High-precision dual-purpose paw and using method thereof

Abstract

The invention discloses a high-precision dual-purpose gripper and a using method thereof. The dual-purpose gripper comprises a box type main body, a flange main body, a gripper main body, a servo tightening shaft and a 3D visual device, the flange body is installed on the mechanical arm and can move along with the mechanical arm. The gripper body and the servo tightening shaft are installed at the two ends of the box type body respectively. The flange main body and the 3D visual device are both mounted on one side of the box type main body; the gripper main body is used for grabbing the tool connecting block; the servo tightening shaft is used for unscrewing or tightening a bolt on the tool; and the 3D vision device is used for identifying and positioning the bolts on the tool and is also used for identifying and positioning the tool connecting blocks. The dual-purpose gripper can have the functions of screwing and unscrewing bolts and clamping tools at the same time, and is provided with a 3D vision device, a force sensor and the like, so that the screwing and unscrewing precision, the grabbing precision and the like of the gripper are higher.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automation technology, especially relates to the field of mechanical arm end effector technology, and particularly relates to a high-precision dual-purpose hand claw and a use method thereof. BACKGROUND

[0002] In the field of modern industrial automation technology (such as automobile part assembly, precision mechanical workpiece handling, precision equipment assembly, etc.), industrial robots need to complete core operations such as workpiece grabbing, bolt disassembly and assembly, tool transfer through hand claws. However, the traditional hand claws currently used in the industry generally have the following technical pain points, which are difficult to meet the production needs of high efficiency and high precision:

[0003] 1. Single function, frequent replacement of hand claws

[0004] Most existing hand claws are designed with single function. If bolt tensioning and workpiece clamping and transferring operations need to be completed, two different hand claws need to be replaced, which cannot be performed simultaneously. Frequent replacement of hand claws not only interrupts the production process and reduces the overall efficiency of the production line, but also may affect the accuracy of subsequent operations due to the positioning deviation of the hand claw during replacement.

[0005] 2. Insufficient grabbing precision, prone to workpiece damage

[0006] Traditional hand claws rely on preset mechanical positioning and lack real-time visual guidance function: when there is a slight deviation in the placement of the workpiece, misalignment between the clamping claw and the workpiece may occur, resulting in over-grabbing, missed grabbing, collision, etc. Especially in heavy workpiece handling scenarios, insufficient precision may also cause mechanical collision and equipment failure.

[0007] 3. Lack of force feedback, poor safety and stability

[0008] Traditional hand claws cannot monitor the contact force between the hand claw and the workpiece in real time. Especially when grabbing high-precision workpieces, without force feedback, the hand claw may not be properly grabbed and may not be stable, which may cause damage to the workpiece. SUMMARY

[0009] The purpose of the present application is to solve the problems of insufficient stability, lack of force control precision and feedback, low production efficiency and low intelligence of traditional grippers, and a high-precision dual-purpose gripper is proposed. The flange main body is installed on the sixth axis of the mechanical arm, under the drive of the mechanical arm, the 3D vision device first identifies the bolt on the tool, after determining the position, the sixth axis of the mechanical arm rotates 180°, the servo tightening shaft loosens the bolt (the bolt is still on the tool and is not unscrewed), at this time, it is rotated 180° to restore the original position, the 3D vision device identifies the tool connecting block again, after determining the position, the gripper main body grabs the tool connecting block, and the tool installed on the tool connecting block is taken off. Conversely, when the tool needs to be installed and tightened, the 3D vision device first identifies the tool connecting block, and then identifies the bolt. This dual-purpose gripper can simultaneously loosen and tighten the bolt and clamp the tool, and is provided with a 3D vision device, a force sensor and the like, so that the loosening, clamping and the like are more precise.

[0010] The technical solution for achieving the purpose of the present application is: on the one hand, a high-precision dual-purpose gripper is provided, which comprises a box body, a flange main body, a gripper main body, a servo tightening shaft and a 3D vision device.

[0011] The flange main body is installed on the mechanical arm and can move with the mechanical arm.

[0012] The gripper main body and the servo tightening shaft are respectively installed at two ends of the box body.

[0013] The flange main body and the 3D vision device are both installed on one side of the box body.

[0014] The gripper main body is used for grabbing the tool connecting block; the tool connecting block is fixedly installed on the tool; the tool comprises a clamp cover plate and a clamp base which are fixedly connected by a bolt, and the tool connecting block is fixedly installed on the clamp cover plate.

[0015] The servo tightening shaft is used for loosening or tightening the bolt.

[0016] The 3D vision device is used for identifying and positioning the bolt, and is also used for identifying and positioning the tool connecting block.

[0017] Further, when the gripper main body grabs the tool connecting block, a plurality of pin shafts are connected with the tool connecting block.

[0018] Further, the loosening degree of the bolt depends on the thickness of the bolt through hole and the length of the bolt.

[0019] Further, the bolt through hole is a waist-shaped hole.

[0020] Furthermore, the gripper also includes a force monitoring unit, which is used to monitor the magnitude of the force between the two grippers and the tooling connecting block during the operation of the gripper in real time, and to feed it back to the control system of the robotic arm.

[0021] Furthermore, the force monitoring unit is installed between the flange body and the box body.

[0022] Furthermore, the force monitoring unit employs a force sensor.

[0023] Furthermore, the forces between the dual-arm gripper and the tooling connecting block during operation include: the gripping force and collision force of the gripper body on the tooling connecting block, and the collision force between the servo tightening shaft and the bolt.

[0024] Furthermore, the flange body is mounted on the sixth axis of the robotic arm.

[0025] On the other hand, a method for using the dual-hand gripper is provided, the method comprising:

[0026] When it is necessary to disassemble the tooling:

[0027] Driven by the robotic arm, the 3D vision device first identifies the bolts on the tooling. After determining the position, the sixth axis of the robotic arm rotates 180°, and the servo tightening axis loosens the bolts. Then, the servo tightening axis moves away from the bolts and rotates 180° in the opposite direction to return to its original position.

[0028] Then, the 3D vision device identifies the tooling connecting block and determines its position. Driven by the robotic arm, the gripper body grabs the tooling connecting block and removes the tooling connecting block and the fixture cover plate from the fixture base.

[0029] When tooling needs to be installed:

[0030] Driven by the robotic arm, the 3D vision device first identifies the tooling connecting block, determines its position, and then the gripper body clamps the tooling connecting block and the fixture cover plate, and assembles them with the fixture base accordingly.

[0031] After the 3D vision device identifies the bolt and determines its position, the sixth axis of the robotic arm rotates 180° in the opposite direction, and the servo tightening axis tightens the bolt. Then the servo tightening axis moves away from the bolt and returns to its original position.

[0032] Compared with the prior art, the significant advantages of this invention are:

[0033] (1) It can simultaneously meet the working requirements of bolt tightening and workpiece gripping.

[0034] (2) Equipped with a force sensor, it can monitor the magnitude of the force in real time and feed the result back to the control system of the robotic arm to prevent damage to the workpiece.

[0035] (3) Equipped with a 3D vision device, the positioning accuracy is high.

[0036] The present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of a high-precision dual-purpose gripper in one embodiment.

[0038] Figure 2 This is a schematic diagram of a high-precision dual-purpose gripper in one embodiment.

[0039] Figure 3 This is a schematic diagram of the installation of the tooling connecting block and the fixture cover plate in one embodiment.

[0040] Figure 4 This is a schematic diagram of the tooling connection block and tooling installation in one embodiment.

[0041] Figure 5 This is a schematic diagram of the fixture base and bolt installation in one embodiment.

[0042] Figure 6 This is a schematic diagram of the gripper body grasping fixture connection block in one embodiment.

[0043] Figure 7 This is a schematic diagram of a servo-driven tightening shaft mating bolt in one embodiment. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative.

[0045] This is used to explain this application and is not intended to limit this application.

[0046] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0047] In one embodiment, combined Figures 1 to 7 A high-precision dual-purpose gripper is provided, comprising a box-type main body 1, a flange main body 2, a gripper main body 3, a servo tightening shaft 4, and a 3D vision device 5;

[0048] The flange body 2 is mounted on the robotic arm and can move with the robotic arm;

[0049] The gripper body 3 and the servo tightening shaft 4 are respectively installed at both ends of the box-type body 1;

[0050] Both the flange body 2 and the 3D vision device 5 are installed on one side of the box-type body 1;

[0051] The gripper body 3 is used to grasp the tooling connecting block 6; the tooling connecting block 6 is fixedly installed on the tooling, the tooling includes a clamp cover plate 7 and a clamp base 8 fixedly connected by bolts 9, and the tooling connecting block 6 is fixedly installed on the clamp cover plate 7.

[0052] The servo tightening shaft 4 is used to loosen or tighten the bolt 9;

[0053] The 3D vision device 5 is used to identify and locate the bolt 9, and also to identify and locate the tooling connecting block 6.

[0054] Furthermore, in some embodiments, when the gripper body 3 grasps the tooling connecting block 6, it is temporarily connected to the tooling connecting block 6 through, but not limited to, multiple pins 10, to improve the grasping accuracy.

[0055] Furthermore, in some embodiments, the degree to which the bolt is loosened depends on the thickness of the bolt hole and the length of the bolt.

[0056] Furthermore, in some embodiments, the bolt through hole is a waist-shaped hole, with one side of the waist-shaped hole passing through the clamp cover plate 7.

[0057] Furthermore, in some embodiments, the gripper also includes a force monitoring unit for real-time monitoring of the force between the two grippers and the tooling and tooling connecting blocks during operation, and feeding it back to the control system of the robotic arm. When the force exceeds a preset threshold, the robotic arm will stop moving to prevent damage to the workpiece.

[0058] Preferably, in some embodiments, the force monitoring unit is installed between the flange body 2 and the box body 1.

[0059] Preferably, in some embodiments, the force monitoring unit employs a force sensor 11.

[0060] Furthermore, in some embodiments, the forces between the two grippers and the tooling connecting block 6 during operation include: the gripping force (over-grip, detachment, asymmetrical grip, etc.) of the gripper body 3 on the tooling connecting block 6, the collision force, and the collision force between the servo tightening shaft 4 and the bolt 9.

[0061] Furthermore, in some embodiments, the flange body 2 is mounted on the sixth axis of the robotic arm.

[0062] In one embodiment, a method of using the dual-hand gripper is provided, the method comprising:

[0063] When it is necessary to disassemble the tooling:

[0064] Driven by the robotic arm, the 3D vision device 5 first identifies the bolt 9 on the tooling. After determining the position, the sixth axis of the robotic arm rotates 180°, and the servo tightening axis 4 loosens the bolt. Then, the servo tightening axis 4 moves away from the bolt and rotates 180° in the opposite direction to return to its original position.

[0065] Then, the 3D vision device 5 identifies the tooling connecting block 6 and determines its position. Under the drive of the robotic arm, the gripper body 3 grabs the tooling connecting block 6 and removes the tooling connecting block 6 and the fixture cover plate 7 from the fixture base 8.

[0066] When tooling needs to be installed:

[0067] Driven by the robotic arm, the 3D vision device 5 first identifies the tooling connecting block 6, determines the position, and then the gripper body 3 clamps the tooling connecting block 6 and the fixture cover plate 7, and assembles them with the fixture base 8 accordingly.

[0068] Then, the 3D vision device 5 identifies the bolt 9 and determines its position. The sixth axis of the robotic arm rotates 180° in the opposite direction, and the servo tightening axis 4 tightens the bolt. After that, the servo tightening axis 4 moves away from the bolt and returns to its original position.

[0069] This dual-purpose gripper can simultaneously tighten and loosen bolts and clamp tooling. Equipped with 3D vision devices and force sensors, it can achieve higher precision in tightening, loosening, and gripping.

[0070] It should be noted that for components without special structural limitations, any component that can achieve the corresponding function in the existing technology is acceptable.

[0071] It should also be noted that the above-mentioned settings, installations, connections, and fixations can be made using, but are not limited to, bolts, threads, etc. Any existing fixed or movable connection scheme can be adapted, as long as the corresponding function can be achieved.

[0072] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention without departing from its spirit and scope should be included within the protection scope of the present invention.

Claims

1. A high-precision dual-purpose hand jaw, characterized in that, It comprises a box body (1), a flange body (2), a gripper body (3), a servo tightening shaft (4) and a 3D vision device (5); The flange body (2) is installed on a mechanical arm and can move with the mechanical arm; The gripper body (3) and the servo tightening shaft (4) are respectively installed at two ends of the box body (1); The flange body (2) and the 3D vision device (5) are both installed on one side of the box body (1); The gripper body (3) is used for grabbing a tool connecting block (6); the tool connecting block (6) is fixedly installed on a tool; the tool comprises a clamp cover plate (7) and a clamp base (8) which are fixedly connected through bolts (9), and the tool connecting block (6) is fixedly installed on the clamp cover plate (7); The servo tightening shaft (4) is used for loosening or tightening the bolts (9); The 3D vision device (5) is used for identifying and positioning the bolts (9) and is also used for identifying and positioning the tool connecting block (6).

2. The high precision dual-purpose hand jaw according to claim 1, characterized in that, When the gripper body (3) grabs the tool connecting block (6), a plurality of pin shafts (10) are connected with the tool connecting block (6).

3. The high precision dual-purpose hand jaw according to claim 1, wherein, The loosening degree of the bolts depends on the thickness of the bolt through hole and the length of the bolt.

4. The high precision dual-purpose hand jaw according to claim 1, wherein, The bolt through hole is a waist-shaped hole.

5. The high precision dual-purpose hand jaw according to claim 1, wherein, The gripper further comprises a force monitoring unit which is used for monitoring the force between the tool connecting block (6) and the gripper in real time during the working process of the dual-purpose gripper and feeding back to the control system of the mechanical arm.

6. The high precision dual-purpose hand jaw according to claim 5, wherein The force monitoring unit is installed between the flange body (2) and the box body (1).

7. The high precision dual-purpose hand jaw according to claim 6, characterized in that The force monitoring unit adopts a force sensor (11).

8. The high precision dual-purpose hand jaw according to claim 5, wherein, The force between the tool connecting block (6) and the dual-purpose gripper during the working process of the dual-purpose gripper comprises a grabbing force of the gripper body (3) on the tool connecting block (6), a collision force and a collision force between the servo tightening shaft (4) and the bolts (9).

9. The high precision dual-purpose hand jaw according to claim 1, wherein, The flange body (2) is installed on the sixth shaft of the mechanical arm.

10. Method of using the dual-purpose handgrip according to any one of claims 1 to 9, characterized in that, The method comprises: When the tool needs to be disassembled: Under the driving of the mechanical arm, the 3D vision device (5) first identifies the bolts (9) on the tool, rotates 180° after determining the position, loosens the bolts by the servo tightening shaft (4), then moves away from the bolts, and rotates 180° in the reverse direction to restore the original position; Then the 3D vision device (5) identifies the tool connecting block (6) again, clamps the tool connecting block (6) by the gripper body (3) under the driving of the mechanical arm, and takes the tool connecting block (6) and the clamp cover plate (7) off the clamp base (8); When the tool needs to be installed: Under the driving of the mechanical arm, the 3D vision device (5) first identifies the tool connecting block (6), grabs the tool connecting block (6) and the clamp cover plate (7) by the gripper body (3) after determining the position, and assembles them with the clamp base (8); Then the 3D vision device (5) identifies the bolts (9) again, rotates 180° in the reverse direction by the sixth shaft of the mechanical arm after determining the position, tightens the bolts by the servo tightening shaft (4), then moves away from the bolts, and restores the original position.

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