A laser ranging-based industrial robot clamp self-centering quick-change docking device

Abstract

The application relates to an industrial robot clamp self-centering quick-change butt joint device based on laser ranging, and relates to an industrial robot clamp self-centering quick-change butt joint device. In order to solve the problem that the butt joint positioning of an existing robot quick-change mechanism depends on high-precision calibration measurement, and if the positioning is not accurate, butt joint errors and physical collisions will exist. The application comprises a clamp end support base, a clamp end pneumatic butt joint disc, a robot hand end pneumatic butt joint disc and a robot hand end two-axis displacement connecting disc; the clamp end pneumatic butt joint disc is fixedly installed on the clamp end support base, the robot hand end pneumatic butt joint disc is installed on the clamp end pneumatic butt joint disc, and the robot hand end two-axis displacement connecting disc is installed on the robot hand end pneumatic butt joint disc. The application belongs to the technical field of industrial robots.

Description

Technical Field

[0001] This invention relates to a self-aligning and quick-change docking device for industrial robot grippers, belonging to the field of industrial robot technology. Background Technology

[0002] To meet the requirements of flexible automated feeding and high-efficiency production, the CNC machine tool automated feeding gantry robot system needs to be able to adapt to changes in production tasks and clamp different products and intermediate parts in different processes without interrupting production. The form of the tooling fixture head varies depending on the different configurations of the parts, the clamping positions, and the different processes, which requires quick switching of the robot arm's gripper head.

[0003] The process of a robot automatically changing end effectors is a typical precision assembly operation in industrial robots. To facilitate the replacement of end effectors for different purposes, the robot's quick-change mechanism consists of two components: a main plate and a tool plate. The main plate is mounted on the robot's power output end, while the tool plate is fixed to the end effector's power input end. The end effector with the tool plate is placed on a tool holder. Existing robot quick-change mechanisms rely on high-precision calibration measurements for docking positioning; inaccurate positioning can lead to docking errors, physical collisions, and other issues. Summary of the Invention

[0004] This invention addresses the problem that existing robot quick-change mechanisms rely on high-precision calibration measurements for docking positioning, which can lead to docking errors and physical collisions if the positioning is inaccurate. Therefore, it proposes a self-aligning quick-change docking device for industrial robot grippers based on laser ranging.

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

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

[0007] Furthermore, the clamp end support base includes a clamp end support base plate and multiple base docking support columns;

[0008] Multiple base docking support columns are evenly distributed along the circumference in the middle of the upper surface of the clamp end support base plate.

[0009] Furthermore, the clamp-end pneumatic docking plate includes a clamp-end pneumatic docking plate body, multiple robot-end docking clamp assemblies, and multiple clamp-end docking clamp assemblies;

[0010] The upper surface of the pneumatic docking plate at the clamping end is provided with multiple robot end docking clamp mounting slots evenly distributed along the circumference, and a robot end docking clamp assembly is installed in each robot end docking clamp mounting slot; the lower surface of the pneumatic docking plate at the clamping end is provided with multiple clamping end docking clamp mounting slots evenly distributed along the circumference, and a clamping end docking clamp assembly is installed in each clamping end docking clamp mounting slot.

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

[0012] Two robot end docking clamp mounting holes are symmetrically opened on the inner wall of the robot end docking clamp mounting slot. The two robot end docking clamps are symmetrically installed in the two robot end docking clamp mounting holes, and the robot end docking clamp springs are fitted onto the robot end docking clamps.

[0013] Furthermore, each clamping end assembly includes multiple clamping end clamping head springs and multiple clamping end clamps;

[0014] Two clamping end chuck mounting holes are symmetrically opened on the inner wall of the clamping end chuck mounting groove. The two clamping end chucks are symmetrically installed in the two clamping end chuck mounting holes, and the clamping end chuck spring is fitted onto the clamping end chuck.

[0015] Furthermore, the robotic arm-end pneumatic docking plate includes a robotic arm-end pneumatic docking plate body, multiple pneumatic connectors, multiple pneumatic docking fixing heads, and a laser rangefinder sensor;

[0016] Multiple pneumatic connectors are evenly distributed along the circumference of the pneumatic docking plate of the robot end, and multiple pneumatic docking fixing heads are evenly distributed along the circumference of the lower surface of the pneumatic docking plate of the robot end. A laser rangefinder is installed in the middle of the lower surface of the pneumatic docking plate of the robot end.

[0017] Furthermore, the two-axis displacement connecting plate of the robot arm 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 arm connecting 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 set 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 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 set 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 this invention are: this invention realizes automatic docking and quick change of industrial robot fixtures, ensuring the stability and efficiency of the docking process of industrial robot fixtures; this invention does not rely on high-precision calibration measurement, but can realize automatic and accurate positioning of robot fixtures, and will not cause docking errors or physical collisions, thereby improving the efficiency of automatic docking and quick change of industrial robot fixtures. Attached Figure Description

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

[0022] Figure 2 This is a schematic diagram of the structure of the clamp end support base;

[0023] Figure 3 This is a front sectional view of the pneumatic docking plate at the clamp end;

[0024] Figure 4 This is a schematic diagram of the pneumatic docking plate at the end of the robotic arm;

[0025] Figure 5 This is a schematic diagram of the structure of the two-axis displacement connecting plate at the end of the robot arm;

[0026] Figure 6 This is a three-dimensional structural diagram of the two-axis displacement connecting plate at the end of the robot arm;

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

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

[0029] Figure 9 This is a schematic diagram of laser ranging alignment.

[0030] Figure 10 This is a schematic diagram of the docking operation;

[0031] Figure 11 This is a schematic diagram of the air path inside the pneumatic docking plate at the clamp end. Detailed Implementation

[0032] Specific implementation method one: as follows Figure 1As shown, an industrial robot gripper self-alignment and quick-change docking device based on laser ranging includes a gripper end support base 1, a gripper end pneumatic docking plate 2, a robot end pneumatic docking plate 3, and a robot end two-axis displacement connecting plate 4.

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

[0034] The clamp end support base 1 supports and fixes the clamp end pneumatic docking plate 2. The clamp end pneumatic docking plate 2 is used to connect and unlock with the clamp end support base 1 and the robot end pneumatic docking plate 3. The robot end two-axis displacement connecting plate 4 is used to realize the centering displacement action of the docking device.

[0035] Specific implementation method two: such as Figure 2 As shown, the clamp end support base 1 includes a clamp end support base plate 1-1 and multiple base docking support columns 1-2;

[0036] Multiple base docking support columns 1-2 are evenly distributed along the circumference in the middle of the upper surface of the clamp end support base plate 1-1.

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

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

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

[0040] Specific implementation method four: such as Figure 3 and Figure 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 clamp mounting holes 2-8 are symmetrically opened on the inner wall of the robot end docking clamp mounting groove 2-6. Two robot end docking clamps 2-2 are symmetrically installed in the two robot end docking clamp mounting holes 2-8. Robot end docking clamp springs 2-3 are fitted on the robot end docking clamps 2-2.

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

[0043] Specific implementation method five: such as Figure 3 and Figure 11 As shown, each clamping end assembly includes multiple clamping end clamping head springs 2-4 and multiple clamping end clamps 2-5;

[0044] Two clamp end chuck mounting holes 2-10 are symmetrically opened on the inner wall of the clamp end chuck mounting groove 2-7. Two clamp end chucks 2-5 are symmetrically installed in the two clamp end chuck mounting holes 2-10. The clamp end chuck spring 2-4 is fitted on the clamp end chuck 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. The clamp end docking chuck mounting hole 2-10 is connected to the upper air passage 2-9 through the lower air passage 2-11.

[0046] Specific implementation method six: such as Figure 4 As shown, the pneumatic docking plate 3 of the robot arm includes a pneumatic docking plate body 3-1, multiple pneumatic connectors 3-2, multiple pneumatic docking fixing heads 3-3 and a laser rangefinder sensor 3-4;

[0047] Multiple pneumatic connectors 3-2 are evenly distributed along the circumference of the pneumatic docking plate 3-1 at the end of the robot arm, and multiple pneumatic docking fixing heads 3-3 are evenly distributed along the circumference of the lower surface of the pneumatic docking plate 3-1 at the end of the robot arm. A laser rangefinder 3-4 is installed in the middle of the lower surface of the pneumatic docking plate 3-1 at the end of the robot arm.

[0048] There are four laser rangefinders 3-4, which are symmetrically installed on the pneumatic docking plate 3-1 of the robot arm and aligned with its XY axis. The pneumatic connector 3-2 (used to connect the air source) and the pneumatic docking fixing head 3-3 are connected through the air passage inside the pneumatic docking plate 3-1 of the robot arm.

[0049] Specific implementation method six: such as Figure 5 and Figure 6As shown, the two-axis displacement connecting plate 4 at the end of the robot arm 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 arm connecting 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. The telescopic end of the X-axis electric push rod 4-3 is fixedly connected to the XY axis adapter plate 4-4.

[0051] Two Y-axis linear guides 4-6 are fixed side-by-side and 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 set 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] The X-axis linear guide 4-1 is fixedly connected to the pneumatic docking plate 3-1 at the robot end; the X-axis linear guide 4-1 is 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 plate 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 and the pneumatic docking plate 3-1 at the robot end can... It enables 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, thereby realizing the Y-axis movement between the XY-axis adapter plate 4-4 and the robot arm connecting plate 4-7.

[0053] Work 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. The clamp end docking chuck spring 2-4 provides pre-tightening pressure, pushing the clamp end chuck 2-5 to clamp the base docking support column 1-2, so that it is relatively fixed.

[0057] Step 2: Centering using laser ranging;

[0058] The robotic arm drives the pneumatic docking plate 3 at the end of the robotic arm to approach the pneumatic docking plate 2 at the end of the clamp along the axial direction. The laser rangefinder 3-4 measures the distance between the robotic arm and the inner wall of the pneumatic docking plate 2-1 at the end of the clamp and generates the corresponding voltage signal.

[0059] The voltage signals generated by a pair of laser rangefinders 3-4 in the X direction and a pair of laser rangefinders 3-4 in the Y direction are compared by a comparator. The direction signal of the comparator controls the corresponding relay circuit 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 arm connecting plate 4-7, thereby moving the pneumatic docking plate 3 at the end of the robot arm in the XY axis until it is completely aligned. The relay circuit sends a switching signal to complete the alignment operation.

[0060] Step 3: Docking and coordination;

[0061] The robotic arm drives the pneumatic docking plate 3 at the end of the robotic arm to continue to approach the pneumatic docking plate 2 at the end of the clamp 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 end of the clamp.

[0062] Step 4: Clamp and unlock;

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

[0064] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A self-aligning and quick-change docking device for industrial robot grippers based on laser ranging, characterized in that, It includes a clamp end support base (1), a clamp end pneumatic docking plate (2), a robot end pneumatic docking plate (3), and a robot end two-axis displacement connecting plate (4). The clamp end pneumatic docking plate (2) is fixedly installed on the clamp end support base (1), the robot end pneumatic docking plate (3) is installed on the clamp end pneumatic docking plate (2), and the robot end two-axis displacement connecting plate (4) is installed on the robot end pneumatic docking plate (3). The robotic arm pneumatic docking plate (3) includes a robotic arm pneumatic docking plate body (3-1), multiple pneumatic connectors (3-2), multiple pneumatic docking fixing heads (3-3), and a laser rangefinder (3-4). Multiple pneumatic connectors (3-2) are evenly distributed along the circumference of the pneumatic docking plate (3-1) of the robot end, and multiple pneumatic docking fixing heads (3-3) are evenly distributed along the circumference of the lower surface of the pneumatic docking plate (3-1) of the robot end. A laser range sensor (3-4) is installed in the middle of the lower surface of the pneumatic docking plate (3-1) of the robot end. There are a total of 4 laser range sensors (3-4), which are symmetrically installed on the pneumatic docking plate (3-1) of the robot end and aligned with its XY axis.

2. The laser ranging-based industrial robot gripper self-alignment and quick-change docking device according to claim 1, characterized in that, The clamp end support base (1) includes a clamp end support base plate (1-1) and multiple base docking support columns (1-2); Multiple base docking support columns (1-2) are evenly distributed along the circumferential direction in the middle of the upper surface of the clamp end support base plate (1-1).

3. The industrial robot gripper self-alignment and quick-change docking device based on laser ranging according to claim 1, characterized in that, The clamp end pneumatic docking plate (2) includes a clamp end pneumatic docking plate body (2-1), multiple robot end docking clamp assemblies, and multiple clamp end docking clamp assemblies; The upper surface of the pneumatic docking plate (2) at the clamp end is provided with multiple robot end docking clamp mounting slots (2-6) evenly distributed along the circumference, and a robot end docking clamp assembly is installed in each robot end docking clamp mounting slot (2-6); the lower surface of the pneumatic docking plate (2) at the clamp end is provided with multiple clamp end docking clamp mounting slots (2-7) evenly distributed along the circumference, and a clamp end docking clamp assembly is installed in each clamp end docking clamp mounting slot (2-7).

4. The industrial robot gripper self-alignment and quick-change docking device based on laser ranging according to claim 3, characterized in that, Each robot end docking clamp assembly includes two robot end docking clamps (2-2) and two robot end docking clamp springs (2-3). Two robot end docking clamp mounting holes (2-8) are symmetrically opened on the inner wall of the robot end docking clamp mounting groove (2-6). Two robot end docking clamps (2-2) are symmetrically installed in the two robot end docking clamp mounting holes (2-8). The robot end docking clamp spring (2-3) is fitted on the robot end docking clamp (2-2).

5. The industrial robot gripper self-alignment and quick-change docking device based on laser ranging according to claim 3, characterized in that, Each clamp end docking assembly includes multiple clamp end docking chuck springs (2-4) and multiple clamp end chucks (2-5); Two clamp end chuck mounting holes (2-10) are symmetrically opened on the inner wall of the clamp end chuck mounting groove (2-7). Two clamp end chucks (2-5) are symmetrically installed in the two clamp end chuck mounting holes (2-10). The clamp end chuck spring (2-4) is fitted on the clamp end chuck (2-5).

6. The laser ranging-based industrial robot gripper self-alignment and quick-change docking device according to claim 1, characterized in that, The two-axis displacement connecting plate (4) of the robot arm includes two X-axis linear guides (4-1), two X-axis sliders (4-2), X-axis electric push rods (4-3), XY-axis adapter plate (4-4), Y-axis electric push rods (4-5), two Y-axis linear guides (4-6), robot arm connecting plate (4-7), and two Y-axis sliders (4-8). 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). An X-axis electric push rod (4-3) is set between the two X-axis linear guides (4-1). 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 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 set 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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