Manipulator and grabbing system

Abstract

The utility model discloses a manipulator and a grabbing system, and solves the technical problem of low positioning efficiency due to point-to-point calibration during TCP (Transmission Control Protocol) calibration in the prior art. Comprising a manipulator body, a first calibration assembly and a second calibration assembly, the manipulator body comprises a mechanical claw and a mechanical arm which are connected, and the mechanical claw is provided with a sliding groove; the first calibration assembly comprises a sliding block and a first calibration needle which are connected, and the sliding block is connected to the sliding groove in a sliding mode; the second calibration assembly is detachably connected to the workpiece and comprises a movable part and a fixed part which are in threaded connection, the movable part can reciprocate in the vertical direction, and the movable part comprises a second calibration needle; according to the invention, after the first calibration needle is opposite to the second calibration needle, the position is preliminarily calibrated, reference is carried out from multiple directions, accurate positioning is carried out, and compared with point-to-point positioning in the prior art, the method is converted into one-step line-to-line positioning and then point-to-point positioning, and the positioning efficiency is high.

Description

Technical Field

[0001] The present application belongs to the technical field of manipulators, and specifically relates to a manipulator and a grasping system. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. Its characteristics are that it can be programmed to complete various expected operations, and its structure and performance combine the advantages of both human and mechanical machines. The manipulator is the earliest industrial robot and the earliest modern robot. It can replace heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] In the prior art, the TCP calibration of the manipulator is to set a reference point, which is arbitrarily selected within the working range. When performing TCP calibration, the TCP of the tool to be tested is moved to the reference point from four different directions, and the robot system will calculate the TCP from different flange position values. That is, the design of the reference point at the current stage is point-to-point. This point-to-point reference method is relatively rough and has low accuracy. It is difficult to ensure the positioning accuracy of the manipulator TCP. The wide application of manipulators leads to different shapes of the tools to be tested. It is difficult to find a suitable position for positioning operations during the TCP positioning process, making TCP positioning complicated and time-consuming. Summary of the invention

[0004] In order to solve the technical problem that the current TCP calibration is carried out using point-to-point calibration, which has low positioning efficiency and is relatively difficult, the present application provides a manipulator and a grasping system.

[0005] In a first aspect of the present application, a manipulator is provided, comprising a manipulator body, a first calibration component and a second calibration component.

[0006] The robot body comprises a mechanical claw and a mechanical arm connected to each other, wherein the mechanical claw is provided with a slide groove;

[0007] A first calibration component, comprising a slider and a first calibration needle connected to each other, wherein the slider is slidably connected to the slide groove;

[0008] The second calibration component is detachably connected to the workpiece, and comprises a threaded movable part and a fixed part. The movable part can reciprocate in the vertical direction, and the movable part comprises a second calibration needle.

[0009] In some embodiments, the movable member includes a connecting member and a second calibration needle, the connecting member is threadedly connected to the fixed member, and the second calibration needle is fixedly connected to the connecting member.

[0010] In some embodiments, the second calibration pin is located on top of the connector.

[0011] In some embodiments, the second calibration needle is threadably connected to the connector.

[0012] In some embodiments, the first calibration needle and the second calibration needle are both tapered needles with a top diameter no greater than 1.5 mm.

[0013] In some embodiments, the first calibration needle and the second calibration needle are both tapered needles with a top diameter of 1 mm.

[0014] In some embodiments, the bottom of the movable member is connected to a bevel gear assembly via a first shaft, and the bevel gear assembly is connected to an adjustment handle via a second shaft.

[0015] In some embodiments, the adjustment handle is located outside the fixing member, and the adjustment handle is provided with a scale.

[0016] In some embodiments, the second calibration component further includes a base fixedly connected to the fixing member, and the base is detachably connected to the workpiece.

[0017] In a second aspect of the present application, a gripping system is provided, comprising a plurality of the above-mentioned manipulators.

[0018] According to the robot provided by the embodiment of the present application, it includes a robot body, a first calibration component and a second calibration component. The robot body includes a mechanical claw and a mechanical arm connected to each other, and the mechanical claw is provided with a slide groove; the first calibration component includes a connected slider and a first calibration needle, and the slider is slidably connected to the slide groove; the second calibration component is detachably connected to the workpiece, including a threaded movable part and a fixed part, the movable part can reciprocate in the vertical direction, and the movable part includes a second calibration needle;

[0019] The first calibration component of the manipulator of the present application is provided with a first calibration needle, and the second calibration component is provided with a second calibration needle. When performing TCP calibration, due to the threaded connection between the movable part and the fixed part, the movable part can reciprocate in the vertical direction. The movable part includes a second calibration needle. The movable part is controlled to be close to the first calibration needle so that the second calibration needle is close to the first calibration needle. After the first calibration needle is relative to the second calibration needle, the position is preliminarily calibrated, and then reference is made from multiple directions for accurate positioning. Compared with the point-to-point positioning of the prior art, the present application converts it into line-to-line positioning first and then point-to-point positioning, and the positioning efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic structural diagram of a manipulator in an embodiment of the present application is shown.

[0021] Figure 2A schematic diagram of the internal structure of the second calibration component in an embodiment of the present application is shown.

[0022] Description of reference numerals:

[0023] 100. Mechanical claw;

[0024] 200. Robotic arm;

[0025] 300, a first calibration component;

[0026] 400, a second calibration component;

[0027] 410, fixed part; 420, movable part; 430, bevel gear assembly; 440, base. DETAILED DESCRIPTION

[0028] In order to make the technical personnel in the technical field to which the present application belongs to understand the present application more clearly, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0029] A first embodiment of the present application provides a robot arm to increase the positioning efficiency during the process of grasping a workpiece.

[0030] See also Figure 1 , the manipulator provided in the embodiment of the present application includes a manipulator body, a first calibration component 300 and a second calibration component 400;

[0031] The robot body includes a mechanical claw 100 and a mechanical arm 200 connected to each other, and the mechanical claw 100 is provided with a slide groove; in some embodiments, the mechanical claw 100 is connected to the top of the mechanical arm 200, and in some embodiments, the top of the mechanical claw 100 is provided with a slide groove;

[0032] The first calibration component 300 includes a slider and a first calibration needle connected to each other. The slider is slidably connected to the slide slot so that the first calibration component 300 can be slidably connected to the mechanical claw 100. In some embodiments, the slider is located in the slide slot and can move relative to the slide slot. In some embodiments, the first calibration needle of the slider extends out of the mechanical claw 100. In some embodiments, the needle tip of the first calibration needle is away from the mechanical claw 100.

[0033] See also Figure 2The second calibration component 400 is detachably connected to the workpiece, and includes a movable part 420 and a fixed part 410 that are threadedly connected. The movable part 420 can move back and forth in the vertical direction. The movable part 420 includes a second calibration needle to determine the position of the workpiece to facilitate adjustment of the calibration position. In some embodiments, the outer wall of the movable part 420 and the inner wall of the fixed part 410 are provided with corresponding threads so that the movable part 420 and the fixed part 410 are threadedly connected, and the movable part 420 can move back and forth.

[0034] In some embodiments, the movable part 420 includes a connecting part and a second calibration needle, the connecting part is threadedly connected to the fixing part 410, the second calibration needle is fixedly connected to the connecting part, in some embodiments, the outer wall of the connecting part is provided with threads; in some embodiments, the connecting part is cylindrical, the outer wall is provided with threads, the fixing part 410 is provided with a cylindrical groove to match the connecting part, the connecting part is threadedly connected to the fixing part 410, in some embodiments, the fixing part 410 is provided with a accommodating cavity to accommodate the connecting part, in some embodiments, the fixing part 410 and the connecting part have the same center, in some embodiments, the connecting part is threadedly connected to the fixing part 410.

[0035] In some embodiments, the second calibration needle is located on the top of the connector. In some embodiments, the needle tip of the second calibration needle is away from the connector. In some embodiments, the second calibration needle is coaxial with the connector.

[0036] In some embodiments, the second calibration needle is threadedly connected to the connecting piece. In some embodiments, a thread is provided at the bottom of the second calibration needle, a cylindrical groove is provided at the top of the connecting piece, and a thread matching the second calibration needle is provided in the groove, so that the second calibration needle is threadedly connected to the connecting piece.

[0037] In some embodiments, the first calibration needle and the second calibration needle are both tapered needles with a top diameter of no more than 1.5 mm to ensure a fine needle tip, thereby increasing calibration accuracy. In some embodiments, the first calibration needle and the second calibration needle are both tapered needles with a top diameter of 1.1 mm. In some embodiments, the first calibration needle and the second calibration needle are both tapered needles with a top diameter of 1.2 mm. In some embodiments, the first calibration needle and the second calibration needle are both tapered needles with a top diameter of 1.13 mm. In some embodiments, the first calibration needle and the second calibration needle are both tapered needles with a top diameter of 1.04 mm.

[0038] In some embodiments, the first calibration needle and the second calibration needle are both tapered needles with a top diameter of 1 mm to ensure a fine needle tip, thereby increasing calibration accuracy.

[0039] In some embodiments, the bottom of the movable part 420 is connected to the bevel gear assembly 430 via a first axis, and the bevel gear assembly 430 is connected to the adjusting handle via a second axis. In some embodiments, the bottom of the connecting member is connected to the bevel gear assembly 430 via a first axis, and the connecting member rotates as the bevel gear rotates. In some embodiments, the bevel gear assembly 430 includes a first bevel gear and a second bevel gear connected to each other. In some embodiments, the bottom of the connecting member is connected to the first bevel gear via a first axis, and the second bevel gear is connected to the adjusting handle via a second axis.

[0040] In some embodiments, the adjustment handle is located outside the fixing member 410, and the adjustment handle is provided with a scale so that the operator can operate the adjustment handle to rotate the bevel gear, thereby driving the connecting member connected to the bevel gear to rotate, thereby driving the second calibration needle thereon to reciprocate. In some embodiments, the second shaft extends out of the fixing member 410 to connect the adjustment handle.

[0041] In some embodiments, the second calibration component 400 also includes a base 440 fixedly connected to the fixing member 410, and the base 440 is detachably connected to the workpiece. In some embodiments, the top of the base 440 is fixedly connected to the bottom of the connecting member. In some embodiments, the base 440 is bolted to the workpiece.

[0042] A second aspect of the present application provides a gripping system to increase the positioning efficiency during the gripping of workpieces.

[0043] The grasping system provided in the embodiment of the present application includes multiple manipulators, and the multiple manipulators are used to grasp multiple workpieces.

[0044] The following is a detailed description of the TCP calibration process of the manipulator and gripping system of this application:

[0045] During calibration, the second calibration component 400 is connected to the workpiece, and the adjusting handle is rotated to drive the bevel gear to rotate, thereby driving the connecting piece connected to the bevel gear to rotate. Since the connecting piece is threadedly connected to the fixing piece 410, the connecting piece moves back and forth axially when it rotates, driving the second calibration needle thereon to move up and down, and then controlling the movement of the manipulator to drive the first calibration piece connected to the manipulator to move, so that the first calibration needle is aligned with the second calibration needle to achieve calibration.

[0046] The manipulator and gripping system of the present application have at least the following advantages:

[0047] (1) The first calibration component of the manipulator of the present application is provided with a first calibration needle, and the second calibration component is provided with a second calibration needle. When performing TCP calibration, due to the threaded connection between the movable part and the fixed part, the movable part can reciprocate in the vertical direction. The movable part includes a second calibration needle. The movable part is controlled to be close to the first calibration needle so that the second calibration needle is close to the first calibration needle. After the first calibration needle and the second calibration needle are relative, the position is preliminarily calibrated, and then reference is made from multiple directions for accurate positioning. Compared with the point-to-point positioning of the prior art, the present application converts it into line-to-line positioning first and then point-to-point positioning, and the positioning efficiency is high.

[0048] (2) The first calibration needle and the second calibration needle of the present application are both conical needles with a top diameter of 1 mm to ensure that the needle tip is fine, thereby increasing the calibration accuracy.

[0049] (3) The bottom of the movable part of the present application is connected to the bevel gear assembly via a first axis, and the bevel gear assembly is connected to the adjustment handle via a second axis to increase operational convenience and facilitate adjustment.

[0050] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0051] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise" and "counterclockwise" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0052] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0053] In addition, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0054] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A manipulator for grasping a workpiece, characterized in that: include: The robot body comprises a mechanical claw and a mechanical arm connected to each other, wherein the mechanical claw is provided with a slide groove; A first calibration component, comprising a slider and a first calibration needle connected to each other, wherein the slider is slidably connected to the slide groove; The second calibration component is detachably connected to the workpiece, and comprises a threaded movable part and a fixed part. The movable part can reciprocate in the vertical direction, and the movable part comprises a second calibration needle.

2. The robot according to claim 1, characterized in that: The movable part includes a connecting part and a second calibration needle. The connecting part is threadedly connected to the fixing part, and the second calibration needle is fixedly connected to the connecting part.

3. The robot according to claim 2, characterized in that: The second calibration needle is located on the top of the connecting piece.

4. The robot according to claim 1, characterized in that: The second calibration needle is threadedly connected to the connecting piece.

5. The robot according to claim 1, characterized in that: The first calibration needle and the second calibration needle are both conical needles with a top diameter no greater than 1.5 mm.

6. The robot according to claim 5, characterized in that: The first calibration needle and the second calibration needle are both conical needles with a top diameter of 1 mm.

7. The robot according to any one of claims 1 to 5, characterized in that: The bottom of the movable part is connected to the bevel gear assembly through a first shaft, and the bevel gear assembly is connected to the adjustment handle through a second shaft.

8. The robot according to claim 7, characterized in that: The adjusting handle is located outside the fixing member and is provided with a scale.

9. The robot according to any one of claims 1 to 5, characterized in that: The second calibration component also includes a base fixedly connected to the fixing member, and the base is detachably connected to the workpiece.

10. A gripping system, characterized in that: The invention comprises a plurality of manipulators as claimed in any one of claims 1 to 9.

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