod 210 sequentially slides through one end of the second connecting block 230, one end of the first connecting block 220, the third connecting block 240, the other end of the first connecting block 220 and the other end of the second connecting block 230 from top to bottom. A limit block 150 and a jaw 290 are respectively connected to the top and bottom of the lifting rod 210. The lifting rod 210 is also connected with a positioning pin 160 located above the limit block 150. The jaw 290 includes three pairs of jaws 291 arranged at intervals along the circumferential direction of the lifting rod 210, and each pair of jaws 291 is arranged oppositely at intervals up and down. The top and bottom of the first connecting seat 310 and the second connecting seat 320 are respectively rotatably connected to the bottom surface of the fixed plate 100 and the top surface of one end of the corresponding connecting plate 110 through bearings. The first connecting seat 310 and the second connecting seat 320 are respectively connected with a first rotating cylinder 250 and a second rotating cylinder 260. The cylinder rod of the first rotating cylinder 250 is connected to the first connecting block 220, and the cylinder rod of the second rotating cylinder 260 is connected to the second connecting block 230. A lifting plate 270 is connected to the bottom of the lifting rod 210 and located above the jaw 290. The third connecting block 240 is connected with a vertically arranged lifting cylinder 280, and the cylinder rod of the lifting cylinder 280 is connected to the top surface of the lifting plate 270. The third connecting block 240 is hinged with a push rod 140. The first connecting seat 310 is connected with a third rotating cylinder 300, and the cylinder rod of the third rotating cylinder 300 is hinged with the push rod 140. When the cylinder rods of the first rotating cylinder 250, the second rotating cylinder 260 and the third rotating cylinder 300 extend and retract, they respectively drive the first connecting block 220, the second connecting block 230 and the third connecting block 240 to rotate around the lifting rod 210.

[0036] The first connecting seat 310 is connected with two first guide rods 330 that slide through it and are connected to the first connecting block 220. The first guide rods 330 are parallel to the cylinder rod of the first rotating cylinder 250. The second connecting seat 320 is connected with two second guide rods 340 that slide through it and are connected to the second connecting block 230. The second guide rods 340 are parallel to the cylinder rod of the second rotating cylinder 260. A first laser displacement sensor 350 and a first reflector 360 are arranged oppositely on the first connecting seat 310 and the first connecting block 220. A second laser displacement sensor 370 and a second reflector 380 are arranged oppositely on the second connecting seat 320 and the second connecting block 230. The two ends of the connecting plate 110 of each gripper fixture 200 are respectively hinged to the ends of the connecting plates 110 of two adjacent gripper fixtures 200 through a connecting rod 130.

[0037] When operating the flexible multi-degree-of-freedom clamp at the end of a robot with a large workspace provided in an embodiment of the present application, a gripper clamp 200 connected to a fixed plate 100 is used to clamp and move parts. The working process of a gripper clamp 200 is specifically described by taking an example: the operator drives the first connecting block 220 and the second connecting block 230 to move by controlling the extension and retraction of the cylinder rods of the first rotating cylinder 250 and the second rotating cylinder 260, thereby driving the lifting rod 210 provided on the first connecting block 220 and the second connecting block 230 to move along the horizontal plane, so that the clamp 290 connected to the bottom end of the lifting rod 210 moves to a preset position on the horizontal plane, and controls the lifting cylinder 280 connected to the third connecting block 240 to extend and retract the cylinder rod to drive the lifting plate 270 to push the lifting rod 21 0 is lifted and lowered, so that the clamping claw 290 connected to the bottom end of the lifting rod 210 moves to a preset height, and then the cylinder rod of the third rotating cylinder 300 is controlled to extend and retract to drive the lifting cylinder 280 and the lifting plate 270 and the lifting rod 210 connected thereto to rotate, so that the clamping claw 290 connected to the bottom end of the lifting rod 210 rotates to a preset angle to align with the clamping position of the part, thereby quickly and efficiently clamping, fixing and moving non-planar and heterogeneous parts of different shapes and structures, effectively increasing the stability of the clamping process and reducing stress deformation. At the same time, each hand gripper clamp 200 works independently and does not interfere with each other, and the hand gripper clamp 200 has a larger working space and more degrees of freedom, can complete the clamping work under different working conditions, and has a higher degree of flexibility.

[0038] The first connecting seat 310 and the first connecting block 220 are provided with corresponding first laser displacement sensors 350 and first reflectors 360, and the second connecting seat 320 and the second connecting block 230 are provided with corresponding second laser displacement sensors 370 and second reflectors 380. The first laser displacement sensors 350 and the second laser displacement sensors 370 can be used to emit lasers, and the first laser displacement sensors 350 and the second laser displacement sensors 370 can receive the lasers reflected by the first reflectors 360 and the second reflectors 380 to determine the extension and retraction lengths of the cylinder rods of the first rotating cylinder 250 and the second rotating cylinder 260, thereby locating the exact position of the first rotating cylinder 250 and the second rotating cylinder 260 when driving the lifting rod 210 to move along the horizontal plane when extending and retracting.

[0039] The embodiments described above are part of the embodiments of the present application, rather than all of the embodiments. The detailed description of the embodiments of the present application is not intended to limit the scope of the present application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

Claims

1. A flexible multi-degree-of-freedom fixture at the end of a robot with a large working space, characterized in that, it includes a fixing plate and a plurality of gripper fixtures arranged at intervals in the circumferential direction and connected to the fixing plate; the gripper fixture includes a vertically arranged lifting rod, a first rotating cylinder and a second rotating cylinder rotatably connected to the fixing plate along the horizontal plane, and a first connecting block, a second connecting block and a third connecting block slidably sleeved on the lifting rod and rotatable along the horizontal plane. The cylinder rods of the first rotating cylinder and the second rotating cylinder are respectively connected to the first connecting block and the second connecting block. The third connecting block is connected with a lifting cylinder for driving the lifting rod to move axially. The bottom end of the lifting rod is connected with a gripper; the first connecting block is connected with a third rotating cylinder for driving the third connecting block to rotate around the lifting rod.

2. The flexible multi-degree-of-freedom fixture at the end of a robot with a large working space according to claim 1, characterized in that, it further includes a connecting plate corresponding to each gripper fixture, a first connecting seat correspondingly connected to the first rotating cylinder, and a second connecting seat correspondingly connected to the second rotating cylinder. The connecting plate is parallel to the fixing plate and is connected to the fixing plate through a connecting column. The top and bottom of the first connecting seat and the second connecting seat are respectively rotatably connected to the fixing plate and the corresponding connecting plate along the horizontal direction.

3. The flexible multi-degree-of-freedom fixture at the end of a robot with a large working space according to claim 2, characterized in that, the first connecting seat is connected with at least one first guide rod that slidably penetrates through it and is connected to the first connecting block, and / or, the second connecting seat is connected with at least one second guide rod that slidably penetrates through it and is connected to the second connecting block.

4. The flexible multi-degree-of-freedom fixture at the end of a robot with a large working space according to claim 3, characterized in that, a corresponding first laser displacement sensor and a first reflector are provided on the first connecting seat and the first connecting block, and / or, a corresponding second laser displacement sensor and a second reflector are provided on the second connecting seat and the second connecting block.

5. The flexible multi-degree-of-freedom fixture at the end of a robot with a large working space according to claim 2, characterized in that, both ends of the connecting plate of each gripper fixture are respectively hinged to the end parts of the connecting plates of the adjacent gripper fixtures through a connecting rod.

6. The flexible multi-degree-of-freedom fixture at the end of a robot with a large working space according to claim 2, characterized in that, the third rotating cylinder is fixed to the first connecting seat and the cylinder rod is hinged to the third connecting block through a push rod.

7. The flexible multi-degree-of-freedom fixture at the end of a robot with a large working space according to claim 1, characterized in that, the gripper fixture includes multiple pairs of upper and lower arranged chucks arranged at intervals in the circumferential direction of the lifting rod.

8. The flexible multi-degree-of-freedom fixture at the end of a robot with a large working space according to claim 1, characterized in that, a limiting block is fixedly sleeved on the top of the lifting rod.

9. The flexible multi-degree-of-freedom fixture at the end of a robot with a large working space according to claim 8, characterized in that, The lifting rod is connected with a positioning pin for limiting the position of the limit block.

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