A position adjustment system and method for a robotic gripper

Abstract

The present application relates to a position adjustment system and a position adjustment method for a robot gripper. The position adjustment system includes: an upper fixture, a lower fixture, a level gauge, and a positioning component. The upper fixture is used to connect with the robot gripper; the lower fixture is used to be placed on a storage part and can be fixed to the storage part; the level gauge is used to be installed on the bottom surface of the upper fixture and the top surface of the lower fixture, and respectively measure the flatness of the bottom surface of the upper fixture and the top surface of the lower fixture, so that the bottom surface of the upper fixture is parallel to the top surface of the lower fixture; the positioning component at least includes a first positioning rod and a second positioning rod, which are respectively connected with the upper fixture, and the axes of the first positioning rod and the second positioning rod are both perpendicular to the bottom surface of the upper fixture. The first positioning rod and the second positioning rod are respectively used to abut against two adjacent side walls of the lower fixture to limit the movement of the upper fixture relative to the lower fixture. The position adjustment system and the position adjustment method can improve the position adjustment efficiency of the robot gripper, and the alignment accuracy after adjustment is relatively high.

Description

Technical Field

[0001] This application relates to the technical field of position adjustment, and particularly to a position adjustment system and method for a robot gripper. Background Art

[0002] In automated production, robots are usually used to achieve automatic loading and unloading. The robot has a mechanical gripper, which grabs materials through the mechanical gripper and moves them to the corresponding workstations. When the mechanical gripper grabs materials, it is necessary to first adjust the grasping position of the mechanical gripper to ensure that the mechanical gripper can accurately grab the materials. In the prior art, when adjusting the position of the mechanical gripper, the operation steps are complex, the number of adjustments is large, and the accuracy after adjustment is difficult to meet the use requirements. Summary of the Invention

[0003] This application provides a position adjustment system and method for a robot gripper, which can improve the position adjustment efficiency of the robot gripper, and the alignment accuracy after adjustment is relatively high, facilitating to meet the requirements.

[0004] In a first aspect, this application provides a position adjustment system for a robot gripper, including:

[0005] An upper jig, used to connect with the robot gripper;

[0006] A lower jig, used to be placed on a storage part and can be fixed to the storage part;

[0007] A level, used to be installed on the bottom surface of the upper jig and the top surface of the lower jig, and respectively measure the flatness of the bottom surface of the upper jig and the top surface of the lower jig, so that the bottom surface of the upper jig is parallel to the top surface of the lower jig;

[0008] A positioning component, at least including a first positioning rod and a second positioning rod, which are respectively connected to the upper jig, and the axes of the first positioning rod and the second positioning rod are both perpendicular to the bottom surface of the upper jig. The first positioning rod and the second positioning rod are respectively used to abut against two adjacent side walls of the lower jig to limit the movement of the upper jig relative to the lower jig.

[0009] In a possible embodiment, the lower jig has adjacent first and second side walls. The first positioning rod is provided with at least one, and the second positioning rod is provided with a plurality and distributed in the same direction;

[0010] Wherein, a plurality of the second positioning rods can simultaneously abut against the second side wall, and the first positioning rod can abut against the first side wall.

[0011] In a possible embodiment, the upper fixture is provided with an adjacent third side wall and a fourth side wall. The upper fixture is further provided with a first protruding portion protruding outward perpendicular to the third side wall and a second protruding portion protruding outward perpendicular to the fourth side wall. The first positioning rod is installed on the first protruding portion, and the second positioning rod is installed on the second protruding portion.

[0012] In a possible embodiment, the first protruding portion is provided with a first through hole, and the side wall of the first through hole is provided with a first threaded hole communicating with the first through hole. The first positioning rod can be inserted into the first through hole, and the first positioning rod is fixed by the cooperation of a first bolt and the first threaded hole;

[0013] The second protruding portion is provided with a second through hole, and the side wall of the second through hole is provided with a second threaded hole communicating with the second through hole. The second positioning rod can be inserted into the second through hole, and the second positioning rod is fixed by the cooperation of a second bolt and the second threaded hole.

[0014] In a possible embodiment, the first positioning rod includes a first abutting portion and a first prompting portion. The first prompting portion can generate a visual and / or auditory prompt when the first abutting portion contacts the side wall of the lower fixture; the second positioning rod includes a second abutting portion and a second prompting portion. The second prompting portion can generate a visual and / or auditory prompt when the second abutting portion contacts the side wall of the lower fixture.

[0015] In a possible embodiment, one of the material storage member and the lower fixture is provided with a plurality of first positioning columns, and the other is provided with a plurality of first positioning holes, and the first positioning columns and the first positioning holes are in positioning cooperation.

[0016] In a possible embodiment, the upper fixture is provided with a plurality of second positioning holes, and the robot gripper is connected with a plurality of second positioning columns, and the second positioning columns and the second positioning holes are in positioning cooperation.

[0017] In a possible embodiment, the lower fixture is provided with three grooves distributed at right angles. The side wall of the groove is perpendicular to the bottom wall, and the side wall of the groove is perpendicular to the top surface of the lower fixture;

[0018] The first positioning rod or the second positioning rod can respectively cooperate with the side walls and the bottom wall of the three grooves to determine the distances between the three grooves in pairs and establish a plane rectangular coordinate system;

[0019] The material storage member is provided with a plurality of material storage spaces, and the lower fixture can be fixedly placed in the material storage spaces;

[0020] The robot gripper can move from above one storage space to above another storage space according to the coordinate information of each storage space in the plane rectangular coordinate system.

[0021] In a second aspect, the present application further provides a method for adjusting the position of a robot gripper. The position of the robot gripper is debugged by using the above-mentioned position adjustment system of the robot gripper. The method for adjusting the position of the robot gripper includes:

[0022] Fix the lower jig on the storage part, and connect the upper jig to the robot gripper;

[0023] Connect the spirit level to the top surface of the lower jig. The spirit level shows the flatness of the top surface of the lower jig. Then connect the spirit level to the bottom surface of the upper jig. The spirit level shows the flatness of the bottom surface of the upper jig. Adjust the position of the upper jig so that the flatness of the bottom surface of the upper jig is the same as the flatness of the top surface of the lower jig;

[0024] Abut the first positioning rod and the second positioning rod against two adjacent side walls of the lower jig respectively to limit the movement of the upper jig relative to the lower jig.

[0025] In a possible embodiment, when adjusting the flatness of the bottom surface of the upper jig to be the same as the flatness of the top surface of the lower jig, the method for adjusting the position of the robot gripper includes:

[0026] Connect the spirit level to the top surface of the lower jig along a first direction. The spirit level shows the first flatness of the top surface of the lower jig along the first direction. Then connect the spirit level to the bottom surface of the upper jig along the first direction. The spirit level shows the second flatness of the bottom surface of the upper jig along the first direction. Adjust the position of the upper jig so that along the first direction, the flatness of the bottom surface of the upper jig is the same as the flatness of the top surface of the lower jig;

[0027] Then connect the spirit level to the top surface of the lower jig along a second direction perpendicular to the first direction. The spirit level shows the third flatness of the top surface of the lower jig along the second direction. Then connect the spirit level to the bottom surface of the upper jig along the second direction. The spirit level shows the fourth flatness of the bottom surface of the upper jig along the second direction. Adjust the position of the upper jig so that along the second direction, the flatness of the bottom surface of the upper jig is the same as the flatness of the top surface of the lower jig;

[0028] After adjusting the flatness of the bottom surface of the upper fixture and the flatness of the top surface of the lower fixture to be the same along the first direction and the second direction, the bottom surface of the upper fixture is completely parallel to the top surface of the lower fixture.

[0029] In a possible embodiment, the lower fixture is provided with three grooves distributed at right angles. The side walls of the grooves are perpendicular to the bottom walls, and the side walls of the grooves are perpendicular to the top surface of the lower fixture. The storage member is provided with a plurality of storage spaces. The lower fixture can be fixedly placed in the storage spaces. One of the storage spaces is the first storage space. The method for adjusting the position of the robot gripper further includes:

[0030] Before the position of the robot gripper is adjusted, the lower fixture is fixedly placed in the first storage space. The first positioning rod or the second positioning rod is respectively matched with the side walls and the bottom walls of the three grooves to determine the distances between the three grooves in pairs, and a plane rectangular coordinate system is established. In the plane rectangular coordinate system, the coordinate information of each storage space is determined.

[0031] After the position of the robot gripper is adjusted above the first storage space, the robot gripper is controlled to move above other storage spaces according to the coordinate information.

[0032] The beneficial effects of the present application include:

[0033] The position adjustment system and the position adjustment method of the robot gripper provided by the present application can adjust the bottom surface of the upper fixture to be parallel to the top surface of the lower fixture according to the flatness of the top surface of the lower fixture and the flatness of the bottom surface of the upper fixture measured by the spirit level; the first positioning rod and the second positioning rod are abutted against two adjacent side walls of the lower fixture to limit the movement of the upper fixture relative to the lower fixture, prompting the operator that the upper fixture has been adjusted in place; then, after the bottom surface of the upper fixture is adjusted to be parallel to the top surface of the lower fixture and the upper fixture moves to the target position above the lower fixture, the set position of the upper fixture is aligned with the set position of the lower fixture in the vertical direction. Since the robot gripper is connected to the set position of the upper fixture and the set position of the lower fixture coincides with the grasping position of the material, the robot gripper is accurately aligned with the grasping position of the material at this time; when using this kind of position adjustment system to adjust the position of the robot gripper, the overall operation steps are less, the position adjustment efficiency of the robot gripper is improved, and the alignment accuracy is relatively high, which is convenient to meet the requirements.

[0034] It should be understood that the above general description and the following detailed description are only exemplary and do not limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1Schematic structural diagram of the robot gripper, the storage part and the position adjustment system provided by the embodiments of the present application;

[0036] Figure 2 Schematic structural diagram of the position adjustment system of the robot gripper provided by the embodiments of the present application during position adjustment, wherein the spirit level is connected to the top surface of the lower jig;

[0037] Figure 3 Schematic structural diagram of the position adjustment system of the robot gripper provided by the embodiments of the present application during position adjustment, wherein the spirit level is connected to the bottom surface of the upper jig;

[0038] Figure 4 For Figure 1 Schematic structural diagram of the upper jig in;

[0039] Figure 5 For Figure 1 Schematic structural diagram of the upper jig in another perspective in;

[0040] Figure 6 For Figure 1 Schematic structural diagram of the lower jig in;

[0041] Figure 7 For Figure 1 Schematic structural diagram of the lower jig in another perspective;

[0042] Figure 8 Schematic structural diagram of the position adjustment system of the robot gripper provided by the embodiments of the present application during position adjustment, wherein the first positioning rod is in a mating state with one of the grooves of the lower jig.

[0043] Reference numerals:

[0044] 10 - Robot gripper;

[0045] 20 - Storage part;

[0046] 21 - Storage space;

[0047] 30 - Upper jig;

[0048] 31 - Third side wall;

[0049] 32 - Fourth side wall;

[0050] 33 - First protruding part;

[0051] 331 - First through hole;

[0052] 332 - First threaded hole;

[0053] 34 - Second protruding part;

[0054] 341 - Second through hole;

[0055] 342 - Second threaded hole;

[0056] 35 - Second positioning hole;

[0057] 40 - Lower jig;

[0058] 41 - First side wall;

[0059] 42 - Second side wall;

[0060] 43 - First positioning hole;

[0061] 44 - Groove;

[0062] 50 - Positioning component;

[0063] 51 - First positioning rod;

[0064] 511 - First abutting portion;

[0065] 512 - First prompting portion;

[0066] 52 - Second positioning rod;

[0067] 521 - Second abutting portion;

[0068] 522 - Second prompting portion;

[0069] 60 - Level gauge;

[0070] 70 - Second positioning post.

[0071] The accompanying drawings here are incorporated into and constitute a part of this specification, showing embodiments consistent with the present application and, together with the specification, are used to explain the principles of the present application. Detailed implementation manners

[0072] For a better understanding of the technical solutions of the present application, the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0073] It should be clear that the described embodiments are only a part of the embodiments of the present application, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0074] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The singular forms of "a", "the" and "said" used in the embodiments of the present application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0075] It should be understood that the term "and / or" used herein is merely a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. Additionally, the character " / " in this text generally indicates that the associated objects before and after are in an "or" relationship.

[0076] It should be noted that the orientation terms such as "upper", "lower", "left", and "right" described in the embodiments of this application are described from the perspective shown in the drawings and should not be construed as a limitation on the embodiments of this application. In addition, in the context, it should also be understood that when it is mentioned that one component is connected "above" or "below" another component, it can not only be directly connected "above" or "below" another component, but also be indirectly connected "above" or "below" another component through an intermediate component.

[0077] The embodiments of this application provide a position adjustment system for a robot gripper 10, which can be applied to industrial fields such as electronics, logistics, and chemical industry.

[0078] Please refer to Figures 1-3 , this position adjustment system includes an upper jig 30, a lower jig 40, a level 60, and a positioning component 50. The upper jig 30 is used to connect with the robot gripper 10; the lower jig 40 is used to be placed on the storage part 20 and can be fixed to the storage part 20; the level 60 is used to be installed on the bottom surface of the upper jig 30 and the top surface of the lower jig 40, and respectively measure the flatness of the bottom surface of the upper jig 30 and the top surface of the lower jig 40, so that the bottom surface of the upper jig 30 is parallel to the top surface of the lower jig 40; the positioning component 50 at least includes a first positioning rod 51 and a second positioning rod 52, which are respectively connected with the upper jig 30, and the axes of the first positioning rod 51 and the second positioning rod 52 are both perpendicular to the bottom surface of the upper jig 30. The first positioning rod 51 and the second positioning rod 52 are respectively used to abut against two adjacent side walls of the lower jig 40 to limit the movement of the upper jig 30 relative to the lower jig 40.

[0079] Among them, the storage part 20 is used to store materials. The robot gripper 10 can grasp the materials stored in the storage part 20 and move the materials to other areas. The robot gripper 10 needs to accurately grasp the materials to prevent scratching or even damaging the materials during the grasping process, and ensure that the connection state between the robot gripper 10 and the materials is stable after grasping. The position adjustment system provided by the embodiments of this application can accurately align the grasping position of the robot gripper 10 with the materials.

[0080] When using this kind of position adjustment system for position adjustment, the lower fixture 40 can be placed in a storage space 21 of the storage member 20 for placing materials, and the lower fixture 40 is fixed in the storage space 21. At this time, the set position of the lower fixture 40 coincides with the grasping position when the material is placed in the storage space 21. The relative fixation between the lower fixture 40 and the storage space 21 can be achieved through a snap structure, or through a structure of a positioning post cooperating with a positioning hole, or through other structures; connect the robot gripper 10 to the set position of the upper fixture 30; then connect the spirit level 60 to the top surface of the lower fixture 40. At this time, the spirit level 60 shows the flatness of the top surface of the lower fixture 40, and record the value of this flatness; then disconnect the spirit level 60 from the lower fixture 40, and connect the spirit level 60 to the bottom surface of the upper fixture 30. At this time, the spirit level 60 shows the flatness of the bottom surface of the upper fixture 30; then adjust the position of the upper fixture 30 so that the flatness of the bottom surface of the upper fixture 30 is the same as the flatness of the top surface of the lower fixture 40. At this time, the bottom surface of the upper fixture 30 is parallel to the top surface of the lower fixture 40; finally, make the first positioning rod 51 and the second positioning rod 52 connected to the upper fixture 30 respectively abut against two adjacent side walls of the lower fixture 40. At this time, the upper fixture 30 moves to the target position above the lower fixture 40. If the upper fixture 30 is offset relative to the lower fixture 40, then at least one of the first positioning rod 51 and the second positioning rod 52 will leave the side wall of the lower fixture 40. Therefore, when the first positioning rod 51 and the second positioning rod 52 respectively abut against two adjacent side walls of the lower fixture 40, the first positioning rod 51 and the second positioning rod 52 limit the movement of the upper fixture 30 relative to the lower fixture 40. At this time, it means that the adjustment of the upper fixture 30 is in place, and the set position of the upper fixture 30 is aligned with the set position of the lower fixture 40 in the vertical direction. Since the robot gripper 10 is connected to the set position of the upper fixture 30, and the set position of the lower fixture 40 coincides with the grasping position of the material, then at this time, disconnect the upper fixture 30 from the robot gripper 10. After the material is placed in the same position of the storage member 20 instead of the lower fixture 40, the grasping position of the robot gripper 10 is aligned with the material in the vertical direction, and the robot gripper 10 can accurately grasp the material.

[0081] For example, the robot gripper 10 has a gripper pin and a clamping member, the material is provided with a mounting hole, and the gripper pin can be inserted into the mounting hole. At this time, the alignment between the clamping member and the material is accurate, and the clamping member can accurately clamp the material. Using this kind of position adjustment system can adjust the gripper pin to be aligned with the mounting hole. The adjustment process is as follows:

[0082] Connect the upper fixture 30 to the clamping member. Place the lower fixture 40 in a storage space 21 of the storage member 20 for placing materials and fix it in the storage space 21. Then, use a level 60 to adjust the bottom surface of the upper fixture 30 to be parallel to the top surface of the lower fixture 40. At this time, the axis of the gripper pin is parallel to the axis of the mounting hole. Then, make the robot gripper 10 drive the upper fixture 30 to move until the first positioning rod 51 and the second positioning rod 52 respectively abut against two adjacent side walls of the lower fixture 40 and then stop. At this time, the upper fixture 30 moves to the target position above the lower fixture 40, and the gripper pin is aligned with the mounting hole in the vertical direction. Record the position information of the gripper pin at this time as the standard position information. Then, remove the upper fixture 30 and the lower fixture 40, place the material in the storage space 21 where the lower fixture was originally placed, and the control system controls the movement of the robot gripper 10 according to the standard position information. After moving into place, the gripper pin is aligned with the mounting hole, the gripper pin and the clamping member are lowered, and the gripper pin is inserted into the mounting hole, and the clamping member precisely clamps the material.

[0083] The position adjustment system of the robot gripper 10 provided in this embodiment can adjust the bottom surface of the upper fixture 30 to be parallel to the top surface of the lower fixture 40 according to the flatness of the top surface of the lower fixture 40 and the flatness of the bottom surface of the upper fixture 30 measured by the level 60. Use the first positioning rod 51 and the second positioning rod 52 to abut against two adjacent side walls of the lower fixture 40 to limit the movement of the upper fixture 30 relative to the lower fixture 40 and prompt the operator that the upper fixture 30 has been adjusted in place. Then, adjust the bottom surface of the upper fixture 30 to be parallel to the top surface of the lower fixture 40, and after the upper fixture 30 moves to the target position above the lower fixture 40, make the set position of the upper fixture 30 be aligned with the set position of the lower fixture 40 in the vertical direction. Since the robot gripper 10 is connected to the set position of the upper fixture 30 and the set position of the lower fixture 40 coincides with the grasping position of the material, at this time, the robot gripper 10 is accurately aligned with the grasping position of the material. When using this position adjustment system to adjust the position of the robot gripper 10, the overall operation steps are less, the position adjustment efficiency of the robot gripper 10 is improved, and the alignment accuracy is relatively high, which is convenient to meet the requirements.

[0084] In a specific embodiment, the level 60 can be magnetically adsorbed on the bottom surface of the upper fixture 30, and the level 60 can also be magnetically adsorbed on the top surface of the lower fixture 40, so as to facilitate the installation of the level 60 on the upper fixture 30 and the removal from the upper fixture 30, and also facilitate the installation of the level 60 on the lower fixture 40 and the removal from the lower fixture 40.

[0085] In a specific embodiment, as Figure 1As shown, the lower fixture 40 has adjacent first side wall 41 and second side wall 42. At least one first positioning rod 51 is provided, and a plurality of second positioning rods 52 are provided and distributed in the same direction. Among them, a plurality of second positioning rods 52 can be in contact with the second side wall 42 simultaneously, and the first positioning rod 51 can be in contact with the first side wall 41.

[0086] For example Figure 1 As shown, one first positioning rod 51 is provided and two second positioning rods 52 are provided. When adjusting the position, the two second positioning rods 52 can be in contact with the second side wall 42 simultaneously to limit the deflection of the upper fixture 30 relative to the lower fixture 40. At this time, the positioning of the second side wall 42 is completed. Then, the first positioning rod 51 is made to be in contact with the first side wall 41 to complete the positioning of the upper fixture 30 relative to the lower fixture 40.

[0087] In addition, the first positioning rod 51 can also be two, three or more, and a plurality of first positioning rods 51 are distributed in the same direction; the second positioning rod 52 can be three, four or more.

[0088] In this embodiment, when the first positioning rod 51 is in contact with the first side wall 41, a plurality of second positioning rods 52 can be in contact with the second side wall 42 simultaneously to complete the positioning of the upper fixture 30 relative to the lower fixture 40, preventing the operator from being unable to judge in time whether the upper fixture 30 deflects relative to the lower fixture 40 during the adjustment process, thereby affecting the positioning accuracy.

[0089] Specifically, the upper fixture 30 is provided with adjacent third side wall 31 and fourth side wall 32. The upper fixture 30 is further provided with a first protruding portion 33 protruding outward perpendicular to the third side wall 31 and a second protruding portion 34 protruding outward perpendicular to the fourth side wall 32. The first positioning rod 51 is installed on the first protruding portion 33, and the second positioning rod 52 is installed on the second protruding portion 34 to facilitate the installation of the first positioning rod 51 and the second positioning rod 52.

[0090] More specifically, as Figures 4-5 shown, the first protruding portion 33 is provided with a first through hole 331, and the side wall of the first through hole 331 is provided with a first threaded hole 332 communicating with the first through hole 331. The first positioning rod 51 can be inserted into the first through hole 331, and the first positioning rod 51 is fixed by the cooperation of the first bolt and the first threaded hole 332; the second protruding portion 34 is provided with a second through hole 341, and the side wall of the second through hole 341 is provided with a second threaded hole 342 communicating with the second through hole 341. The second positioning rod 52 can be inserted into the second through hole 341, and the second positioning rod 52 is fixed by the cooperation of the second bolt and the second threaded hole 342.

[0091] When installing the first positioning rod 51 and the second positioning rod 52, the installation positions of the first positioning rod 51 and the second positioning rod 52 can be adjusted first, and then the bolts can be tightened to fix the first positioning rod 51 and the second positioning rod 52 to the upper fixture 30. With this setting, it is convenient to adjust the installation positions of the first positioning rod 51 and the second positioning rod 52.

[0092] In a specific embodiment, the first positioning rod 51 includes a first abutting portion 511 and a first prompting portion 512. The first prompting portion 512 can generate visual and / or audible prompts when the first abutting portion 511 contacts the side wall of the lower fixture 40; the second positioning rod 52 includes a second abutting portion 521 and a second prompting portion 522. The second prompting portion 522 can generate visual and / or audible prompts when the second abutting portion 521 contacts the side wall of the lower fixture 40.

[0093] In this embodiment, the first prompting portion 512 can generate visual and / or audible prompts, and the second prompting portion 522 can generate visual and / or audible prompts, so that the operator can intuitively judge whether the first abutting portion 511 abuts against the side wall of the lower fixture 40 and whether the second abutting portion 521 abuts against the side wall of the lower fixture 40, which is beneficial to improving the adjustment speed of the operator for the upper fixture 30.

[0094] Among them, the visual prompt can be that the prompting portion is provided with a light-emitting component, and when the abutting portion abuts against the side wall of the lower fixture 40, the light-emitting component emits a bright light. The visual prompt can be that the prompting portion is provided with a speaker, and when the abutting portion abuts against the side wall of the lower fixture 40, the speaker emits a sound.

[0095] In a specific embodiment, as Figure 6 shown, and in combination with Figure 1 , one of the storage member 20 and the lower fixture 40 is provided with a plurality of first positioning posts (not shown), and the other is provided with a plurality of first positioning holes 43, and the first positioning posts are in positioning cooperation with the first positioning holes 43.

[0096] When placing the lower fixture 40 in the storage space 21 of the storage member 20 for storing materials, through the positioning cooperation of the first positioning posts and the first positioning holes 43, the lower fixture 40 is kept relatively fixed with respect to the storage space 21, and further, the set position of the lower fixture 40 coincides with the grasping position when the material is placed in the storage space 21. After the upper fixture 30 is adjusted in place, the robot gripper 10 can be aligned with the grasping position of the material in the vertical direction.

[0097] In a specific embodiment, as Figure 5 shown, and in combination with Figure 1 , the upper fixture 30 is provided with a plurality of second positioning holes 35, and the robot gripper 10 is connected with a plurality of second positioning posts 70, and the second positioning posts 70 are in positioning cooperation with the second positioning holes 35.

[0098] When connecting the upper fixture 30 to the robot gripper 10, the second positioning post 70 and the second positioning hole 35 are positioned and matched, which facilitates the accurate connection of the robot gripper 10 and the upper fixture 30 at the set position. Furthermore, after the upper fixture 30 is adjusted in place, the grasping positions of the robot gripper 10 and the material can be aligned in the vertical direction.

[0099] In a specific embodiment, as Figures 7-8 shown, the lower fixture 40 is provided with three grooves 44 distributed at right angles. The side wall of the groove 44 is perpendicular to the bottom wall, and the side wall of the groove 44 is perpendicular to the top surface of the lower fixture 40. The first positioning rod 51 or the second positioning rod 52 can respectively cooperate with the side walls and the bottom wall of the three grooves 44 to determine the distances between the three grooves 44 pairwise and establish a plane rectangular coordinate system. The storage member 20 is provided with a plurality of storage spaces 21, and the lower fixture 40 can be fixedly placed in the storage space 21. The robot gripper 10 can move from above one storage space 21 to above another storage space 21 according to the coordinate information of each storage space 21 in the plane rectangular coordinate system.

[0100] Among them, for the three grooves 44 distributed at right angles, that is, the three grooves 44 intersect at right angles after being pairwise connected. Then, after determining the distances between the two grooves 44 on each right-angled side, a plane rectangular coordinate system can be established. The storage member 20 has a plurality of storage spaces 21, and each storage space 21 can place materials, that is, multiple materials can be placed in the storage member 20. For example Figure 1 shown, the storage member 20 is a storage tray, the storage space 21 is a storage groove, and the storage tray can have a plurality of storage grooves, so that multiple materials can be placed.

[0101] This position adjustment system can also include a teach pendant. The teach pendant can control the movement of the robot gripper 10 and can also record the position information of the robot gripper 10.

[0102] For example Figure 7As shown, three grooves 44 are distributed at three corners of the lower fixture 40. The lines connecting the three grooves 44 pairwise intersect at right angles. Each groove 44 has two side walls and a bottom wall. Before position adjustment, the lower fixture 40 is fixedly placed in one of the storage spaces 21 of the storage member 20. Then, a first positioning rod 51 is installed on the upper fixture 30. The first positioning rod 51 is brought into contact with two side walls and a bottom wall of one of the grooves 44 simultaneously to determine the position information of the first positioning rod 51 at this groove 44. Then, the position information of the first positioning rod 51 at the other two grooves 44 is determined in this way, and thus the distances between the three grooves 44 pairwise are determined. At this time, a plane rectangular coordinate system can be established in the teach pendant. According to the distances between the storage spaces 21, the coordinate information of each storage space 21 is determined in the established plane rectangular coordinate system. When the robot gripper 10 completes position adjustment above one of the storage spaces 21, the teach pendant can control the robot gripper 10 to move above other storage spaces 21 according to the coordinate information of each storage space 21. Since the robot gripper 10 has been accurately aligned with the grasping position of the material in one of the storage spaces 21, after the robot gripper 10 is translated to other storage spaces 21, the robot gripper 10 is also in an accurately aligned state with the materials in other storage spaces 21, and there is no need to repeat position adjustment, improving the efficiency of the robot gripper 10 when grasping other materials.

[0103] In addition, the first positioning rod 51 can be composed of a first prompting portion 512 and a first abutting portion 511. Taking the example that the first prompting portion 512 can emit light, the method of using the first positioning rod 51 to cooperate with the three grooves 44 to establish a plane rectangular coordinate system can be:

[0104] Move the first abutting portion 511 close to one side wall of one of the grooves 44. When the first prompting portion 512 emits light, it indicates that the first abutting portion 511 abuts against this side wall. Then move the first abutting portion 511 in a direction away from this side wall. When the first prompting portion 512 changes from the illuminated state to the extinguished state, stop the movement of the first abutting portion 511. Then move the first abutting portion 511 close to the other side wall. When the first prompting portion 512 emits light, it indicates that the first abutting portion 511 abuts against the other side wall. Then move the first abutting portion 511 in a direction away from the other side wall. When the first prompting portion 512 changes from the illuminated state to the extinguished state, stop the movement of the first abutting portion 511. Finally, move the first abutting portion 511 close to the bottom wall of the groove 44. When the first prompting portion 512 emits light, it indicates that the first abutting portion 511 abuts against the bottom wall. Then move the first abutting portion 511 in a direction away from the bottom wall. When the first prompting portion 512 changes from the illuminated state to the extinguished state, stop the movement of the first abutting portion 511. At this time, the position information of the first positioning rod 51 at this groove 44 can be determined. Then, according to the above steps, determine the position information of the first positioning rod 51 at the other two grooves 44, and further determine the distances between the three grooves 44 pairwise. At this time, a plane rectangular coordinate system can be established in the teaching pendant. By establishing the plane rectangular coordinate system in this way, the operator only needs to obtain whether the abutting portion abuts against the side wall or the bottom wall of the groove 44 according to the visual and / or auditory prompts issued by the prompting portion, without constantly observing the contact state of the first positioning rod 51, which can improve the operation efficiency.

[0105] In addition, the embodiment of the present application further provides a method for adjusting the position of the robot gripper 10. The position of the robot gripper 10 is adjusted by using the position adjustment system of the robot gripper 10 in any of the above embodiments. The method for adjusting the position of the robot gripper 10 includes:

[0106] Fix the lower fixture 40 on the storage member 20, and connect the upper fixture 30 to the robot gripper 10.

[0107] Connect the level 60 to the top surface of the lower fixture 40. The level 60 shows the flatness of the top surface of the lower fixture 40. Then connect the level 60 to the bottom surface of the upper fixture 30. The level 60 shows the flatness of the bottom surface of the upper fixture 30. Adjust the position of the upper fixture 30 so that the flatness of the bottom surface of the upper fixture 30 is the same as the flatness of the top surface of the lower fixture 40.

[0108] Abut the first positioning rod 51 and the second positioning rod 52 against two adjacent side walls of the lower fixture 40 respectively to limit the movement of the upper fixture 30 relative to the lower fixture 40.

[0109] The position adjustment method of the robot gripper 10 can adjust the bottom surface of the upper fixture 30 to be parallel to the top surface of the lower fixture 40 according to the flatness of the top surface of the lower fixture 40 and the flatness of the bottom surface of the upper fixture 30 measured by the spirit level 60; the first positioning rod 51 and the second positioning rod 52 are abutted against two adjacent side walls of the lower fixture 40 to limit the movement of the upper fixture 30 relative to the lower fixture 40, prompting the operator that the upper fixture 30 has been adjusted in place; after adjusting the bottom surface of the upper fixture 30 to be parallel to the top surface of the lower fixture 40 and moving the upper fixture 30 to the target position above the lower fixture 40, the set position of the upper fixture 30 is aligned with the set position of the lower fixture 40 in the vertical direction. Since the robot gripper 10 is connected to the set position of the upper fixture 30 and the set position of the lower fixture 40 coincides with the grasping position of the material, the robot gripper 10 is accurately aligned with the grasping position of the material at this time; when using this position adjustment system to adjust the position of the robot gripper 10, the overall operation steps are less, the position adjustment efficiency of the robot gripper 10 is improved, and the alignment accuracy is relatively high, which is convenient to meet the requirements.

[0110] Specifically, when adjusting the flatness of the bottom surface of the upper fixture 30 to be the same as the flatness of the top surface of the lower fixture 40, the position adjustment method of the robot gripper 10 includes:

[0111] Connect the spirit level 60 to the top surface of the lower fixture 40 along the first direction X. The spirit level 60 shows the first flatness of the top surface of the lower fixture 40 along the first direction X. Then connect the spirit level 60 to the bottom surface of the upper fixture 30 along the first direction X. The spirit level 60 shows the second flatness of the bottom surface of the upper fixture 30 along the first direction X. Adjust the position of the upper fixture 30 so that along the first direction X, the flatness of the bottom surface of the upper fixture 30 is the same as the flatness of the top surface of the lower fixture 40;

[0112] Then connect the spirit level 60 to the top surface of the lower fixture 40 along the second direction Y perpendicular to the first direction X. The spirit level 60 shows the third flatness of the top surface of the lower fixture 40 along the second direction Y. Then connect the spirit level 60 to the bottom surface of the upper fixture 30 along the second direction Y. The spirit level 60 shows the fourth flatness of the bottom surface of the upper fixture 30 along the second direction Y. Adjust the position of the upper fixture 30 so that along the second direction Y, the flatness of the bottom surface of the upper fixture 30 is the same as the flatness of the top surface of the lower fixture 40;

[0113] After adjusting the flatness of the bottom surface of the upper fixture 30 to be the same as the flatness of the top surface of the lower fixture 40 along the first direction X and the second direction Y, the bottom surface of the upper fixture 30 is completely parallel to the top surface of the lower fixture 40.

[0114] The above adjustment method ensures that the flatness of the bottom surface of the upper fixture 30 is the same as that of the top surface of the lower fixture 40 in both the first direction X and the second direction Y, so as to ensure that the bottom surface of the upper fixture 30 is completely parallel to the top surface of the lower fixture 40, and further ensure the alignment accuracy of the grasping position of the robot gripper 10 and the material.

[0115] In a specific embodiment, the lower fixture 40 is provided with three grooves 44 distributed at right angles. The side wall of the groove 44 is perpendicular to the bottom wall, and the side wall of the groove 44 is perpendicular to the top surface of the lower fixture 40. The storage member 20 is provided with a plurality of storage spaces 21, and the lower fixture 40 can be fixedly placed in the storage space 21. One of the storage spaces 21 is the first storage space. The position adjustment method of the robot gripper 10 further includes:

[0116] Before the position of the robot gripper 10 is adjusted, the lower fixture 40 is fixedly placed in the first storage space, and the first positioning rod 51 or the second positioning rod 52 is respectively matched with the side wall and the bottom wall of the three grooves 44 to determine the distance between every two of the three grooves 44, and a plane rectangular coordinate system is established. In the plane rectangular coordinate system, the coordinate information of each storage space 21 is determined.

[0117] After the position of the robot gripper 10 is adjusted above the first storage space, the robot gripper 10 is controlled to move above other storage spaces 21 according to the coordinate information.

[0118] In this embodiment, since the robot gripper 10 has been accurately aligned with the grasping position of the material in the first storage space, and then according to the distance between other storage spaces 21 and the first storage space, after the robot gripper 10 is translated to other storage spaces 21, the robot gripper 10 is also in an accurately aligned state with the materials in other storage spaces 21, and there is no need to repeat the position adjustment, which improves the efficiency of the robot gripper 10 when grasping other materials.

[0119] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A position adjustment system for a robot gripper, characterized in that The position adjustment system of the robot gripper includes: The upper fixture (30) for connecting with the robot gripper (10); The lower fixture (40) for being placed on the storage part (20) and capable of being fixed to the storage part (20); The level gauge (60) for being installed on the bottom surface of the upper fixture (30) and the top surface of the lower fixture (40), and respectively measuring the flatness of the bottom surface of the upper fixture (30) and the top surface of the lower fixture (40), so that the bottom surface of the upper fixture (30) is parallel to the top surface of the lower fixture (40); The positioning assembly (50) at least includes a first positioning rod (51) and a second positioning rod (52), which are respectively connected with the upper fixture (30), and the axes of the first positioning rod (51) and the second positioning rod (52) are both perpendicular to the bottom surface of the upper fixture (30). The first positioning rod (51) and the second positioning rod (52) are respectively used for abutting against two adjacent side walls of the lower fixture (40) to limit the movement of the upper fixture (30) relative to the lower fixture (40); Wherein, the lower fixture (40) is further provided with three grooves (44) distributed at right angles, the side wall of the groove (44) is perpendicular to the bottom wall, and the side wall of the groove (44) is perpendicular to the top surface of the lower fixture (40); The first positioning rod (51) or the second positioning rod (52) can respectively cooperate with the side walls and the bottom wall of the three grooves (44) to determine the distances between any two of the three grooves (44) and establish a plane rectangular coordinate system; The storage part (20) is provided with a plurality of storage spaces (21), and the lower fixture (40) can be fixedly placed in the storage space (21); The robot gripper (10) can move from above one storage space (21) to above another storage space (21) according to the coordinate information of each storage space (21) in the plane rectangular coordinate system.

2. The position adjustment system of the robot gripper according to claim 1, characterized in that, The lower fixture (40) has an adjacent first side wall (41) and a second side wall (42), the first positioning rod (51) is provided with at least one, and the second positioning rod (52) is provided with a plurality and distributed in the same direction; Wherein, a plurality of the second positioning rods (52) can simultaneously abut against the second side wall (42), and the first positioning rod (51) can abut against the first side wall (41).

3. The position adjustment system of the robot gripper according to claim 2, characterized in that, The upper fixture (30) is provided with an adjacent third side wall (31) and a fourth side wall (32). The upper fixture (30) is further provided with a first protruding part (33) protruding outward perpendicular to the third side wall (31) and a second protruding part (34) protruding outward perpendicular to the fourth side wall (32). The first positioning rod (51) is installed on the first protruding part (33), and the second positioning rod (52) is installed on the second protruding part (34).

4. The position adjustment system of the robot gripper according to claim 3, characterized in that, The first protruding portion (33) is provided with a first through hole (331), and a first threaded hole (332) communicating with the first through hole (331) is provided on the side wall of the first through hole (331). The first positioning rod (51) can be inserted into the first through hole (331), and the first positioning rod (51) is fixed by the cooperation of a first bolt and the first threaded hole (332); The second protruding portion (34) is provided with a second through hole (341), and a second threaded hole (342) communicating with the second through hole (341) is provided on the side wall of the second through hole (341). The second positioning rod (52) can be inserted into the second through hole (341), and the second positioning rod (52) is fixed by the cooperation of a second bolt and the second threaded hole (342).

5. The position adjustment system of the robot gripper according to claim 1, characterized in that, The first positioning rod (51) includes a first abutting portion (511) and a first prompting portion (512). The first prompting portion (512) can generate visual and / or audible prompts when the first abutting portion (511) contacts the side wall of the lower jig (40); the second positioning rod (52) includes a second abutting portion (521) and a second prompting portion (522). The second prompting portion (522) can generate visual and / or audible prompts when the second abutting portion (521) contacts the side wall of the lower jig (40).

6. The position adjustment system of the robot gripper according to claim 1, characterized in that, One of the storage member (20) and the lower jig (40) is provided with a plurality of first positioning posts, and the other is provided with a plurality of first positioning holes (43), and the first positioning posts are in positioning cooperation with the first positioning holes (43).

7. The position adjustment system of the robot gripper according to claim 1, characterized in that, The upper jig (30) is provided with a plurality of second positioning holes (35), and the robot gripper (10) is connected with a plurality of second positioning posts (70), and the second positioning posts (70) are in positioning cooperation with the second positioning holes (35).

8. A method for adjusting the position of a robot gripper, characterized in that, Using the position adjustment system of the robot gripper according to any one of claims 1-7 to debug the position of the robot gripper, the position adjustment method of the robot gripper includes: Fixing and placing the lower jig (40) on the storage member (20), and connecting the upper jig (30) to the robot gripper (10); Connecting the level (60) to the top surface of the lower jig (40), the level (60) shows the flatness of the top surface of the lower jig (40), and then connecting the level (60) to the bottom surface of the upper jig (30), the level (60) shows the flatness of the bottom surface of the upper jig (30), and adjusting the position of the upper jig (30) so that the flatness of the bottom surface of the upper jig (30) is the same as the flatness of the top surface of the lower jig (40); Abutting the first positioning rod (51) and the second positioning rod (52) against two adjacent side walls of the lower jig (40) respectively to limit the movement of the upper jig (30) relative to the lower jig (40); Before the position of the robot gripper (10) is adjusted, the lower jig (40) is fixedly placed in the first storage space, and the first positioning rod (51) or the second positioning rod (52) is respectively engaged with the side walls and the bottom wall of the three grooves (44) to determine the distances between the three grooves (44) in pairs, and a plane rectangular coordinate system is established. In the plane rectangular coordinate system, the coordinate information of each storage space (21) is determined. After the position of the robot gripper (10) is adjusted above the first storage space, the robot gripper (10) is controlled to move above other storage spaces (21) according to the coordinate information.

9. The position adjustment method of the robot gripper according to claim 8, characterized in that, When the flatness of the bottom surface of the upper jig (30) is adjusted to be the same as the flatness of the top surface of the lower jig (40), the position adjustment method of the robot gripper includes: The spirit level (60) is connected to the top surface of the lower jig (40) along the first direction (X), and the spirit level (60) shows the first flatness of the top surface of the lower jig (40) along the first direction (X). Then the spirit level (60) is connected to the bottom surface of the upper jig (30) along the first direction (X), and the spirit level (60) shows the second flatness of the bottom surface of the upper jig (30) along the first direction (X). The position of the upper jig (30) is adjusted so that along the first direction (X), the flatness of the bottom surface of the upper jig (30) is the same as the flatness of the top surface of the lower jig (40). Then the spirit level (60) is connected to the top surface of the lower jig (40) along the second direction (Y) perpendicular to the first direction (X), and the spirit level (60) shows the third flatness of the top surface of the lower jig (30) along the second direction (Y). Then the spirit level (60) is connected to the bottom surface of the upper jig (30) along the second direction (Y), and the spirit level (60) shows the fourth flatness of the bottom surface of the upper jig (30) along the second direction (Y). The position of the upper jig (30) is adjusted so that along the second direction (Y), the flatness of the bottom surface of the upper jig (30) is the same as the flatness of the top surface of the lower jig (40). After adjusting the flatness of the bottom surface of the upper jig (30) to be the same as the flatness of the top surface of the lower jig (40) along the first direction (X) and the second direction (Y), the bottom surface of the upper jig (30) is completely parallel to the top surface of the lower jig (40).

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