Floating mechanism for connection of manipulator and claw

Abstract

The invention discloses a floating mechanism for connection of a manipulator and a claw, relates to the technical field of explosive and powder assembly, and realizes real-time monitoring of a mold assembly process through a provided six-dimensional force sensor while ensuring floating connection of the manipulator and the claw, and timely discovers abnormal conditions such as clamping stagnation and mold wear. Compared with a spring reset mechanism, the reset mechanism provided by the invention improves the response speed and the positioning precision of the mechanism; the modular design is adopted, the structure is simplified, interchangeability is good, and cost is remarkably reduced.

Description

Technical Field

[0001] This invention relates to the field of explosives assembly technology, and in particular to a floating mechanism for connecting a robotic arm and a gripper to achieve non-destructive mold installation. Background Technology

[0002] In the automated production of explosives, gantry robots are often used to assemble molds. During automated production, molds and fixtures exhibit minute machining and positioning errors. Traditional rigid assembly easily leads to mold scratches, increased mold wear, and even equipment jamming and shutdown. Floating mechanisms can adaptively adjust within permissible limits, absorbing and compensating for machining and positioning deviations, effectively preventing mold wear and mechanism jamming caused by minor jamming, ensuring smooth operation. For the current multi-variety, small-batch production model, floating mechanisms adapt to the trend of flexible manufacturing, enhancing production line flexibility, improving assembly efficiency, and ensuring product quality consistency.

[0003] Existing floating mechanisms are simple in function, have low integration, and are costly, making them unsuitable for assembly requirements under complex working conditions. Traditional floating mechanisms lack real-time monitoring of the assembly process, failing to meet the needs of data collection and assembly jamming detection in production, which can easily cause equipment damage or accelerate mold wear.

[0004] Meanwhile, traditional reset methods use mechanisms such as springs or custom cylinders. Spring reset may not accurately return to the theoretical center point, limiting its application in high-precision scenarios. Traditional spring reset methods also have response delays, which may cause swaying or shaking during high-speed movement. Custom cylinders, on the other hand, are expensive and have complex structures, making them difficult to widely apply. Summary of the Invention

[0005] In view of the above problems, the present invention provides a floating mechanism for connecting a robotic arm and a gripper to overcome or at least partially solve the above problems. It solves the problems of existing floating mechanisms being unable to monitor the assembly status in real time; using springs and other methods resulting in poor positioning accuracy and slow response speed; and the high cost, complex structure, and poor interchangeability of customized reset mechanisms.

[0006] This invention provides the following solution: A floating mechanism for connecting a robotic arm and a gripper includes: Robot side mounting plate, transition plate, first linear guide rail, second linear guide rail, floating plate, six-dimensional force sensor and gripper side mounting plate; The transition plate is connected to the robot-side mounting plate via a pair of first linear guides to enable the transition plate to float relative to the robot-side mounting plate in the x-axis direction. The floating plate is connected to the transition plate via the linear guide rail, so as to realize the floating plate floating relative to the transition plate in the y-axis direction; The gripper-side mounting plate is mounted on the floating plate via the six-dimensional force sensor to enable the gripper-side mounting plate to float relative to the robot-side mounting plate in the x-axis and y-axis directions.

[0007] Preferably, the floating plate is provided with a plurality of damping force adjusting screws, which are used to realize the damping force during the floating process in the x-axis and y-axis directions.

[0008] Preferably, the floating plate is provided with a plurality of floating range adjustment screws, which are used to realize the floating range of the floating process in the x-axis and y-axis directions.

[0009] Preferably, it further includes a reset mechanism, which includes a centering hole, a centering head, and a reset cylinder; The centering head is mounted on the reset cylinder, which is fixed to the floating plate by screws. The centering hole is mounted on the robot side mounting plate. The reset cylinder is used to drive the centering head to extend into the centering hole to complete a rapid reset.

[0010] Preferably, it further includes an eccentric locking mechanism, which includes a friction plate, a friction head, and a locking cylinder; The friction plate is mounted on the robot's side mounting plate, and the friction head is connected to the locking cylinder, which is fixed to the floating plate by screws. The locking cylinder is used to drive the friction head to contact the friction plate, so as to achieve locking at any position.

[0011] Preferably, the six-dimensional force sensor is connected to an alarm mechanism, which is used to issue an alarm when the six-dimensional force sensor detects abnormal force during the assembly process.

[0012] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects: This application provides a floating mechanism for connecting a robotic arm and a gripper. While ensuring the floating connection between the robotic arm and the gripper, it also enables real-time monitoring of the mold assembly process through a provided six-dimensional force sensor, allowing for timely detection of abnormalities such as jamming and mold wear. Compared to a spring reset mechanism, the reset mechanism provided in this application improves the mechanism's response speed and positioning accuracy. The modular design simplifies the structure, improves interchangeability, and significantly reduces costs.

[0013] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0015] Figure 1 This is a schematic diagram of a floating mechanism for connecting a robotic arm and a gripper, provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the reset mechanism provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the eccentric locking mechanism provided in an embodiment of the present invention.

[0016] In the diagram: Robot side mounting plate 1, transition plate 2, first linear guide rail 3, second linear guide rail 4, floating plate 5, six-dimensional force sensor 6, gripper side mounting plate 7, damping force adjusting screw 8, floating range adjusting screw 9, reset mechanism 10, centering hole 101, centering head 102, reset cylinder 103, eccentric locking mechanism 11, friction plate 111, friction head 112, locking cylinder 113. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0018] See Figure 1 , Figure 2 , Figure 3 This invention provides a floating mechanism for connecting a robotic arm and a gripper, such as... Figure 1 , Figure 2 , Figure 3 As shown, the agency may include: Robot side mounting plate 1, transition plate 2, first linear guide rail 3, second linear guide rail 4, floating plate 5, six-dimensional force sensor 6, and gripper side mounting plate 7; The transition plate 2 is connected to the robot-side mounting plate 1 via a pair of first linear guide rails 3, so as to realize the floating of the transition plate 2 relative to the robot-side mounting plate 1 in the x-axis direction; The floating plate 5 is connected to the transition plate 2 via the linear guide rail, so as to realize the floating plate 5 floating relative to the transition plate 2 in the y-axis direction; The gripper-side mounting plate 7 is mounted on the floating plate 5 via the six-dimensional force sensor 6, so as to enable the gripper-side mounting plate 7 to float relative to the robot-side mounting plate 1 in the x-axis and y-axis directions.

[0019] The floating mechanism for connecting the robot arm and the gripper provided in this application embodiment can compensate for machining and positioning errors in the x and y axis directions, can monitor the assembly process in real time, has a simple structure, and high operating accuracy.

[0020] To adjust the damping force and floating range, this embodiment of the application may further provide that the floating plate 5 is provided with a plurality of damping force adjusting screws 8, which are used to adjust the damping force during the floating process in the x-axis and y-axis directions. The floating plate 5 is also provided with a plurality of floating range adjusting screws 9, which are used to adjust the floating range during the floating process in the x-axis and y-axis directions.

[0021] To address the drawbacks of using springs for reset in traditional floating mechanisms, this application provides a reset mechanism 10, which includes a centering hole 101, a centering head 102, and a reset cylinder 103. The centering head 102 is mounted on the reset cylinder 103, which is fixed to the floating plate 5 by screws. The centering hole 101 is mounted on the robot side mounting plate 1. The reset cylinder 103 is used to drive the centering head 102 to extend into the centering hole 101 to complete a rapid reset.

[0022] To achieve locking at any position, this application embodiment may also provide an eccentric locking mechanism 11, which includes a friction plate 111, a friction head 112, and a locking cylinder 113; The friction plate 111 is mounted on the robot side mounting plate 1, and the friction head 112 is connected to the locking cylinder 113. The locking cylinder 113 is fixed to the floating plate 5 by screws. The locking cylinder 113 is used to drive the friction head 112 to contact the friction plate 111, so as to achieve locking at any position.

[0023] In order to provide timely alarm when there is indeed an abnormal force, the embodiments of this application can provide that the six-dimensional force sensor 6 is connected to an alarm mechanism, which is used to issue an alarm when the six-dimensional force sensor 6 detects an abnormal force during the assembly process.

[0024] The following section provides a detailed description of the floating mechanism for connecting the robot arm and the gripper provided in this application, using the reset mechanism 10 and the eccentric locking mechanism 11 as examples.

[0025] The floating mechanism for connecting the robot arm and gripper provided in this embodiment mainly consists of a robot side mounting plate 1, a transition plate 2, a first linear guide rail 3, a second linear guide rail 4, a floating plate 5, a six-dimensional force sensor 6, an eccentric locking mechanism 11, a reset mechanism 10, a damping force adjusting screw 8, a floating range adjusting screw 9, and a gripper side mounting plate 7.

[0026] The transition plate 2 is connected to the robot-side mounting plate 1 via a pair of linear guides, enabling the transition plate 2 to float relative to the robot-side mounting plate 1 in the x-axis direction; the floating plate 5 is connected to the transition plate 2 via linear guides, enabling the floating plate 5 to float relative to the transition plate 2 in the y-axis direction; the gripper-side mounting plate 7 is mounted on the floating plate 5 via a six-dimensional force sensor 6, ultimately enabling the gripper-side mounting plate 7 to float relative to the robot-side mounting plate 1 in the x-axis and y-axis directions.

[0027] The reset mechanism 10 consists of a centering hole 101, a centering head 102, a reset cylinder 103, etc., and can realize the centering of the gripper side mounting plate 7 and the robot side mounting plate 1. The reset mechanism 10 can achieve high-precision reset and high reliability, and has a fast response speed.

[0028] The eccentric locking mechanism 11 consists of a friction plate 111, a friction head 112, and a locking cylinder 113, etc., which can realize eccentric locking and auxiliary locking functions in the reset state, further increasing the reliability of reset.

[0029] Figure 1 The overall floating mechanism is shown. The gantry manipulator is connected to the robot side mounting plate 1 with screws. The floating range is controlled by adjusting the floating range adjusting screw 9 to avoid overtravel. Adjusting the damping force adjusting screw 8 can avoid large impacts in the floating state, making the floating process more stable. The six-dimensional force sensor 6 is installed on the floating plate 5 and connected to the gripper side mounting plate 7. It can monitor the assembly status in real time during the mold assembly process, detect jamming in time and stop it.

[0030] Figure 2 The reset mechanism 10 is shown, consisting of a centering hole 101, a centering head 102, and a reset cylinder 103. The centering head 102 is mounted on the reset cylinder 103, which is fixed to the floating plate 5 by screws. The centering hole 101 is mounted on the robot side mounting plate 1. When the reset cylinder 103 is activated, it causes the centering head 102 to extend into the centering hole 101 to complete a rapid reset.

[0031] Figure 3An eccentric locking mechanism 11 is shown, comprising a friction plate 111, a friction head 112, and a locking cylinder 113. The friction plate 111 is mounted on the locking cylinder 113. When the locking cylinder 113 is activated, it causes the friction plate 111 to contact the friction head 112. By using a friction plate 111 with a high coefficient of friction in combination with the friction head 112, locking can be achieved at any position, and locking can also be performed in the reset state, further increasing the reliability of the reset.

[0032] The principle and process of the floating mechanism for connecting the robotic arm and gripper provided in this application are as follows: First, connect one side of the floating mechanism to the truss and the other side to the mechanical gripper. Initially, the floating mechanism is in a reset state, allowing for precise gripping of the punch. After the conveyor line transports the mold cylinder tray to its position, the positioning device positions the tray. The truss robot grips the punch above the mold cylinder, activating the floating mechanism's floating function to compensate for and absorb processing or positioning errors. The robot rotates while assembling the punch into the mold cylinder. A six-dimensional force sensor monitors the force during assembly in real time, triggering an alarm if any abnormality occurs to prevent mold damage from continued assembly due to jamming or other reasons.

[0033] In summary, the floating mechanism for connecting the robot and the gripper provided in this application ensures a floating connection between the robot and the gripper, while enabling real-time monitoring of the mold assembly process through the provided six-dimensional force sensor, thus promptly detecting abnormalities such as jamming and mold wear. Compared with the spring reset mechanism, the reset mechanism provided in this application improves the mechanism's response speed and positioning accuracy. The modular design simplifies the structure, provides good interchangeability, and significantly reduces costs.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0035] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0036] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0037] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A floating mechanism for connecting a robotic arm and a gripper, characterized in that, The robot side mounting plate, the transition plate, the first linear guide rail, the second linear guide rail, the floating plate, the six-dimensional force sensor and the claw side mounting plate are included. The transition plate is connected with the robot side mounting plate through a pair of the first linear guide rails, so as to realize the floating of the transition plate relative to the robot side mounting plate in the x-axis direction. The floating plate is connected with the transition plate through the linear guide rails, so as to realize the floating of the floating plate relative to the transition plate in the y-axis direction. The claw side mounting plate is installed on the floating plate through the six-dimensional force sensor, so as to realize the floating of the claw side mounting plate relative to the robot side mounting plate in the x-axis and y-axis directions. The floating plate is provided with a plurality of damping force adjusting screws, and the plurality of damping force adjusting screws are used to realize the damping force in the floating process in the x-axis and y-axis directions.

2. The floating mechanism for connecting a robot hand and a gripper according to claim 1, characterized by, The floating plate is provided with a plurality of floating range adjusting screws, and the plurality of floating range adjusting screws are used to realize the floating range in the floating process in the x-axis and y-axis directions.

3. The floating mechanism for connecting a robot hand and a gripper according to claim 1, characterized by, The reset mechanism is also included, and the reset mechanism includes a centering hole, a centering head and a reset cylinder.

4. The floating mechanism for connecting a robot hand and a gripper according to claim 1, characterized by The centering head is installed on the reset cylinder, the reset cylinder is fixed on the floating plate through a screw, and the centering hole is installed on the robot side mounting plate; the reset cylinder is used to drive the centering head to extend into the centering hole to complete the rapid reset. The eccentric locking mechanism is also included, and the eccentric locking mechanism includes a friction plate, a friction head and a locking cylinder.

5. The floating mechanism for connecting a robot hand and a gripper according to claim 1, wherein The friction plate is installed on the robot side mounting plate, the friction head is connected with the locking cylinder, and the locking cylinder is fixed on the floating plate through a screw; the locking cylinder is used to drive the friction head to contact the friction plate, so as to realize the locking at any position. The six-dimensional force sensor is connected with the alarm mechanism, and the alarm mechanism is used to issue an alarm when the six-dimensional force sensor monitors that the stress in the assembly process is abnormal.

6. The floating mechanism for connecting a robot hand and a gripper according to claim 1, wherein ​

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