Robot end effector based on self-adaptive clamping and torque detection

Abstract

The invention discloses a robot end effector based on self-adaptive clamping and torque detection, and relates to the technical field of shield tunneling machine tool changing robot production, the robot end effector comprises a shell, and the shell is connected with a robot end; the driving unit is arranged in the shell, a driving mechanism is arranged in the shell, the driving unit is in transmission connection with the driving mechanism, and a flexible limiting coil spring is connected to the driving mechanism; the shell is provided with a first port and a second port; the flexible limiting coil spring is driven to be unwound through the driving mechanism, and then the end of the flexible limiting coil spring moves into the second port from the interior of the first port and abuts against the driving mechanism. The robot end effector based on self-adaptive clamping and torque detection is small in size, a mechanical arm is more flexible in the moving process, can adapt to abrasion of a tool shaft rod, can adapt to tool shaft rods with different abrasion degrees in the tool changing process, does not shake and is safer in the tool changing process, and the tool changing efficiency is improved. And the tool changing efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of shield machine tool changing robot production, and in particular to a robot end effector based on adaptive clamping and torque detection. Background Art

[0002] As shield tunnel engineering develops towards complex geological environments and small cross-sections, tool changing robot operations face the dual challenges of limited space and torque control accuracy.

[0003] According to the invention patent application with publication number: CN105855849A and publication date of 2016-08-17, a shield machine single roller cutter changing manipulator is disclosed, which includes a housing, on which a bolt disassembly module, a trapezoidal wedge disassembly module, a square wedge disassembly module, an axial rotation module and a roller cutter disassembly and fixing module are arranged; the trapezoidal wedge disassembly module includes a second fixing flange, which is fixed on the housing, and a first electromagnet is fixed on the second fixing flange; the square wedge disassembly module includes a disassembly and telescopic part and a disassembly and rotation part; the roller cutter disassembly and fixing module includes a third hydraulic cylinder, which is fixed on the housing, and the piston rod of the third hydraulic cylinder is connected to the bolt fixing block. Its main technical effect is that it can be used in conjunction with a telescopic mechanism to replace manual cutter changing operations, so as to improve the shield machine cutter changing efficiency, ensure the personal safety of construction personnel, and accelerate the progress of tunnel excavation projects.

[0004] Traditional tool changing grippers are mostly driven by hydraulic or pneumatic means, and rely on multi-stage telescopic structures and external sensors to achieve clamping and torque detection. In the prior art, the power unit of hydraulically driven grippers will occupy too much axial space, making it difficult to achieve flexible operation in narrow manholes. Although pneumatic grippers can improve flexibility to a certain extent, they lack high-precision torque feedback, which will cause tool installation stress to be out of control. At the same time, since the grippers in the prior art are all rigid structures, they cannot adapt to the subtle dimensional changes caused by tool wear, and require frequent positioning adjustments to achieve the optimal fixing effect, which seriously reduces the efficiency of tool changing. To this end, a robot end effector based on adaptive clamping and torque detection is proposed, aiming to solve the problems of poor flexibility and inability to adapt to tool wear in the prior art of traditional tool changing grippers. Summary of the invention

[0005] The purpose of the present invention is to provide a robot end effector based on adaptive clamping and torque detection, aiming to solve the problems of poor flexibility of traditional tool changing clamps and inability to adapt to tool wear in the prior art.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: A robot end effector based on adaptive clamping and torque detection comprises a housing connected to the end of the robot, and further comprising: A driving unit is arranged in the housing, wherein a driving mechanism is arranged in the housing, the driving unit is in transmission connection with the driving mechanism, and a flexible limit coil spring is connected to the driving mechanism; The housing is provided with a first port and a second port; The flexible limit coil spring is unwound by the driving mechanism, so that the end of the flexible limit coil spring moves from the first port to the second port and contacts the driving mechanism.

[0007] Preferably, the driving mechanism comprises a winding pulley, a driving pulley and a synchronous belt, the flexible limiting coil spring is wound on the winding pulley, the driving pulley and the winding pulley are connected to the housing, and the synchronous belt is connected to the winding pulley and the winding pulley.

[0008] Preferably, the driving mechanism further comprises a driven wheel, the driven wheel is rotatably connected to the inner wall of the outer shell, and the driven wheel is spaced apart from the driving pulley.

[0009] Preferably, the winding pulley and the driving pulley are symmetrically arranged inside the housing.

[0010] Preferably, it further comprises a commutator, wherein the commutator is fixedly mounted inside the housing, a bearing seat is fixedly mounted on the outer wall of the commutator, a bearing is mounted on the output end of the commutator, and the driving pulley is fixedly mounted on the output end of the commutator.

[0011] Preferably, an arc-shaped guide plate is provided in the second port, and one end of the arc-shaped guide plate is located between the driven wheel and the winding pulley.

[0012] In the above technical solution, the present invention provides a robot end effector based on adaptive clamping and torque detection, which has the following beneficial effects: The invention drives the driving mechanism to unwind the flexible limit coil spring through a driving unit arranged inside the shell, thereby causing the flexible limit coil spring to move from the first port of the shell to the second port of the shell to form a closed structure, thereby limiting the shaft of the tool and fixing the tool to the shell. The flexible limit coil spring is used to limit and fix the tool shaft, which has a small size and makes the manipulator more flexible during movement. At the same time, the flexible limit coil spring fits the outer wall of the tool shaft and can adapt to the wear of the tool shaft. During the tool changing process, it can adapt to the tool shaft with different degrees of wear. When facing tool shafts with different degrees of wear, it can have the same fixing effect and will not shake. It is safer during the tool changing process, and there is no need to repeatedly adjust the tool when changing, which greatly improves the tool changing efficiency. The torque of the tool can be directly read through the driving unit, and then the degree of wear of the tool can be judged, which is convenient for maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0014] Figure 1 A schematic diagram of the overall three-dimensional structure provided by an embodiment of the present invention; Figure 2 A schematic diagram of a three-dimensional structure of a housing provided in an embodiment of the present invention; Figure 3 Schematic diagram of the internal cross-sectional structure of the housing provided by an embodiment of the present invention Figure 4 A schematic diagram of the internal structure of a housing provided in an embodiment of the present invention.

[0015] Description of reference numerals: 1. Housing; 11. First port; 12. Second port; 2. Driving unit; 3. Driving mechanism; 31. Winding pulley; 32. Driving pulley; 33. Synchronous belt; 34. Driven pulley; 4. Commutator; 5. Bearing seat; 6. Bearing; 7. Arc guide plate; 8. Flexible limit coil spring. DETAILED DESCRIPTION

[0016] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0017] See also Figure 1 — Figure 4 A robot end effector based on adaptive gripping and torque detection comprises a housing 1, wherein the housing 1 is connected to the end of the robot, and further comprises: A driving unit 2 is arranged in the housing 1, wherein a driving mechanism 3 is arranged in the housing 1, wherein the driving unit 2 is in transmission connection with the driving mechanism 3, and a flexible limiting coil spring 8 is connected to the driving mechanism 3; The housing 1 is provided with a first port 11 and a second port 12; The flexible limit coil spring 8 is unwound by the driving mechanism 3 , so that the end of the flexible limit coil spring 8 moves from the first port 11 to the second port 12 and contacts the driving mechanism 3 .

[0018] Specifically, the shell 1 is fixedly installed on the manipulator, and a driving unit 2 is fixedly arranged inside the shell 1. As an embodiment provided by the present invention, the driving unit 2 is a servo motor, and a driving mechanism 3 is arranged inside the shell 1. The driving mechanism 3 maintains a transmission connection with the driving unit 2, and the driving unit 2 can drive the driving mechanism 3 to keep rotating.

[0019] A flexible limit coil spring 8 is connected to the driving mechanism 3 . Specifically, the flexible limit coil spring 8 is an elastic coil spring.

[0020] Further, such as Figure 2 As shown, a first port 11 and a second port 12 are provided on the outer wall of the housing 1. As an embodiment provided by the present invention, a groove for accommodating the arc-shaped outer wall of the hob is provided on the outer wall on one side of the housing 1, and the first port 11 and the second port 12 are respectively located on both sides of the groove.

[0021] The driving mechanism 3 is driven to keep rotating through the driving unit 2, so that the flexible limit coil spring 8 is unwound and moves from the first port 11 to the second port 12, so that one end of the flexible limit coil spring 8 can bypass the hob cutter shaft from the first port 11 to the second port 12 and remain connected to the driving mechanism 3. One end of the flexible limit coil spring 8 is reeled through the driving mechanism 3, and finally the hob cutter shaft is fixed to the housing 1 through the flexible limit coil spring 8.

[0022] As an embodiment provided by the present invention, the natural curvature radius of the flexible limiting coil spring 8 is 230mm-250mm, preferably 240mm, and the curling curvature radius of the flexible limiting coil spring 8 is 30mm-50mm.

[0023] It should be noted that the natural curvature radius and the coiled curvature radius of the flexible limiting coil spring 8 can be designed according to different types of tools.

[0024] As an embodiment provided by the present invention, Figure 3As shown, the driving mechanism 3 includes a winding pulley 31, a driving pulley 32 and a synchronous belt 33. The winding pulley 31 is rotatably connected to the inside of the housing 1 through a shaft. As a preferred embodiment provided by the present invention, there are two winding pulleys 31, and the two winding pulleys 31 are respectively close to the inner walls on the opposite sides of the housing 1. The driving unit 2 is fixedly installed on the inner wall of the housing 1, and the driving pulley 32 is transmission-connected to the output end of the driving unit 2. As a preferred embodiment provided by the present invention, there are two driving pulleys 32, and the two driving pulleys 32 are respectively rotationally connected to the inner walls on the opposite sides of the housing 1. Further, the two driving pulleys 32 are both transmission-connected to the driving unit 2. One end of the synchronous belt 33 is connected to the driving pulley 32, and the other end is connected to the winding pulley 31. Preferably, there are two synchronous belts 33, and the two synchronous belts 33 are respectively connected to the two winding pulleys 31 and the winding pulley 31.

[0025] As a further embodiment provided by the present invention, Figure 3 As shown, the driving mechanism 3 also includes a driven wheel 34. Further, the driven wheel 34 is rotatably connected to the inside of the housing 1 through a shaft. Preferably, there is a certain gap between the driven wheel 34 and the driving pulley 32 to allow the flexible limiting coil spring 8 to pass through.

[0026] Preferably, the rotation speed of the driving pulley 32 is greater than the rotation speed of the driving pulley 32, so as to ensure that when the flexible limit coil spring 8 moves to the middle of the driving pulley 32 and the driven pulley 34 and abuts against the driving pulley 32, the end of the flexible limit coil spring 8 located between the driving pulley 32 and the driven pulley 34 can be collected by the driving pulley 32, that is, the unwinding speed of the flexible limit coil spring 8 at the first port 11 is less than the winding speed at the second port 12, so that the flexible limit coil spring 8 can be tightened onto the outer wall of the knife shaft.

[0027] Preferably, the installation position of the winding pulley 32 is designed so that the flexible limit coil spring 8 wound thereon can extend from the first port 11, move around the outside of the knife shaft, and finally reach the inside of the second port 12. The shape of the flexible limit coil spring 8 is also designed so that it can bypass the outer wall of the knife shaft and reach the inside of the second port 12 after restoring its deformation.

[0028] As an embodiment provided by the present invention, a commutator 4 is further included. Specifically, the commutator 4 is fixedly installed inside the housing 1, the input end of the commutator 4 is connected to the drive unit 2, and the output end of the commutator 4 is connected to the drive pulley 32. A bearing seat 5 is fixedly installed on the outer wall of the commutator 4, and a bearing 6 is installed in the bearing seat 5. The bearing 6 is connected to the output end of the commutator 4 for lubrication.

[0029] The invention drives the driving mechanism 3 to unwind the flexible limit coil spring 8 through the driving unit 2 arranged inside the shell 1, and then the flexible limit coil spring 8 moves from the first port 11 of the shell 1 to the second port 12 of the shell 1 to form a closed structure, limits the shaft of the tool, and fixes the tool to the shell 1. The flexible limit coil spring 8 is used to limit and fix the tool shaft, which has a small volume, making the manipulator more flexible during movement. At the same time, the flexible limit coil spring 8 fits the outer wall of the tool shaft and can adapt to the wear of the tool shaft. During the tool changing process, it can adapt to the tool shaft with different degrees of wear. When facing the tool shaft with different degrees of wear, it can play the same fixing effect without shaking, which is safer during the tool changing process, and there is no need to repeatedly adjust the tool changing, which greatly improves the tool changing efficiency. The torque of the tool can be directly read through the driving unit 2, and then the degree of wear of the tool can be judged, which is convenient for maintenance.

[0030] Since the servo motor is used as the drive in the embodiment provided by the present invention, the torque of the servo motor can be read in actual use to obtain the torque of the cutter shaft rotation and judge the wear degree of the hob. Compared with the external torque sensor, the structure is simpler, the manufacturing cost is low, no wiring and sealing are required, and the failure rate is low.

[0031] In the embodiment provided by the present invention, only one driving unit 2, that is, a servo motor is used for driving, and the structure is relatively simple and the operation is easy. When operating, a larger operating space can be provided for the gripper.

[0032] Another embodiment of the drive unit 2 provided by the present invention specifically includes a drive motor and a torque sensor. The drive motor drives the drive pulley 32 to keep rotating. The torque of the drive motor is read by the torque sensor, and the degree of wear of the tool can also be judged.

[0033] Working principle: When the hob needs to be grabbed, the manipulator drives the housing 1 to move so that the groove on the housing 1 accommodates the outer wall of the hob; Then, the commutator 4 is driven to keep rotating through the driving unit 2, and the two driving pulleys 32 are driven to keep rotating through the commutator 4. When the driving pulleys 32 keep rotating, the winding pulley 31 is driven to rotate through the synchronous belt 33, thereby unwinding the flexible limit coil spring 8 wound on the winding pulley 31; The flexible limit coil spring 8 is extended from the first port 11. When the flexible limit coil spring 8 is unwound and moves out from the first port 11, the flexible limit coil spring 8 recovers its deformation and gradually moves toward the second port 12 under the synchronous unwinding action of the winding pulley 31, so as to bypass the cutter shaft of the hob. When the flexible limit coil spring 8 moves to the second port 12, one end of the flexible limit coil spring 8 is guided by the arc-shaped guide plate 7 arranged on the second port 12, and is guided to between the driven wheel 34 and the driving pulley 32, and abuts against the driving pulley 32. At this time, the flexible limit coil spring 8 at one end of the first port 11 is continued to be unwound by the rotation of the driven pulley, while the flexible limit coil spring 8 at the second port 12 is wound up. The flexible limit coil spring 8 is wound up and abuts against the knife shaft, and the knife shaft is fixed to the housing to meet the needs of grabbing the roller. After tightening, the knife shaft is driven to rotate a certain angle by the flexible limit coil spring 8. At this time, the torque signal of the knife shaft can be read by the servo motor and fed back to the manipulator.

[0034] When it is necessary to remove the roller from the housing 1, the driving unit 2 controls the driving pulley 32 to keep rotating in the opposite direction, and the synchronous belt 33 drives the winding pulley 31 to keep rotating in the opposite direction. At this time, the flexible limit coil spring 8 is wound up by the winding pulley 31, and the flexible limit coil spring 8 is unwound by the driving pulley 32, so that the flexible limit coil spring 8 is moved from the second port 32 back to the first port 31. The installation position of the flexible limit coil spring 8 is designed to ensure that it can bypass the knife shaft and reach the second port 12 when extended, and can return from the second port 12 to the first port 11 of the housing 1 when retracted.

[0035] The elastic coefficient of the flexible limit coil spring 8 mentioned in the article meets the technical requirements of the technical solution of the present invention.

[0036] Those skilled in the art will appreciate that other similar connection methods may also be used to implement the present invention, such as welding, bonding or screwing.

[0037] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A robot end effector based on adaptive gripping and torque detection, comprising a housing (1), wherein the housing (1) is connected to the end of the robot, and characterized in that: Also includes: A drive unit (2) is arranged in the housing (1), a drive mechanism (3) is arranged in the housing (1), the drive unit (2) is in transmission connection with the drive mechanism (3), and a flexible limit coil spring (8) is connected to the drive mechanism (3); The housing (1) is provided with a first port (11) and a second port (12); The flexible limit coil spring (8) is unwound by the driving mechanism (3), thereby causing the end of the flexible limit coil spring (8) to move from the first port (11) to the second port (12) and abut against the driving mechanism (3).

2. The robot end effector based on adaptive clamping and torque detection according to claim 1, characterized in that: The driving mechanism (3) comprises a winding pulley (31), a driving pulley (32) and a synchronous belt (33); the flexible limit coil spring (8) is wound on the winding pulley (31); the driving pulley (32) and the winding pulley (31) are connected to the housing (1); and the synchronous belt (33) is connected to the winding pulley (31) and the winding pulley (31).

3. The robot end effector based on adaptive clamping and torque detection according to claim 1, characterized in that: The driving mechanism (3) further comprises a driven wheel (34), wherein the driven wheel (34) is rotatably connected to the inner wall of the housing (1), and the driven wheel (34) is arranged at an interval from the driving pulley (32).

4. The robot end effector based on adaptive clamping and torque detection according to claim 2, characterized in that: The winding pulley (31) and the driving pulley (32) are both symmetrically arranged inside the housing (1).

5. The robot end effector based on adaptive clamping and torque detection according to claim 4, characterized in that: It also includes a commutator (4), the commutator (4) being fixedly mounted inside the housing (1), a bearing seat (5) being fixedly mounted on the outer wall of the commutator (4), a bearing (6) being mounted on the output end of the commutator (4), and the driving pulley (32) being fixedly mounted on the output end of the commutator (4).

6. The robot end effector based on adaptive clamping and torque detection according to claim 3, characterized in that: An arc-shaped guide plate (7) is provided in the second port (12), and one end of the arc-shaped guide plate (7) is located between the driven wheel (34) and the winding pulley (31).

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