Robot arm floating clamp and debugging method thereof

Abstract

The invention discloses a robot arm floating clamp and a debugging method thereof, belongs to the field of machine manufacturing, and solves the problem that a teaching robot arm cannot be quickly debugged in the prior art. A flange plate is fixed on the manipulator, a pneumatic chuck is arranged on the flange plate, a clamping jaw is arranged on the pneumatic chuck, a floating module is arranged between the flange plate and the pneumatic chuck, the floating module comprises a middle connecting plate and a bottom plate, the middle connecting plate is connected with the flange plate in a sliding mode, and the middle connecting plate is connected with the bottom plate in a sliding mode. The two sides of the middle connecting plate are respectively provided with an adjusting block I, and the adjusting blocks I are connected with the flange plate through springs I. Adjusting blocks II are arranged on the two sides of the bottom plate respectively, and the adjusting blocks II are connected with the middle connecting plate through springs II. A linear guide rail and a spring structure are adopted, so that the clamp can freely float within a certain range, rapid debugging and teaching of the robot arm are achieved through the dynamic offset, and the requirement for the skill level of debugging personnel is lowered.

Description

Technical Field

[0001] The invention relates to the field of mechanical manufacturing, and in particular to a robot arm floating fixture and a debugging method thereof. Background Art

[0002] During the machining or assembly process, the robot arm is used to realize automatic loading and unloading, so as to achieve the purpose of automatic machining or assembly, thereby improving work efficiency, saving labor and reducing manufacturing costs. The end fixture of the robot arm supports the inner hole of the workpiece gear to feed the machine tool. The gap between the inner hole of the gear and the positioning shaft of the machine tool is 0.04mm. In the process of automatic loading and unloading, especially in the process of automatic matching and assembly of the hole and the shaft, the smaller the gap, the higher the requirements for the robot arm's repeated positioning accuracy, grasping accuracy, workpiece accuracy, matching clearance, etc., and the greater the difficulty of achieving automation. In order to realize automatic loading and unloading with small gaps (wire level), the reliability cannot be guaranteed by relying on the accuracy of each component. It is easy to cause damage to the mechanical accuracy of the robot arm, the inner hole surface of the workpiece gear, and the outer cylindrical surface of the positioning shaft of the machine tool during loading and unloading. In the debugging and teaching of the robot arm, most people use the naked eye to observe whether the hole and the shaft are coaxial. The radial distance between the hole and the shaft cannot be measured, and the coaxiality cannot be guaranteed. The debugging and teaching are difficult and require a high skill level for the debugging personnel.

[0003] Currently, there is a lack of a floating fixture at the end of the robot arm to realize automatic loading and unloading, and to quickly debug and teach the robot arm by measuring the offset of the two axes through the floating fixture and compensating it to the robot arm coordinate system, so as to achieve the purpose of coaxiality between the hole and the axis. Summary of the invention

[0004] The purpose of the present invention is to provide a robot arm floating fixture and a debugging method thereof to solve the problem that the robot arm cannot be quickly debugged and taught in the prior art.

[0005] The present invention is achieved through the following technical solutions:

[0006] A robot floating fixture includes a robot, a flange is fixed on the robot, a pneumatic chuck is arranged on the flange, a clamping claw is arranged on the pneumatic chuck, a floating module is arranged between the flange and the pneumatic chuck, the floating module includes an intermediate connecting plate and a bottom plate, the intermediate connecting plate is slidably connected to the flange, the intermediate connecting plate is slidably connected to the bottom plate, adjustment blocks I are arranged on both sides of the intermediate connecting plate, and the adjustment blocks I are connected to the flange through springs. Adjustment blocks II are arranged on both sides of the bottom plate, and the adjustment blocks II are connected to the intermediate connecting plate through springs.

[0007] Furthermore, a linear guide rail I is provided on the top of the intermediate connecting plate, a slider I is fixed on the flange, and the slider I slides with the linear guide rail; a slider II is provided at the bottom of the intermediate connecting plate, a linear guide rail II is provided on the bottom plate, and the slider II slides with the linear guide rail II.

[0008] Furthermore, the linear guide rail I and the linear guide rail II are arranged at 90°.

[0009] Furthermore, the two adjustment blocks I are located at the two end sides of the linear guide rail I, and the two adjustment blocks I are arranged opposite to each other. The inner bottom of the adjustment block I is fixed to both sides of the middle connecting plate by bolts, and the inner top of the adjustment block I is connected to the flange by a spring.

[0010] Furthermore, the two adjustment blocks II are located at the two end sides of the linear guide rail II, and the two adjustment blocks II are arranged opposite to each other. The inner bottom of the adjustment block II is fixed to both sides of the base plate by bolts, and the inner top of the adjustment block II is connected to the middle connecting plate by a spring.

[0011] A method for debugging a floating fixture of a robot arm, the method comprising the following steps:

[0012] Step S1: setting the X-axis of the coordinate system of the floating module to coincide with the X-axis of the coordinate system of the manipulator, and setting the Y-axis of the coordinate system of the floating module to coincide with the Y-axis of the coordinate system of the manipulator;

[0013] Step S2: After the robot grabs the workpiece, it measures the distance A from the adjustment block I to the flange, and the distance B from the adjustment block II to the middle connecting plate;

[0014] Step S3: The robot arm drives the fixture to clamp the workpiece and place it on the positioning axis of the machine tool;

[0015] Step S4: After the inner hole of the workpiece is in contact with the positioning shaft of the machine tool, the distance A1 from the adjustment block to the flange and the distance B1 from the adjustment block II to the middle connecting plate are measured again;

[0016] Step S5: Calculate the Y-axis offset A2=A-A1, calculate the X-axis offset B2=B-B1;

[0017] Step S6: compensating the offset A2 to the Y-axis direction of the robot, and compensating the offset B2 to the X-axis direction of the robot;

[0018] Step S7: Complete the debugging and teaching of the robot arm.

[0019] Furthermore, in the step S2, when measuring the distance, the machine tool and the robot arm are in the same horizontal plane, which can reduce the measurement error caused by the height difference and ensure the accuracy of the subsequent compensation data.

[0020] Furthermore, in the step S3, the adjacent end faces of the inner hole of the workpiece are parallel to the end face of the positioning shaft of the machine tool, which can ensure that the workpiece is correctly placed on the positioning shaft and avoid inaccurate positioning caused by tilting.

[0021] Further, in step S6, if A2>0, the Y axis is compensated in the negative direction, if A2<0, the Y axis is compensated in the positive direction; if B2>0, the X axis is compensated in the negative direction, if B2<0, the X axis is compensated in the positive direction.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] This application adopts a linear guide and spring structure, so that the fixture can float freely within a certain range, and the robot arm can be quickly debugged and taught through dynamic offset, reducing the skill level requirements for the debugger; the use of a floating fixture avoids damage to the robot arm, workpiece, and machine tool when the hole and the axis are not in the same axis when the workpiece is placed on the machine tool positioning axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the present invention;

[0025] Figure 2 It is a front view of the present invention;

[0026] Figure 3 is a top view of the present invention;

[0027] Figure 4 It is a working state diagram of the present invention;

[0028] In the figure: 1. Slider I; 2. Linear guide rail I; 3. Bolt; 4. Adjustment block I; 5. Adjustment block II; 6. Spring; 7. Flange; 8. Intermediate connecting plate; 9. Base plate; 10. Pneumatic chuck; 11. Clamping jaws; 12. Slider II; 13. Linear guide rail II; 14. Workpiece; 15. Positioning shaft. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0030] The present invention will be further described below in conjunction with the accompanying drawings.

[0031] Embodiment 1: A robot floating fixture, such as Figure 1-Figure 4As shown, it includes a manipulator, a flange 7 is fixed on the manipulator, a pneumatic chuck 10 is provided on the flange 7, a clamping claw 11 is provided on the pneumatic chuck 10, a floating module is provided between the flange 7 and the pneumatic chuck 10, and the floating module includes an intermediate connecting plate 8 and a bottom plate 9, the intermediate connecting plate 8 is slidably connected to the flange 7, the intermediate connecting plate 8 is slidably connected to the bottom plate 9, and adjustment blocks I4 are respectively provided on both sides of the intermediate connecting plate 8, and the adjustment blocks I4 are connected to the flange 7 through springs 6. Adjustment blocks II5 are respectively provided on both sides of the bottom plate 9, and the adjustment blocks II5 are connected to the intermediate connecting plate 8 through springs 6. The use of the floating fixture avoids damage to the manipulator, the workpiece 14, and the machine tool when the workpiece 14 is placed on the positioning shaft 15 of the machine tool due to the hole and the shaft being not in line.

[0032] Embodiment 2, a floating fixture for a robot hand, wherein a linear guide rail I2 is provided on the top of the intermediate connecting plate 8, a slider I1 is fixed on the flange 7, and the slider I1 is slidably matched with the linear guide rail; a slider II12 is provided on the bottom of the intermediate connecting plate 8, and a linear guide rail II13 is provided on the bottom plate 9, and the slider II12 and the linear guide rail II13 are slidably matched. The linear guide rail I2 and the linear guide rail II13 are arranged at 90 degrees; the positions of the two adjustment blocks I4 are located at the two ends of the linear guide rail I2, the two adjustment blocks I4 are arranged oppositely, the inner bottom of the adjustment block I4 is fixed to the two sides of the intermediate connecting plate 8 by bolts 3, and the inner top of the adjustment block I4 is connected to the flange 7 by springs 6; the positions of the two adjustment blocks II5 are located at the two ends of the linear guide rail II13, the two adjustment blocks II5 are arranged oppositely, the inner bottom of the adjustment block II5 is fixed to the two sides of the bottom plate 9 by bolts 3, and the inner top of the adjustment block II5 is connected to the intermediate connecting plate 8 by springs 6; the rest is the same as embodiment 1.

[0033] A method for debugging a floating fixture of a robot arm, the method comprising the following steps:

[0034] Step S1: setting the X-axis of the coordinate system of the floating module to coincide with the X-axis of the coordinate system of the manipulator, and setting the Y-axis of the coordinate system of the floating module to coincide with the Y-axis of the coordinate system of the manipulator;

[0035] Step S2: Figure 3 As shown, after the robot grasps the workpiece 14, it measures the distance A from the adjustment block Ⅰ4 to the flange 7, and the distance B from the adjustment block Ⅱ5 to the middle connecting plate 8;

[0036] Step S3: The robot arm drives the fixture to clamp the workpiece 14 and place it on the machine tool positioning axis 15;

[0037] Step S4: After the inner hole of the workpiece 14 is in contact with the machine tool positioning shaft 15, the distance A1 from the adjustment block to the flange 7 and the distance B1 from the adjustment block II5 to the middle connecting plate 8 are measured again;

[0038] Step S5: Calculate the Y-axis offset A2=A-A1, calculate the X-axis offset B2=B-B1;

[0039] Step S6: compensating the offset A2 to the Y-axis direction of the robot, and compensating the offset B2 to the X-axis direction of the robot;

[0040] Step S7: Complete the debugging and teaching of the robot arm.

[0041] Through standardized debugging steps, even non-professionals can quickly complete the calibration of the robot, reducing the difficulty of operation; the automated debugging process reduces the possibility of human error, while shortening the debugging time and improving production efficiency.

[0042] In the step S2, when measuring the distance, the machine tool and the robot arm are in the same horizontal plane, which can reduce the measurement error caused by the height difference and ensure the accuracy of the subsequent compensation data.

[0043] In the step S3, the adjacent end face of the inner hole of the workpiece 14 is parallel to the end face of the machine tool positioning shaft 15, which can ensure that the workpiece 14 is correctly placed on the positioning shaft 15 and avoid inaccurate positioning caused by tilting.

[0044] In step S6, if A2>0, the Y axis is compensated in the negative direction, if A2<0, the Y axis is compensated in the positive direction; if B2>0, the X axis is compensated in the negative direction, if B2<0, the X axis is compensated in the positive direction.

[0045] When the present application is used, in order to ensure that the inner hole of the workpiece 14 is coaxial with the flange 7 after the fixture tightens the workpiece 14, it is necessary to select a spring 6 with appropriate supporting force according to the weight of the workpiece 14. The adjustment block is placed in a suitable position according to the required floating stroke and supporting force. The magnitude of the supporting force is not only affected by the spring 6 itself, but can also be changed by adjusting the compression amount of the spring 6. In order to facilitate the coaxiality of the workpiece 14 hole and the positioning shaft 15 by the floating stroke, all springs 6 should be installed with the same compression amount.

[0046] In the initial position, under the action of the spring 6, the inner hole of the workpiece 14 clamped by the clamp is in a coaxial position relative to the flange 7, such as Figure 4As shown, the robot arm takes the workpiece 14 and places it on the positioning shaft 15 of the machine tool. The positioning shaft 15 is provided with a chamfer to reduce friction and resistance during assembly. The chamfer can make it easier to align and position the parts during assembly. Due to the influence of the precision of each component, the inner hole of the workpiece 14 cannot be guaranteed to be absolutely coaxial with the machine tool positioning axis 15. When the inner hole of the workpiece 14 cooperates with the positioning axis 15, the misalignment will generate a unidirectional radial force. The workpiece 14 is relatively still with the machine tool positioning axis 15, the base plate 9, the pneumatic chuck 10, and the clamping jaws 11. The manipulator and the flange 7 are relatively still. Since there is an action force and a reaction force between the flange 7 and the machine tool positioning axis 15, when the radial force is in the same installation direction as the spring 6, one of the four springs 6 will be compressed, and relative movement will occur between the flange 7 and the intermediate connecting plate 8 or between the intermediate connecting plate 8 and the base plate 9; when the radial force is not in the same installation direction as the spring 6, two of the four springs 6 will be compressed, and relative movement will occur between the flange 7 and the intermediate connecting plate 8 and between the intermediate connecting plate 8 and the base plate 9 at the same time, that is, the so-called two-axis linkage realizes unidirectional movement. The structure of the present application is simple, and automatic floating can be realized without providing power. The floating offset can realize rapid debugging and teaching of the manipulator, which reduces the skill level requirements for the debugging personnel.

[0047] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made within the scope of this application should still fall within the scope of the present invention.

Claims

1. A robot floating fixture, comprising a flange (7), a pneumatic chuck (10) being arranged on the flange (7), and a clamping claw (11) being arranged on the pneumatic chuck (10), characterized in that: A floating module is provided between the flange (7) and the pneumatic chuck (10), and the floating module comprises an intermediate connecting plate (8) and a bottom plate (9), wherein the intermediate connecting plate (8) is slidably connected to the flange (7), and the intermediate connecting plate (8) is slidably connected to the bottom plate (9), and adjustment blocks I (4) are provided on both sides of the intermediate connecting plate (8), and the adjustment blocks I (4) are connected to the flange (7) via springs (6); and adjustment blocks II (5) are provided on both sides of the bottom plate (9), and the adjustment blocks II (5) are connected to the intermediate connecting plate (8) via springs (6).

2. The robot arm floating fixture according to claim 1, characterized in that: A linear guide rail I (2) is provided on the top of the intermediate connecting plate (8), a slider I (1) is fixed on the flange (7), and the slider I (1) is slidably matched with the linear guide rail; a slider II (12) is provided on the bottom of the intermediate connecting plate (8), and a linear guide rail II (13) is provided on the bottom plate (9), and the slider II (12) and the linear guide rail II (13) are slidably matched.

3. The robot arm floating fixture according to claim 2, characterized in that: The linear guide rail I (2) and the linear guide rail II (13) are arranged at 90 degrees.

4. The robot arm floating fixture according to claim 3, characterized in that: The two adjustment blocks Ⅰ (4) are located at the two end sides of the linear guide rail Ⅰ (2). The two adjustment blocks Ⅰ (4) are arranged opposite to each other. The inner bottom of the adjustment block Ⅰ (4) is fixed to the two sides of the middle connecting plate (8) by bolts (3), and the inner top of the adjustment block Ⅰ (4) is connected to the flange (7) by springs (6) Ⅰ.

5. The robot arm floating fixture according to claim 3, characterized in that: The two adjustment blocks II (5) are located at the two end sides of the linear guide rail II (13). The two adjustment blocks II (5) are arranged opposite to each other. The inner bottom of the adjustment block II (5) is fixed to the two sides of the bottom plate (9) by bolts (3), and the inner top of the adjustment block II (5) is connected to the middle connecting plate (8) by a spring (6).

6. A method for debugging a floating fixture of a robot, characterized in that: The method of using the robot floating fixture according to any one of claims 1 to 5 comprises the following steps: Step S1: setting the X-axis of the coordinate system of the floating module to coincide with the X-axis of the coordinate system of the manipulator, and setting the Y-axis of the coordinate system of the floating module to coincide with the Y-axis of the coordinate system of the manipulator; Step S2: After the robot grasps the workpiece (14), it measures the distance A from the adjustment block I (4) to the flange (7), and the distance B from the adjustment block II (5) to the middle connecting plate (8); Step S3: the robot arm drives the clamping claw (11) to clamp the workpiece (14) and place it on the machine tool positioning axis (15); Step S4: After the inner hole of the workpiece (14) is in contact with the machine tool positioning shaft (15), the distance A1 from the adjustment block to the flange (7) and the distance B1 from the adjustment block II (5) to the middle connecting plate (8) are measured again; Step S5: Calculate the Y-axis offset A2=A-A1, calculate the X-axis offset B2=B-B1; Step S6: compensating the offset A2 to the Y-axis direction of the robot, and compensating the offset B2 to the X-axis direction of the robot; Step S7: Complete the debugging and teaching of the robot arm.

7. The debugging method of the robot arm floating fixture according to claim 6 is characterized in that: In the step S2, when measuring the distance, the machine tool and the robot arm are on the same horizontal plane.

8. The debugging method of the robot arm floating fixture according to claim 6 is characterized in that: In the step S3, the adjacent end surface of the inner hole of the workpiece (14) is parallel to the end surface of the machine tool positioning axis (15).

9. The debugging method of the robot arm floating fixture according to claim 6, characterized in that: In step S6, if A2>0, the Y axis is compensated in the negative direction, if A2<0, the Y axis is compensated in the positive direction; if B2>0, the X axis is compensated in the negative direction, if B2<0, the X axis is compensated in the positive direction.

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