Flexible compensation device for temperature measuring sampling robot gripper and method of using same

Abstract

The present application relates to the field of liquid or fluid sampling device, specifically to a flexible compensation device of temperature measuring sampling robot gripper and its using method.A flexible compensation device of temperature measuring sampling robot gripper, comprising a robot (1), the robot (1) is provided with an operating arm (11), the inner end of the operating arm (11) is rotatably arranged on the upper portion of the robot (1), characterized in that: further comprising a flexible assembly (2) and a probe (3), the outer end of the operating arm (11) is connected with a gripper (12), the flexible assembly (2) is interposed between the outer end of the operating arm (11) and the gripper (12), the gripper (12) clamps the probe (3), and a connector (31) is arranged above the probe (3).The using method of the flexible compensation device of temperature measuring sampling robot gripper, characterized in that: the following steps are sequentially implemented: the robot (1) clamps the probe (3) into the connector (31) through the gripper (12) on the operating arm (11), and the connection rigidity between the outer end of the operating arm (11) and the gripper (12) is adjusted by adjusting the flexible assembly (2).The present application reduces resistance and has high reliability.

Description

Technical Field

[0001] This invention relates to the field of liquid or fluid sampling devices, specifically a flexible compensation device for a temperature sampling robot gripper and its usage method. Background Technology

[0002] When using a robot to insert and remove probes from the connector of a lifting temperature gun, the robot's movements are accurate, with a repeatability of 0.1mm, and its joints are relatively rigid. However, the temperature gun is a floating mechanism, and the connector at the end of the gun is a consumable that needs frequent replacement. When the robot holds the temperature gun with its gripper, due to the gun's considerable length and its floating axis, it is difficult to align the robot's trajectory with the connector during probe installation. When the robot's trajectory differs significantly from the connector's axis, additional resistance is generated, which can lead to errors such as the robot gripper slipping while holding the probe, overload alarms, etc., resulting in probe installation and removal failures and affecting the stability of the temperature measurement and sampling process.

[0003] Currently, the end effector grippers for robot temperature sampling are designed according to actual working conditions. In the method of actively attaching the probe to the temperature gun connector, the gripper is generally of the form of upper guide and lower clamping. Both the robot and the gripper are rigid mechanisms. Although the upper guide can correct misaligned connectors and insert them into the probe, the trajectory deviation is relatively large, and the resistance will also increase. This will cause excessive resistance and slippage when the gripper installs the probe. To solve this problem, the temperature gun structure is usually adjusted and replaced to improve the stability of the temperature gun rod. Another solution is to increase the size of the clamping device cylinder or enlarge the mechanism. However, this will make the robot end effector gripper too large, and excessive clamping force will cause damage to the probe structure. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology and provide a sampling device with reduced resistance and high reliability, this invention discloses a flexible compensation device for a temperature sampling robot gripper and its usage method.

[0005] The present invention achieves its objective through the following technical solution: A flexible compensation device for a temperature sampling robot gripper includes a robot with an operating arm. The inner end of the operating arm is rotatably located on the upper part of the robot. The device is characterized by further including a flexible component and a probe. The outer end of the operating arm is connected to the gripper. A flexible component is placed between the outer end of the operating arm and the gripper. The gripper holds the probe. A connector is located above the probe.

[0006] The flexible compensation device for the temperature sampling robot gripper is characterized in that: the flexible component includes a first flange, a second flange, a connecting plate, bolts, rubber washers, nuts, and a joint bearing. The outer end of the operating arm is fixed with a first flange, and the inner end of the gripper is fixed with a second flange. A connecting plate is provided between the first flange and the second flange. Bolts are passed through the first flange, the rubber gasket and the connecting plate in sequence and then screwed into the nut to connect the first flange and the connecting plate. Bolts are passed through the second flange, the rubber gasket and the connecting plate in sequence and then screwed into the nut to connect the second flange and the connecting plate. The first flange and the connecting plate are also connected by a spherical bearing.

[0007] The flexible compensation device of the temperature sampling robot gripper is characterized in that: the first flange and the connecting plate are connected by four sets of joint bearings, the four sets of joint bearings are parallel, and the two opposite sides of the first flange are connected to the two opposite sides of the connecting plate by two sets of joint bearings, and the two sets of joint bearings located on the same side of the first flange and the joint bearings form a parallelogram.

[0008] The method of using the flexible compensation device of the temperature sampling robot gripper is characterized by the following steps being implemented sequentially: The robot uses a gripper on its manipulator to pick up the probe and fit it into the connector. The flexible component is adjusted to adjust the rigidity of the connection between the outer end of the manipulator and the gripper, so that there is flexibility between the outer end of the manipulator and the gripper. When the gripper fits the probe into the connector, if there is a deviation between the movement trajectory of the gripper and the axis of the connector, the flexible component will make flexible compensation to avoid robot overload.

[0009] The method of using the flexible compensation device of the temperature sampling robot gripper is characterized by the following steps being implemented sequentially: The robot uses a gripper on its manipulator arm to pick up the probe and fit it into the connector. It adjusts the bolts connecting the first flange and the connecting plate to adjust the tightness of the rubber gasket embedded between the first flange and the connecting plate, and adjusts the bolts connecting the second flange and the connecting plate to adjust the tightness of the rubber gasket embedded between the second flange and the connecting plate. This adjusts the flexible component to adjust the connection rigidity between the outer end of the manipulator arm and the gripper, making the connection between the outer end of the manipulator arm and the gripper flexible. When the gripper fits the probe into the connector, if the movement trajectory of the gripper deviates from the axis of the connector, the flexible component provides flexible compensation to avoid robot overload.

[0010] This invention discloses a flexible compensation device for a gripper. A flexible device is added between the robot's end flange and the end effector gripper to compensate for the overload force caused by the misalignment of the temperature gun and the probe during probe installation. When the robot installs or removes the temperature sampling probe, it provides flexible compensation for the gripper to solve the problem of unsuccessful probe installation or removal due to the large difference in trajectory between the robot gripper and the temperature gun caused by the robot's rigid structure, thereby improving the success rate of probe installation.

[0011] The present invention has the following beneficial effects: it reduces the resistance when the robot installs the probe and improves the reliability of the robot's installation and removal of the probe. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 2 This is a schematic diagram of the flexible component in this invention that holds the probe with a gripper. Figure 3 This is a schematic diagram of the flexible component in this invention. Detailed Implementation

[0013] The present invention will be further illustrated below through specific embodiments. Example

[0014] A flexible compensation device for a temperature sampling robot gripper includes a robot 1, a flexible component 2, and a probe 3, such as... Figures 1-3 As shown, the specific structure is: The robot 1 is equipped with an operating arm 11. The inner end of the operating arm 11 is rotatably located on the upper part of the robot 1. The outer end of the operating arm 11 is connected to a gripper 12. A flexible component 2 is placed between the outer end of the operating arm 11 and the gripper 12. The gripper 12 holds the probe 3. The connector 31 is located above the probe 3.

[0015] In this embodiment, the flexible component 2 is as follows: Figure 2 and Figure 3 As shown: Flexible component 2 includes a first flange 21, a second flange 22, a connecting plate 23, bolts 24, rubber gaskets 25, nuts 26, and a spherical bearing 27. The outer end of the operating arm 11 is fixed with a first flange 21, and the inner end of the gripper 12 is fixed with a second flange 22. A connecting plate 23 is provided between the first flange 21 and the second flange 22. Bolts 24 are passed through the first flange 21, rubber gasket 25 and connecting plate 23 in sequence and then screwed into nuts 26 to connect the first flange 21 and the connecting plate 23. Bolts 24 are passed through the second flange 22, rubber gasket 25 and connecting plate 23 in sequence and then screwed into nuts 26 to connect the second flange 22 and the connecting plate 23. The first flange 21 and the connecting plate 23 are also connected by a spherical bearing 27.

[0016] In this embodiment, as Figure 3 As shown: The first flange 21 and the connecting plate 23 are connected by four sets of spherical bearings 27. The four sets of spherical bearings 27 are parallel to each other. The two opposite sides of the first flange 21 are connected to the two opposite sides of the connecting plate 23 by two sets of spherical bearings 27. The two sets of spherical bearings 27 located on the same side of the first flange 21 and the spherical bearings 27 form a parallelogram.

[0017] When using this embodiment, follow these steps in sequence: Robot 1 uses the gripper 12 on the manipulator arm 11 to grip the probe 3 and insert it into the connector 31. The flexible component 2 is adjusted to adjust the connection rigidity between the outer end of the manipulator arm 11 and the gripper 12, so that there is flexibility between the outer end of the manipulator arm 11 and the gripper 12. When the gripper 12 inserts the probe 3 into the connector 31, if the movement trajectory of the gripper 12 deviates from the axis of the connector 31, the flexible component 2 is used for flexible compensation to avoid overloading of robot 1.

[0018] Specifically, flexible component 2 performs flexible compensation through the following steps: Robot 1 uses the gripper 12 on the manipulator arm 11 to grip the probe 3 and insert it into the connector 31. It adjusts the bolts 24 connecting the first flange 21 and the connecting plate 23 to adjust the tightness of the rubber gasket 25 embedded between the first flange 21 and the connecting plate 23. It also adjusts the bolts 24 connecting the second flange 22 and the connecting plate 23 to adjust the tightness of the rubber gasket 25 embedded between the second flange 22 and the connecting plate 23. This adjusts the flexible component 2 to adjust the connection rigidity between the outer end of the manipulator arm 11 and the gripper 12, making the connection between the outer end of the manipulator arm 11 and the gripper 12 flexible. When the gripper 12 inserts the probe 3 into the connector 31, if the movement trajectory of the gripper 12 deviates from the axis of the connector 31, the flexible component 2 provides flexible compensation to avoid overloading of robot 1.

Claims

1. A flexible compensation device for a temperature sampling robot gripper, comprising a robot (1), wherein an operating arm (11) is provided on the robot (1), and the inner end of the operating arm (11) is rotatably disposed on the upper part of the robot (1), characterized in that: It also includes a flexible component (2) and a probe (3). The outer end of the operating arm (11) is connected to a gripper (12). The flexible component (2) is placed between the outer end of the operating arm (11) and the gripper (12). The gripper (12) holds the probe (3). The connector (31) is located above the probe (3).

2. The flexible compensation device for the temperature sampling robot gripper as described in claim 1, characterized in that: The flexible component (2) includes a first flange (21), a second flange (22), a connecting plate (23), bolts (24), rubber gaskets (25), nuts (26), and a spherical bearing (27). The outer end of the operating arm (11) is fixed with a first flange (21), and the inner end of the gripper (12) is fixed with a second flange (22). A connecting plate (23) is provided between the first flange (21) and the second flange (22). Bolts (24) are passed through the first flange (21), the rubber gasket (25) and the connecting plate (23) in sequence, and then nuts (26) are screwed in to connect the first flange (21) and the connecting plate (23). Bolts (24) are passed through the second flange (22), the rubber gasket (25) and the connecting plate (23) in sequence, and then nuts (26) are screwed in to connect the second flange (22) and the connecting plate (23). The first flange (21) and the connecting plate (23) are also connected by a spherical bearing (27).

3. The flexible compensation device for the temperature sampling robot gripper as described in claim 2, characterized in that: The first flange (21) and the connecting plate (23) are connected by four sets of spherical bearings (27). The four sets of spherical bearings (27) are parallel to each other. The two opposite sides of the first flange (21) are connected to the two opposite sides of the connecting plate (23) by two sets of spherical bearings (27). The two sets of spherical bearings (27) located on the same side of the first flange (21) and the spherical bearings (27) form a parallelogram.

4. The method of using the flexible compensation device for the temperature sampling robot gripper as described in claims 1 to 3, characterized in that: Follow these steps in sequence: The robot (1) uses the gripper (12) on the manipulator (11) to grip the probe (3) and insert it into the connector (31). The flexible component (2) is adjusted to adjust the connection rigidity between the outer end of the manipulator (11) and the gripper (12), so that there is flexibility between the outer end of the manipulator (11) and the gripper (12). When the gripper (12) inserts the probe (3) into the connector (31), if the movement trajectory of the gripper (12) deviates from the axis of the connector (31), the flexible component (2) is used for flexible compensation to avoid overloading of the robot (1).

5. The method of using the flexible compensation device for the temperature sampling robot gripper as described in claim 2 or 3, characterized in that: Follow these steps in sequence: The robot (1) uses the gripper (12) on the manipulator (11) to grip the probe (3) and insert it into the connector (31). The bolts (24) connecting the first flange (21) and the connecting plate (23) are adjusted to adjust the tightness of the rubber pad (25) embedded between the first flange (21) and the connecting plate (23). The bolts (24) connecting the second flange (22) and the connecting plate (23) are adjusted to adjust the tightness of the rubber pad (25) embedded between the second flange (22) and the connecting plate (23). This adjusts the flexible component (2) to adjust the connection rigidity between the outer end of the manipulator (11) and the gripper (12), making the connection between the outer end of the manipulator (11) and the gripper (12) flexible. When the gripper (12) inserts the probe (3) into the connector (31), if the movement trajectory of the gripper (12) deviates from the axis of the connector (31), the flexible component (2) provides flexible compensation to avoid overloading of the robot (1).

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