An adaptive compliant end effector for w-beam guardrail panel installation

Abstract

The utility model discloses a kind of self-adapting compliant end gripper for wave-shaped beam guardrail plate installation, including quick-change interface module, fixed seat, movable seat, cross slide structure and clamping structure, quick-change interface module is connected with mechanical arm end, fixed seat is fixedly connected with quick-change interface module, movable seat is connected with fixed seat by reset piece, cross slide structure is located between fixed seat and movable seat, clamping structure is fixed on movable seat, clamping structure clamps fixed guardrail plate;The utility model clamps fixed guardrail plate by clamping structure, utilizes cross slide structure so that movable seat can be slidably adjusted in vertical two-dimensional plane, fine adjustment is carried out to the position of guardrail plate, improve the fault tolerance when installing, compensate installation deviation in any direction in horizontal plane, substantially reduce the dependence on robot absolute positioning accuracy, significantly improve the hole alignment success rate in complex construction site, substantially improve installation construction efficiency, can realize efficient automated flow operation.

Description

Technical Field

[0001] This utility model relates to the field of guardrail installation technology, and in particular to an adaptive compliant end gripper for installing corrugated beam guardrails. Background Technology

[0002] Corrugated beam guardrails are one of the most important safety facilities on highways, and their installation and replacement efficiency and quality directly affect construction costs and road traffic safety. Currently, the installation of corrugated beam guardrail panels on construction sites mainly relies on manual labor combined with simple lifting tools or traditional mechanical grippers. Alignment of the guardrail bolt holes with the post bolts is a key challenge. Existing solutions rely on high-precision robots or manual fine-tuning, which has extremely poor fault tolerance and cannot compensate for two-dimensional positional deviations caused by on-site positioning and installation errors. This results in low installation efficiency and prevents efficient automated assembly line operations. Therefore, this application proposes an adaptive compliant end gripper for corrugated beam guardrail panel installation to solve the above problems. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide an adaptive compliant end gripper for the installation of corrugated beam guardrail panels.

[0004] To solve the above-mentioned technical problems, this utility model includes: Quick-change interface module, which is used to connect to the end effector of the robotic arm; A fixed base, which is fixedly connected to the quick-change interface module; The movable seat is connected to the fixed seat via a reset component; A cross-shaped slide structure is located between the fixed seat and the movable seat; A clamping structure, which is fixed on a movable seat, is used to clamp and fix the guardrail panel.

[0005] Preferably, the reset element is a spring, and it is arranged in a matrix at the four corners of the fixed base.

[0006] Preferably, both the fixed seat and the movable seat are plate structures of the same size.

[0007] Preferably, the cross slide structure includes an X-axis slide rail seat, a Y-axis slide rail seat, and a sliding member. The X-axis slide rail seat is fixed on a fixed seat, and the Y-axis slide rail seat is fixed on a movable seat. The upper and lower surfaces of the sliding member are respectively provided with an X-axis slide groove and a Y-axis slide groove. The X-axis slide groove is slidably connected to the slide rail on the X-axis slide rail seat, and the Y-axis slide groove is slidably connected to the slide rail on the Y-axis slide rail seat.

[0008] Preferably, the clamping structure includes a mounting base, on which at least one drive unit and at least one clamping claw are provided. The clamping claw is mounted on the drive unit, which is used to drive the clamping claw to open and close. The drive unit is fixed on the mounting base, and the mounting base is fixed on the movable base.

[0009] Preferably, the clamping surface of the clamping claw is fixed with a flexible pad. The clamping claw and the flexible pad cooperate to achieve adaptive and non-destructive clamping.

[0010] Preferably, the clamping surface of the clamping claw is wavy.

[0011] The beneficial effects of this utility model are as follows: This utility model clamps and fixes the guardrail plate through a clamping structure, and uses a cross slide structure to allow the movable seat to slide and adjust in a vertical two-dimensional plane, so as to fine-tune the position of the guardrail plate, improve the fault tolerance during installation, compensate for installation deviations in any direction in the horizontal plane, greatly reduce the dependence on the absolute positioning accuracy of the robot, significantly improve the success rate of hole alignment in complex construction sites, greatly improve the installation and construction efficiency, and realize efficient automated assembly line operation. Attached Figure Description

[0012] Figure 1 This is a three-dimensional schematic diagram of the overall structure of this utility model; Figure 2 This is a front view of the overall structure of this utility model; Figure 3 This is a side view of the overall structure of this utility model; Figure 4 This is a disassembly diagram of the cross slide structure in this utility model.

[0013] In the diagram: 1. Quick-change interface module; 2. Fixed seat; 3. Movable seat; 4. Cross slide structure; 41. X-axis slide rail seat; 42. Y-axis slide rail seat; 43. Sliding component; 44. X-axis slide groove; 45. Y-axis slide groove; 5. Clamping structure; 51. Mounting seat; 52. Drive unit; 53. Clamping claw; 54. Flexible pad; 6. Reset component. Detailed Implementation

[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. All directional indicators (such as up, down, left, right, front, back, etc.) in the present utility model are only used to explain the relative positional relationship and movement of each component in a certain posture (as shown in the accompanying drawings). If the specific posture changes, the directional indicator will also change accordingly.

[0015] like Figures 1-4As shown, this embodiment provides an adaptive compliant end effector for installing corrugated beam guardrail panels, including a quick-change interface module 1, a fixed base 2, a movable base 3, a cross slide structure 4, and a clamping structure 5. The top surface of the quick-change interface module 1 has an interface portion, which is inserted and fixed to the end of the robot's robotic arm, thereby installing the entire device on the robotic arm. The quick-change interface module 1 is fixed to the fixed base 2. A cross slide structure 4 is provided between the fixed base 2 and the movable base 3, allowing the movable base 3 to slide and adjust relative to the fixed base 2 on a plane. The fixed base 2 and the movable base 3 are connected by a reset member 6, which helps the movable base 3 to quickly reset after sliding adjustment. The clamping structure 5 is fixed to the movable base 3 and is used to clamp and fix the guardrail panel.

[0016] Furthermore, the reset component 6 is a spring, which is distributed in a matrix at the four corners of the fixed seat 2. Both the fixed seat 2 and the movable seat 3 are plate structures of the same size. The spring pull allows the movable seat 3 to quickly return to its original position after sliding relative to the fixed seat 2.

[0017] like Figure 4 As shown, the cross slide structure 4 further includes an X-axis slide rail seat 41, a Y-axis slide rail seat 42, and a sliding member 43. The X-axis slide rail seat 41 is fixed on the fixed seat 2, and the Y-axis slide rail seat 42 is fixed on the movable seat 3. The upper and lower surfaces of the sliding member 43 are respectively provided with cross-shaped X-axis slide grooves 44 and Y-axis slide grooves 45. The X-axis slide groove 44 is slidably connected to the slide rail on the X-axis slide rail seat 41, and the Y-axis slide groove 45 is slidably connected to the slide rail on the Y-axis slide rail seat 42. This allows the movable seat 3 to slide and adjust relative to the fixed seat 2 in the X-axis and Y-axis directions, thereby driving the clamping structure 5 to move and adjust, making it convenient for the mounting holes on the guardrail plate to align with the threaded holes on the mounting post.

[0018] like Figure 1 As shown, the clamping structure 5 further includes a mounting base 51, which is fixed on the movable base 3. Two drive units 52 are mounted on the bottom surface of the mounting base 51, and clamping claws 53 are mounted on the drive units 52. The drive units 52 are used to drive the clamping claws 53 to open and close. Specifically, the drive units 52 use a gear structure to drive the clamping claws 53 to open and close. The specific implementation of the opening and closing of the clamping claws 53 is a conventional structure and will not be described in detail here. The two clamping claws 53 clamp and fix the guardrail plate. Furthermore, the clamping surface of the clamping claws is corrugated. This structure ensures the stability of the guardrail plate during clamping and fixing. A flexible pad 54 is fixed to the clamping surface of the clamping claws 53. The flexible pad 54 avoids direct contact between the metal claws and the galvanized layer of the guardrail plate, achieving non-destructive gripping and protecting the guardrail plate.

[0019] Its working principle is as follows: the guardrail plate is clamped and fixed by the clamping structure 5, and the movable seat 3 can be slidably adjusted in the vertical two-dimensional plane by the cross slide structure 4, so as to fine-tune the position of the guardrail plate, improve the fault tolerance during installation, compensate for the installation deviation in any direction in the horizontal plane, greatly reduce the dependence on the absolute positioning accuracy of the robot, significantly improve the success rate of hole alignment in complex construction sites, greatly improve the installation and construction efficiency, and realize efficient automated assembly line operation.

[0020] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An adaptive compliant end gripper for installing corrugated beam guardrail panels, characterized in that, include: Quick-change interface module, which is used to connect to the end effector of the robotic arm; A fixed base, which is fixedly connected to the quick-change interface module; The movable seat is connected to the fixed seat via a reset component; A cross-shaped slide structure is located between the fixed seat and the movable seat; A clamping structure, which is fixed on a movable seat, is used to clamp and fix the guardrail panel.

2. The adaptive compliant end gripper for installing corrugated beam guardrails according to claim 1, characterized in that, The reset element is a spring, and it is arranged in a matrix at the four corners of the fixed base.

3. The adaptive compliant end gripper for installing corrugated beam guardrails according to claim 2, characterized in that, Both the fixed seat and the movable seat are plate structures of the same size.

4. The adaptive compliant end gripper for installing corrugated beam guardrails according to claim 1, characterized in that, The cross slide structure includes an X-axis slide rail seat, a Y-axis slide rail seat, and a sliding member. The X-axis slide rail seat is fixed on a fixed seat, and the Y-axis slide rail seat is fixed on a movable seat. The upper and lower surfaces of the sliding member are respectively provided with an X-axis slide groove and a Y-axis slide groove. The X-axis slide groove is slidably connected to the slide rail on the X-axis slide rail seat, and the Y-axis slide groove is slidably connected to the slide rail on the Y-axis slide rail seat.

5. The adaptive compliant end gripper for installing corrugated beam guardrails according to claim 1, characterized in that, The clamping structure includes a mounting base, on which at least one drive unit and at least one clamping claw are provided. The clamping claw is mounted on the drive unit, which is used to drive the clamping claw to open and close. The drive unit is fixed on the mounting base, and the mounting base is fixed on a movable base.

6. The adaptive compliant end gripper for installing corrugated beam guardrails according to claim 5, characterized in that, The gripping surface of the gripping claw is fixed with a flexible pad.

7. The adaptive compliant end gripper for installing corrugated beam guardrails according to claim 6, characterized in that, The clamping surface of the clamping claw is wavy.

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