Industrial robot clamp self-centering quick-change butt joint device based on laser ranging

Abstract

The invention discloses an industrial robot clamp self-centering quick-change docking device based on laser ranging, and relates to an industrial robot clamp self-centering quick-change docking device. The invention aims to solve the problems that butt joint positioning of an existing robot quick-change mechanism depends on high-precision calibration measurement, and butt joint errors and physical collision exist if positioning is not accurate. The pneumatic butt joint device comprises a clamp end supporting base, a clamp end pneumatic butt joint disc, a manipulator end pneumatic butt joint disc and a manipulator end two-axis displacement connecting disc. The clamp end pneumatic butt-joint disc is fixedly installed on the clamp end supporting base, the manipulator end pneumatic butt-joint disc is installed on the clamp end pneumatic butt-joint disc, and the manipulator end two-axis displacement connecting disc is installed on the manipulator end pneumatic butt-joint disc. The invention belongs to the technical field of industrial robots.

Description

Technical Field

[0001] The invention relates to a self-centering quick-change docking device for an industrial robot fixture, belonging to the technical field of industrial robots. Background Art

[0002] In order to meet the requirements of flexible automatic feeding and efficient production, the automatic feeding truss robot system for CNC machine tools needs to be able to adapt to the clamping of different products and middlewares in different processes at any time according to the changes in production tasks without stopping production. The form of the tooling fixture head varies according to the different configurations, clamping positions and different process flows of the parts, which needs to be achieved by quickly switching the robot hand chuck.

[0003] The process of automatic replacement of the end effector by the robot is a typical precision assembly operation of industrial robots. In order to facilitate the replacement of end effectors for different purposes, the robot quick-change mechanism includes two components: the main plate and the tool plate. Among them, the main plate is installed at the power output end of the robot, and the tool plate is fixed to the power input end of the end effector. The end effector equipped with the tool plate is placed on the tool fixing bracket. The docking positioning of the existing robot quick-change mechanism relies on high-precision calibration measurement. If the positioning is inaccurate, there will be docking errors, physical collisions, etc. Summary of the invention

[0004] The present invention aims to solve the problem that the docking positioning of the existing robot quick-change mechanism relies on high-precision calibration measurement. If the positioning is inaccurate, there will be docking errors and physical collisions. Therefore, a self-centering quick-change docking device for industrial robot fixtures based on laser ranging is proposed.

[0005] The technical solution adopted by the present invention to solve the above problems is: the present invention comprises a fixture end support base, a fixture end pneumatic docking plate, a robot end pneumatic docking plate and a robot end two-axis displacement connection plate;

[0006] The pneumatic docking plate at the fixture end is fixedly installed on the supporting base at the fixture end, the pneumatic docking plate at the robot end is installed on the pneumatic docking plate at the fixture end, and the two-axis displacement connecting plate at the robot end is installed on the pneumatic docking plate at the robot end.

[0007] Further, the fixture end support base includes a fixture end support base plate and a plurality of base docking support columns;

[0008] A plurality of base docking support columns are evenly distributed along the circumferential direction on the middle part of the upper surface of the clamp end support base plate.

[0009] Further, the fixture end pneumatic docking plate comprises a fixture end pneumatic docking plate body, a plurality of robot end docking clamp assemblies and a plurality of fixture end docking clamp assemblies;

[0010] The upper surface of the pneumatic docking plate at the fixture end is evenly distributed along the circumferential direction with multiple robot end docking clamp installation grooves, and a robot end docking clamp assembly is installed in each robot end docking clamp installation groove; the lower surface of the pneumatic docking plate at the fixture end is evenly distributed along the circumferential direction with multiple fixture end docking clamp installation grooves, and a fixture end docking clamp assembly is installed in each fixture end docking clamp installation groove.

[0011] Further, each robot end docking clamp assembly includes two robot end docking clamps and two robot end docking clamp springs;

[0012] Two robot end docking chuck mounting holes are symmetrically opened on the inner wall of the robot end docking chuck mounting groove, and the two robot end docking chucks are symmetrically installed in the two robot end docking chuck mounting holes, and the robot end docking chuck spring is sleeved on the robot end docking chuck.

[0013] Further, each fixture end docking clamp assembly includes a plurality of fixture end docking clamp springs and a plurality of fixture end clamps;

[0014] Two fixture end butt clamp head mounting holes are symmetrically opened on the inner wall of the fixture end butt clamp mounting groove, and the two fixture end clamps are symmetrically mounted in the two fixture end butt clamp head mounting holes, and the fixture end butt clamp head spring is sleeved on the fixture end clamps.

[0015] Furthermore, the pneumatic docking plate at the robot end includes a pneumatic docking plate body at the robot end, a plurality of pneumatic joints, a plurality of pneumatic docking fixing heads and a laser ranging sensor;

[0016] A plurality of pneumatic joints are evenly distributed on the edge of the pneumatic docking disc at the robot end along the circumferential direction of the pneumatic docking disc at the robot end, a plurality of pneumatic docking fixing heads are evenly distributed on the lower surface of the pneumatic docking disc at the robot end along the circumferential direction, and a laser ranging sensor is installed in the middle of the lower surface of the pneumatic docking disc at the robot end.

[0017] Further, the two-axis displacement connection plate at the robot end includes two X-axis linear guides, two X-axis sliders, an X-axis electric push rod, an XY-axis adapter plate, a Y-axis electric push rod, two Y-axis linear guides, a robot connection plate and two Y-axis sliders;

[0018] Two X-axis linear guides are arranged side by side in parallel, the lower surface of the XY-axis adapter plate is slidably connected to the two X-axis linear guides through two X-axis sliders, the X-axis electric push rod is arranged between the two X-axis linear guides, and the telescopic end of the X-axis electric push rod is fixedly connected to the XY-axis adapter plate;

[0019] Two Y-axis linear guides are fixed side by side and in parallel on the upper surface of the XY-axis adapter plate, and the center line of the Y-axis linear guide along the length direction is perpendicular to the center line of the X-axis linear guide along the length direction. The robot arm connecting plate is slidably connected to the two Y-axis linear guides through two Y-axis sliders. The Y-axis electric push rod is arranged between the two Y-axis linear guides, and the telescopic end of the Y-axis electric push rod is fixedly connected to the robot arm connecting plate.

[0020] The beneficial effects of the present invention are as follows: the present invention realizes the automatic docking and quick change of industrial robot fixtures, ensuring the stability and efficiency of the docking process of the industrial robot fixtures; the present invention does not rely on high-precision calibration measurement, and can realize automatic and accurate positioning of the robot fixture, and will not cause docking errors and physical collisions, thereby improving the automatic docking and quick change efficiency of the industrial robot fixtures. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a front view of the present invention;

[0022] Figure 2 It is a structural schematic diagram of the support base at the fixture end;

[0023] Figure 3 It is the main sectional view of the pneumatic docking plate at the fixture end;

[0024] Figure 4 It is a schematic diagram of the structure of the pneumatic docking plate at the robot end;

[0025] Figure 5 It is a structural diagram of the two-axis displacement connection plate at the robot hand end;

[0026] Figure 6 It is a schematic diagram of the three-dimensional structure of the two-axis displacement connection plate at the robot hand end;

[0027] Figure 7 It is a schematic diagram of the initial state of the present invention;

[0028] Figure 8 This is a partial enlarged schematic diagram of the pneumatic docking plate at the fixture end;

[0029] Fig. 9 This is a schematic diagram of laser distance measurement and centering;

[0030] Fig.10 It is a schematic diagram of docking operation;

[0031] Fig.11 It is a schematic diagram of the air path inside the pneumatic docking plate at the fixture end. DETAILED DESCRIPTION

[0032] Specific implementation method 1: Figure 1As shown, a self-centering quick-change docking device for industrial robot fixtures based on laser ranging includes a fixture end support base 1, a fixture end pneumatic docking plate 2, a robot end pneumatic docking plate 3 and a robot end two-axis displacement connection plate 4;

[0033] The pneumatic docking plate 2 at the fixture end is fixedly mounted on the fixture end support base 1 , the pneumatic docking plate 3 at the robot end is mounted on the pneumatic docking plate 2 at the fixture end, and the two-axis displacement connection plate 4 at the robot end is mounted on the pneumatic docking plate 3 at the robot end.

[0034] Among them, the fixture end support base 1 supports and fixes the fixture end pneumatic docking plate 2, the fixture end pneumatic docking plate 2 is used to realize the connection and unlocking with the fixture end support base 1 and the robot end pneumatic docking plate 3, and the robot end two-axis displacement connection plate 4 is used to realize the centering displacement action of the docking device

[0035] Specific implementation method 2: Figure 2 As shown, the fixture end support base 1 includes a fixture end support base plate 1-1 and a plurality of base docking support columns 1-2;

[0036] A plurality of base docking support columns 1 - 2 are evenly distributed along the circumferential direction in the middle of the upper surface of the fixture end support base plate 1 - 1 .

[0037] Specific implementation method three: Figure 3 As shown, the fixture end pneumatic docking plate 2 includes a fixture end pneumatic docking plate body 2-1, a plurality of robot end docking clamp assemblies and a plurality of fixture end docking clamp assemblies;

[0038] The upper surface of the pneumatic docking plate 2 at the clamp end is evenly distributed along the circumferential direction with a plurality of robot end docking clamp mounting grooves 2-6, and a robot end docking clamp assembly is installed in each robot end docking clamp mounting groove 2-6; the lower surface of the pneumatic docking plate 2 at the clamp end is evenly distributed along the circumferential direction with a plurality of clamp end docking clamp mounting grooves 2-7, and a clamp end docking clamp assembly is installed in each clamp end docking clamp mounting groove 2-7.

[0039] Among them, the docking chuck 2-2 at the robot end and the clamp 2-5 at the fixture end are respectively slidably connected to the cavity inside the pneumatic docking disk 2-1 at the fixture end, and can slide along the radial direction of the pneumatic docking disk 2-1 at the fixture end. The docking chuck spring 2-3 at the robot end and the docking chuck spring 2-4 at the fixture end are respectively in contact with the docking chuck 2-2 at the robot end and the clamp chuck 2-5 at the fixture end to provide pre-tightening elastic force.

[0040] Specific implementation method four: Figure 3 and Fig.11 As shown, each robot end docking clamp assembly includes two robot end docking clamps 2-2 and two robot end docking clamp springs 2-3;

[0041] Two robot end docking chuck mounting holes 2-8 are symmetrically opened on the inner wall of the robot end docking clamp mounting groove 2-6, and two robot end docking chucks 2-2 are symmetrically installed in the two robot end docking chuck mounting holes 2-8, and the robot end docking chuck spring 2-3 is sleeved on the robot end docking chuck 2-2.

[0042] Among them, the robot end docking chuck spring 2-3 is located between the boss on the inner wall of the robot end docking chuck mounting hole 2-8 and the boss at the end of the robot end docking chuck 2-2, and the robot end docking chuck mounting hole 2-8 is connected to the robot end docking clamp mounting groove 2-6 through the upper airway 2-9.

[0043] Specific implementation method five: Figure 3 and Fig.11 As shown, each fixture end docking clamp assembly includes a plurality of fixture end docking clamp springs 2-4 and a plurality of fixture end clamps 2-5;

[0044] Two clamp end butt clamp head mounting holes 2-10 are symmetrically opened on the inner wall of the clamp end butt clamp mounting groove 2-7, and two clamp end clamps 2-5 are symmetrically installed in the two clamp end butt clamp head mounting holes 2-10, and the clamp end butt clamp head spring 2-4 is sleeved on the clamp end clamp 2-5.

[0045] Among them, the clamp end docking chuck spring 2-4 is located between the inner bottom surface of the clamp end docking chuck mounting hole 2-10 and the end of the clamp end chuck 2-5, and the clamp end docking chuck mounting hole 2-10 is connected with the upper airway 2-9 through the lower airway 2-11.

[0046] Specific implementation method six: Figure 4 As shown, the robot end pneumatic docking plate 3 includes a robot end pneumatic docking plate body 3-1, a plurality of pneumatic joints 3-2, a plurality of pneumatic docking fixing heads 3-3 and a laser distance measuring sensor 3-4;

[0047] A plurality of pneumatic joints 3-2 are evenly distributed on the edge of the pneumatic docking disk 3-1 at the robot end along the circumferential direction of the pneumatic docking disk 3-1 at the robot end, a plurality of pneumatic docking fixing heads 3-3 are evenly distributed on the lower surface of the pneumatic docking disk 3-1 at the robot end along the circumferential direction, and a laser ranging sensor 3-4 is installed in the middle of the lower surface of the pneumatic docking disk 3-1 at the robot end.

[0048] Among them, there are four laser ranging sensors 3-4, which are symmetrically installed on the pneumatic docking disk 3-1 at the robot end and aligned with its XY axis. The pneumatic connector 3-2 (used to connect the air source) is connected to the pneumatic docking fixed head 3-3 through the air path inside the pneumatic docking disk 3-1 at the robot end.

[0049] Specific implementation method six: Figure 5 and Figure 6As shown, the two-axis displacement connection plate 4 at the robot end includes two X-axis linear guides 4-1, two X-axis sliders 4-2, an X-axis electric push rod 4-3, an XY-axis adapter plate 4-4, a Y-axis electric push rod 4-5, two Y-axis linear guides 4-6, a robot connection plate 4-7 and two Y-axis sliders 4-8;

[0050] Two X-axis linear guides 4-1 are arranged side by side in parallel, the lower surface of the XY-axis adapter plate 4-4 is slidably connected to the two X-axis linear guides 4-1 through two X-axis sliders 4-2, the X-axis electric push rod 4-3 is arranged between the two X-axis linear guides 4-1, and the telescopic end of the X-axis electric push rod 4-3 is fixedly connected to the XY-axis adapter plate 4-4;

[0051] The two Y-axis linear guides 4-6 are fixed side by side and in parallel on the upper surface of the XY-axis adapter plate 4-4, and the center line of the Y-axis linear guide 4-6 along the length direction is perpendicular to the center line of the X-axis linear guide 4-1 along the length direction. The robot arm connecting plate 4-7 is slidably connected to the two Y-axis linear guides 4-6 through two Y-axis sliders 4-8. The Y-axis electric push rod 4-5 is arranged between the two Y-axis linear guides 4-6, and the telescopic end of the Y-axis electric push rod 4-5 is fixedly connected to the robot arm connecting plate 4-7.

[0052] Among them, the X-axis linear guide 4-1 is fixedly connected to the pneumatic docking disc 3-1 at the robot end, the X-axis linear guide 4-1 is relatively slidably connected to the X-axis slider 4-2, the X-axis slider 4-2 is fixedly connected to the XY-axis adapter plate 4-4, the base end of the X-axis electric push rod 4-3 is fixedly connected to the pneumatic docking disc 3-1 at the robot end, the telescopic end of the X-axis electric push rod 4-3 is fixedly connected to the XY-axis adapter plate 4-4, and the XY-axis adapter plate 4-4 can be connected to the pneumatic docking disc 3-1 at the robot end. Realize movement along the X-axis; the base end of the Y-axis electric push rod 4-5 is fixedly connected to the XY-axis adapter plate 4-4, the Y-axis linear guide 4-6 is fixedly connected to the XY-axis adapter plate 4-4, the Y-axis slider 4-8 is slidably connected to the Y-axis linear guide 4-6, the Y-axis slider 4-8 is fixedly connected to the robot arm connecting plate 4-7, and the telescopic end of the Y-axis electric push rod 4-5 is fixedly connected to the robot arm connecting plate 4-7 to realize the Y-axis movement between the XY-axis adapter plate 4-4 and the robot arm connecting plate 4-7.

[0053] Working process

[0054] like Figures 7 to 10 As shown,

[0055] Step 1: Initial state;

[0056] The base docking support column 1-2 is inserted into the positioning hole of the pneumatic docking disc 2-1 at the clamp end, and the clamp end docking chuck spring 2-4 provides pre-tightening pressure to push the clamp end chuck 2-5 to clamp the base docking support column 1-2 to make it relatively fixed;

[0057] Step 2: Laser distance measurement and centering;

[0058] The robot drives the pneumatic docking plate 3 at the robot end to approach the pneumatic docking plate 2 at the fixture end along the axial direction, and the laser distance measuring sensors 3-4 respectively measure the distance between them and the inner wall of the pneumatic docking plate body 2-1 at the fixture end and generate corresponding voltage signals;

[0059] The voltage signals generated by a pair of laser distance measuring sensors 3-4 in the X direction and the voltage signals generated by a pair of laser distance measuring sensors 3-4 in the Y direction are compared by a comparator, and the direction signals of the comparator are used to control the corresponding relay circuits to drive the X-axis electric push rod 4-3 and the Y-axis electric push rod 4-5 to push the XY-axis adapter plate 4-4 and the robot connecting plate 4-7 to drive the pneumatic docking plate 3 at the robot end to move in the XY-axis direction until it is fully aligned, and the relay circuit sends a switch signal to complete the alignment operation;

[0060] Step 3: Docking operation;

[0061] The robot arm drives the pneumatic docking plate 3 at the robot arm end to continue to approach the pneumatic docking plate 2 at the fixture end along the axial direction, and the pneumatic docking fixing head 3-3 is inserted into the docking hole of the pneumatic docking plate body 2-1 at the fixture end;

[0062] Step 4: Clamp and unlock;

[0063] The air source passes through the pneumatic joint 3-2, the pneumatic docking fixed head 3-3 and enters the air passage in the pneumatic docking plate 2-1 at the fixture end; the air source path is as follows Fig.11 As shown, push the docking chuck 2-2 at the robot hand end to compress the docking chuck spring 2-3 at the robot hand end and clamp the pneumatic docking fixing head 3-3; push the chuck 2-5 at the fixture end to compress the docking chuck spring 2-4 at the fixture end, release the lock with the docking support column 1-2 of the base, and complete the docking clamping and unlocking.

[0064] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent replacement and improvement made to the above embodiments without departing from the content of the technical solution of the present invention, based on the technical essence of the present invention, within the spirit and principles of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims

1. A self-centering quick-change docking device for industrial robot fixtures based on laser ranging, characterized in that: It comprises a fixture end support base (1), a fixture end pneumatic docking plate (2), a robot end pneumatic docking plate (3) and a robot end two-axis displacement connection plate (4); The pneumatic docking plate (2) at the fixture end is fixedly mounted on the fixture end support base (1), the pneumatic docking plate (3) at the robot end is mounted on the pneumatic docking plate (2) at the fixture end, and the two-axis displacement connection plate (4) at the robot end is mounted on the pneumatic docking plate (3) at the robot end.

2. According to claim 1, the self-centering quick-change docking device for industrial robot fixtures based on laser ranging is characterized in that: The fixture end support base (1) comprises a fixture end support base plate (1-1) and a plurality of base docking support columns (1-2); A plurality of base docking support columns (1-2) are evenly distributed along the circumferential direction at the middle of the upper surface of the clamp end support base plate (1-1).

3. The self-centering quick-change docking device for industrial robot fixtures based on laser ranging according to claim 1 is characterized in that: The fixture end pneumatic docking plate (2) comprises a fixture end pneumatic docking plate body (2-1), a plurality of robot end docking clamp assemblies and a plurality of fixture end docking clamp assemblies; The upper surface of the fixture end pneumatic docking plate (2) is evenly provided with a plurality of robot end docking clamp installation grooves (2-6) along the circumferential direction, and a robot end docking clamp assembly is installed in each robot end docking clamp installation groove (2-6); the lower surface of the fixture end pneumatic docking plate (2) is evenly provided with a plurality of fixture end docking clamp installation grooves (2-7) along the circumferential direction, and a fixture end docking clamp assembly is installed in each fixture end docking clamp installation groove (2-7).

4. The self-centering quick-change docking device for industrial robot fixtures based on laser ranging according to claim 3 is characterized in that: Each robot end docking clamp assembly comprises two robot end docking clamps (2-2) and two robot end docking clamp springs (2-3); Two robot arm end docking chuck mounting holes (2-8) are symmetrically formed on the inner wall of the robot arm end docking chuck mounting groove (2-6); two robot arm end docking chucks (2-2) are symmetrically mounted in the two robot arm end docking chuck mounting holes (2-8); and a robot arm end docking chuck spring (2-3) is sleeved on the robot arm end docking chuck (2-2).

5. The self-centering quick-change docking device for industrial robot fixtures based on laser ranging according to claim 3 is characterized in that: Each clamp end docking clamp assembly comprises a plurality of clamp end docking clamp head springs (2-4) and a plurality of clamp end clamp heads (2-5); Two clamp end butt clamp head mounting holes (2-10) are symmetrically formed on the inner wall of the clamp end butt clamp mounting groove (2-7); two clamp end clamp heads (2-5) are symmetrically mounted in the two clamp end butt clamp head mounting holes (2-10); and a clamp end butt clamp head spring (2-4) is sleeved on the clamp end clamp heads (2-5).

6. The self-centering quick-change docking device for industrial robot fixtures based on laser ranging according to claim 1, characterized in that: The robot end pneumatic docking plate (3) comprises a robot end pneumatic docking plate body (3-1), a plurality of pneumatic joints (3-2), a plurality of pneumatic docking fixing heads (3-3) and a laser distance measuring sensor (3-4); A plurality of pneumatic joints (3-2) are evenly arranged on the edge of the pneumatic docking disc (3-1) at the robot end along the circumferential direction of the pneumatic docking disc (3-1) at the robot end, a plurality of pneumatic docking fixing heads (3-3) are evenly arranged on the lower surface of the pneumatic docking disc (3-1) at the robot end along the circumferential direction, and a laser distance measuring sensor (3-4) is installed in the middle of the lower surface of the pneumatic docking disc (3-1) at the robot end.

7. The self-centering quick-change docking device for industrial robot fixtures based on laser ranging according to claim 1 is characterized in that: The two-axis displacement connection plate (4) at the robot end comprises two X-axis linear guide rails (4-1), two X-axis sliders (4-2), an X-axis electric push rod (4-3), an XY-axis adapter plate (4-4), a Y-axis electric push rod (4-5), two Y-axis linear guide rails (4-6), a robot connection plate (4-7) and two Y-axis sliders (4-8); Two X-axis linear guide rails (4-1) are arranged side by side in parallel, the lower surface of the XY-axis adapter plate (4-4) is slidably connected to the two X-axis linear guide rails (4-1) via two X-axis sliders (4-2), the X-axis electric push rod (4-3) is arranged between the two X-axis linear guide rails (4-1), and the telescopic end of the X-axis electric push rod (4-3) is fixedly connected to the XY-axis adapter plate (4-4); Two Y-axis linear guides (4-6) are fixed side by side and in parallel on the upper surface of the XY-axis adapter plate (4-4), and the center line of the Y-axis linear guide (4-6) along the length direction is perpendicular to the center line of the X-axis linear guide (4-1) along the length direction; the robot arm connecting plate (4-7) is slidably connected to the two Y-axis linear guides (4-6) through two Y-axis sliders (4-8); the Y-axis electric push rod (4-5) is arranged between the two Y-axis linear guides (4-6); and the telescopic end of the Y-axis electric push rod (4-5) is fixedly connected to the robot arm connecting plate (4-7).

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