Robot end effector for clamping cylindrical blank

Abstract

The utility model relates to the technical field of robots, and provides a robot end effector for clamping cylindrical blanks, which comprises a clamping jaw cylinder, the clamping jaw cylinder comprises a cylinder body and a plurality of piston rods, the axis of the cylinder body is perpendicular to the horizontal plane, and a plurality of sliding chutes are uniformly distributed and formed in the top surface of the cylinder body along the circumferential direction of the cylinder body. The axial direction of the sliding grooves is consistent with the radial direction of the air cylinder body, the piston rods correspond to the sliding grooves in a one-to-one mode, the piston rods are coaxially installed in the sliding grooves corresponding to the piston rods in a sliding mode, and an axial force detection mechanism used for detecting axial clamping force is installed on the air cylinder body. According to the utility model, not only can good contact with a cylindrical blank be realized, but also axial machining errors can be effectively reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a robotic end effector for clamping cylindrical blanks. Background Technology

[0002] As the level of technological advancement in the manufacturing sector continues to improve, robots are increasingly replacing human labor. Cylindrical blanks, as a common form of blank, are widely used in the machining of cylindrical parts and are also a typical object that robots handle.

[0003] Robots handle blanks by positioning, clamping, and releasing them using their end effectors. However, currently, when robots position, clamp, and release cylindrical blanks, the axial clamping force on the blanks is unstable and inconsistent. This results in poor axial position consistency of the cylindrical blank relative to the processing equipment, easily causing axial deviations in the finished parts and making them defective. Utility Model Content

[0004] In response to the aforementioned technical problems, a robotic end effector for clamping cylindrical blanks is provided.

[0005] The technical means adopted in this utility model are as follows:

[0006] A robot end effector for gripping cylindrical blanks includes a gripper cylinder. The gripper cylinder comprises a cylinder body and several piston rods. The axis of the cylinder body is perpendicular to the horizontal plane. Several grooves are evenly distributed along the circumferential direction on the top surface of the cylinder body. The axial direction of the grooves is consistent with the radial direction of the cylinder body. Each piston rod corresponds to a groove and is coaxial and slidably mounted within its corresponding groove. The device also includes an axial force detection mechanism. The axial force detection mechanism includes several axial force detection beams, several guide rods, an axial support plate, and several return springs. Strain gauges are fixedly mounted on the axial force detection beams. The several axial force detection beams are evenly distributed along the circumferential direction of the cylinder body and are fixedly mounted within their respective grooves. The axial force detection suspension beam is fixedly installed on the cylinder body. The axial direction of the axial force detection suspension beam is consistent with the radial direction of the cylinder body. The axial force detection suspension beam and the slide groove are one-to-one and intersecting. The axial direction of the guide rod is consistent with the axial direction of the cylinder body. The guide rod and the axial force detection suspension beam are one-to-one. The bottom end of the guide rod is fixedly installed on the corresponding axial force detection suspension beam. The axial direction of the axial support plate is consistent with the axial direction of the cylinder body. The axial support plate is slidably installed on several guide rods. The return spring and the guide rod are one-to-one. The return spring is coaxially sleeved on the corresponding guide rod. The top end of the return spring abuts against the bottom surface of the axial support plate. The bottom end of the return spring abuts against the top surface of the axial force detection suspension beam.

[0007] Furthermore, the axial force detection suspension beam is provided with a deformation through hole, the axis of which is parallel to the horizontal plane and perpendicular to the axis of the axial force detection suspension beam. Strain gauges are fixedly installed on both the portion of the top surface of the axial force detection suspension beam directly above the deformation through hole and the portion of the bottom surface of the axial force detection suspension beam directly below the deformation through hole.

[0008] Furthermore, it also includes several gripper fingers; each gripper finger corresponds to a piston rod, and the gripper fingers are coaxial and fixedly mounted on their corresponding piston rods.

[0009] Furthermore, it also includes several elastic contact blocks; each elastic contact block corresponds to a gripper finger, and the elastic contact block is fixedly installed on the top surface of its corresponding gripper finger.

[0010] This utility model has the following advantages:

[0011] 1. In this utility model, during the clamping of the cylindrical blank, the axial support plate first contacts the top surface of the cylindrical blank. The return spring is compressed by the axial force and transmits this axial force to the axial force detection beam. The axial force detection beam deforms under the action of this axial force, causing the strain gauge to deform. After measurement by the measuring circuit, the force on the axial force detection beam can be indirectly measured, and thus the force on the axial support plate when it contacts the cylindrical blank can be indirectly measured. When the force exceeds a threshold, this utility model stops operating, thereby realizing the purpose of this utility model. The novel design ensures good contact with the cylindrical blank. During the process of placing the cylindrical blank into the machine tool chuck, the blank is first moved to the appropriate position within the chuck, and then released. At this point, the axial positioning accuracy of the cylindrical blank is insufficient, causing the axial support plate to press against the blank. One end of the blank rests against the chuck, while the other end is pressed by the axial support plate. When the force reaches a threshold, the design stops operating, and the chuck retracts to clamp the cylindrical blank. At this point, the cylindrical blank is accurately positioned within the chuck, effectively reducing axial machining errors.

[0012] 2. In this utility model, when the axial force is transmitted to the axial force detection suspension beam, the deformation is greatest at the position where the deformation through hole is opened on the axial force detection suspension beam. Strain gauges are fixedly installed on the part of the top surface of the axial force detection suspension beam directly above the deformation through hole and on the part of the bottom surface of the axial force detection suspension beam directly below the deformation through hole. When the strain gauge deforms, the resistance of the strain gauge changes most significantly, which can accurately measure the force situation when the axial support plate is in contact with the cylindrical blank.

[0013] 3. In this utility model, the piston rod and gripper fingers are moved by the cylinder body to achieve the gripping of the cylindrical blank.

[0014] 4. In this utility model, the elastic contact block on the gripper finger is in direct contact with the surface of the cylindrical blank, which can prevent wear from occurring on the surface of the cylindrical blank. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is an overall structural diagram of a robot end effector for clamping cylindrical blanks according to Embodiment 1 of this utility model;

[0017] Figure 2 This is a bottom structure diagram of a robot end effector for clamping a cylindrical blank, according to Embodiment 1 of this utility model;

[0018] Figure 3 This is a partial schematic diagram of the axial force detection cantilever beam in Embodiment 1 of this utility model;

[0019] Reference numerals: 1-Cylinder body; 2-Piston rod; 3-Gripper finger; 4-Axial support plate; 5-Elastic contact block; 6-Guide rod; 7-Reset spring; 8-Axial force detection cantilever beam; 9-Strain gauge; 10-Deformation through hole. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0021] Example 1:

[0022] like Figures 1 to 3As shown, a robot end effector for gripping cylindrical blanks includes a gripper cylinder; the gripper cylinder includes a cylinder body 1 and several piston rods 2. The axis of the cylinder body 1 is perpendicular to the horizontal plane. Several sliding grooves are evenly distributed and formed along the circumferential direction on the top surface of the cylinder body 1. The axial direction of the sliding grooves is consistent with the radial direction of the cylinder body 1. Each piston rod 2 corresponds to a sliding groove and is coaxial and slidably installed in its corresponding sliding groove. The device also includes an axial force detection mechanism; the axial force detection mechanism includes several axial force detection suspension beams 8, several guide rods 6, an axial support plate 4, and several return springs 7. Strain gauges 9 are fixedly installed on the axial force detection suspension beams 8. The several axial force detection suspension beams 8 are evenly distributed and fixed along the circumferential direction of the cylinder body 1. Mounted on the cylinder body 1, the axial direction of the axial force detection suspension beam 8 is consistent with the radial direction of the cylinder body 1. The axial force detection suspension beam 8 corresponds one-to-one with the slide groove and they are intersected. The axial direction of the guide rod 6 is consistent with the axial direction of the cylinder body 1. The guide rod 6 corresponds one-to-one with the axial force detection suspension beam 8. The bottom end of the guide rod 6 is fixedly installed on the corresponding axial force detection suspension beam 8. The axial direction of the axial support plate 4 is consistent with the axial direction of the cylinder body 1. The axial support plate 4 is slidably installed on several guide rods 6. The return spring 7 corresponds one-to-one with the guide rod 6. The return spring 7 is coaxially sleeved on the corresponding guide rod 6. The top end of the return spring 7 abuts against the bottom surface of the axial support plate 4. The bottom end of the return spring 7 abuts against the top surface of the axial force detection suspension beam 8.

[0023] Specifically, the gripper cylinder is a three-jaw cylinder, that is, the gripper cylinder includes three piston rods 2, and the cylinder body 1 has three sliding grooves.

[0024] Specifically, the material of the axial force detection suspension beam 8 is an elastic material, such as aluminum or rubber.

[0025] Specifically, the cylinder body 1 has three connecting parts evenly distributed along its circumferential direction. The connecting parts correspond one-to-one with the sliding grooves and are interleaved with each other. The axial force detection suspension beam 8 and its corresponding connecting parts are fixed together by the first bolt.

[0026] Specifically, a stop block is fixedly installed at the top of the guide rod 6, a thread is provided at the bottom of the guide rod 6, and a threaded hole is provided on the axial force detection suspension beam 8, with the thread engaging with the threaded hole.

[0027] In addition, the axial support plate 4 has a Y-shaped structure, and sliding holes are provided on all three ends of the axial support plate 4. The guide rod 6 is slidably installed in the corresponding sliding holes, and the top surface of the axial support plate 4 can fit against the bottom surface of the stop block.

[0028] In this embodiment, the axial force detection suspension beam 8 is provided with a deformation through hole 10. The axis of the deformation through hole 10 is parallel to the horizontal plane and perpendicular to the axis of the axial force detection suspension beam 8. Strain gauges 9 are fixedly installed on both the portion of the top surface of the axial force detection suspension beam 8 directly above the deformation through hole 10 and the portion of the bottom surface of the axial force detection suspension beam 8 directly below the deformation through hole 10.

[0029] Specifically, the deformable through hole 10 has an ∞-shaped structure.

[0030] In this embodiment, a plurality of gripper fingers 3 are also included; the gripper fingers 3 correspond one-to-one with the piston rod 2, and the gripper fingers 3 are coaxial and fixedly installed on the piston rod 2 corresponding to them.

[0031] Specifically, the gripper finger 3 includes a horizontal section and a vertical section. The horizontal section and its corresponding piston rod 2 are fixed together by several second bolts, and the bottom end of the vertical section is fixedly installed on the top surface of the horizontal section.

[0032] In this embodiment, a plurality of elastic contact blocks 5 are also included; the elastic contact blocks 5 correspond one-to-one with the gripper fingers 3, and the elastic contact blocks 5 are fixedly installed on the top surface of the gripper fingers 3 corresponding to them.

[0033] Specifically, the elastic contact block 5 is fixedly installed on one side of the vertical section near the axis of the cylinder body 1.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A robot end effector for clamping a cylindrical blank, comprising a jaw cylinder; the jaw cylinder comprises a cylinder body (1) and a plurality of piston rods (2), the axis of the cylinder body (1) is perpendicular to the horizontal plane, a plurality of sliding grooves are uniformly distributed on the top surface of the cylinder body (1) along the circumferential direction thereof, the axial direction of the sliding grooves is consistent with the radial direction of the cylinder body (1), the piston rods (2) correspond to the sliding grooves one by one, and the piston rods (2) are coaxially and slidingly installed in the corresponding sliding grooves; characterized in that further comprising an axial force detection mechanism; the axial force detection mechanism comprises a plurality of axial force detection cantilever beams (8), a plurality of guide rods (6), an axial support plate (4) and a plurality of return springs (7), strain gauges (9) are fixedly installed on the axial force detection cantilever beams (8), the plurality of axial force detection cantilever beams (8) are uniformly distributed on the cylinder body (1) along the circumferential direction thereof and are fixedly installed on the cylinder body (1), the axial direction of the axial force detection cantilever beams (8) is consistent with the radial direction of the cylinder body (1), the axial force detection cantilever beams (8) correspond to the sliding grooves one by one and are staggered with each other, the axial direction of the guide rods (6) is consistent with the axial direction of the cylinder body (1), the guide rods (6) correspond to the axial force detection cantilever beams (8) one by one, the bottom ends of the guide rods (6) are fixedly installed on the corresponding axial force detection cantilever beams (8), the axial direction of the axial support plate (4) is consistent with the axial direction of the cylinder body (1), the axial support plate (4) is slidingly installed on the plurality of guide rods (6), the return springs (7) correspond to the guide rods (6) one by one, the return springs (7) are coaxially sleeved on the corresponding guide rods (6), the top end of the return spring (7) abuts against the bottom surface of the axial support plate (4), and the bottom end of the return spring (7) abuts against the top surface of the axial force detection cantilever beam (8).

2. A robotic end effector for gripping a cylindrical blank according to claim 1, wherein, deformation through holes (10) are formed in the axial force detection cantilever beams (8), the axis of the deformation through holes (10) is parallel to the horizontal plane and perpendicular to the axis of the axial force detection cantilever beam (8), and strain gauges (9) are fixedly installed on the part of the top surface of the axial force detection cantilever beam (8) located directly above the deformation through hole (10) and the part of the bottom surface of the axial force detection cantilever beam (8) located directly below the deformation through hole (10).

3. The robotic end effector for gripping a cylindrical blank of claim 1, wherein, further comprising a plurality of jaw fingers (3); the jaw fingers (3) correspond to the piston rods (2) one by one, and the jaw fingers (3) are coaxially and fixedly installed on the corresponding piston rods (2).

4. A robotic end effector for gripping a cylindrical blank according to claim 3, wherein, further comprising a plurality of elastic contact blocks (5); the elastic contact blocks (5) correspond to the jaw fingers (3) one by one, and the elastic contact blocks (5) are fixedly installed on the top surface of the corresponding jaw fingers (3).

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