CN113459128B - Three-axis duplex pneumatic attitude conversion mechanism and conversion method thereof - Google Patents
Three-axis duplex pneumatic attitude conversion mechanism and conversion method thereof Download PDFInfo
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- CN113459128B CN113459128B CN202110900134.9A CN202110900134A CN113459128B CN 113459128 B CN113459128 B CN 113459128B CN 202110900134 A CN202110900134 A CN 202110900134A CN 113459128 B CN113459128 B CN 113459128B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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Abstract
The invention provides a three-axis duplex pneumatic attitude conversion mechanism and a conversion method thereof, wherein the three-axis duplex pneumatic attitude conversion mechanism comprises a beam assembly, a left supporting plate assembly, a right supporting plate assembly, a left rotating assembly, a right rotating assembly, a left claw assembly and a right claw assembly; the beam assembly is installed in the deburring workstation and is connected with the left supporting plate assembly and the right supporting plate assembly through guide rails, the left supporting plate assembly and the right supporting plate assembly are connected with the left rotating assembly and the right rotating assembly through guide rails, and the left rotating assembly and the right rotating assembly are used for fixing the left claw assembly and the right claw assembly. The center lines of the left and right hand claws are coincided through the three-degree-of-freedom duplex mechanism, the part is pressed tightly by the hand claws, and when the pressure positioning block reaches the calibration force position, the hand claw clamping signal is released, so that the part grabbing and posture conversion is completed. The three-degree-of-freedom duplex structure can realize full deburring of parts, greatly reduce the labor intensity of workers and realize the aim of reducing the production cost.
Description
Technical Field
The invention belongs to the technical field of robot deburring automatic processing, and particularly relates to a three-axis duplex pneumatic attitude conversion mechanism and a conversion method thereof.
Background
Along with the automatic change of the deburring processing, in order to adapt to complex and changeable processing environment and improve the processing flexibility and production efficiency, a robot is taken as a deburring workstation of a carrier, but because parts are clamped under different postures in the robot deburring processing and have processing blind areas, the posture conversion among the working procedures and the accuracy of the posture are very important in the automatic deburring processing.
The rotatory many through the manual work of solving burring part gesture at present is correct with part gesture adjustment, has extravagant manpower resources through artificial mode, and the inaccurate scheduling problem of gesture still can increase other auxiliary device, and the operation is complicated, and the cost is higher, does not have market competition. Therefore, the full-automatic machining of the deburring machining can not only ensure the machining quality and efficiency, but also greatly reduce the labor intensity of workers and realize the aim of reducing the production cost.
Chinese patent CN 201810851110.7, a part reversing and material transferring mechanism, aims to overcome the defects that in the prior art, a part output from a previous station cannot normally enter the feeding end of a next station, which results in the fracture of an automatic production line and reduces the production efficiency, and provides a part reversing and material transferring mechanism for transferring parts between adjacent material receiving discs, wherein a gripper installed on a support and controlled to be opened and closed by a cylinder realizes the transfer of the parts and the self steering of the parts. However, the positioning and clamping of the parts cannot be realized, so that the part transfer device is suitable for part transfer and is not beneficial to processing operation with requirements on precision.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a three-axis duplex pneumatic posture switching mechanism and a switching method thereof. The three-degree-of-freedom duplex structure can realize full deburring of parts, greatly reduce the labor intensity of workers and realize the aim of reducing the production cost. The technical scheme adopted by the invention is as follows:
a three-axis duplex pneumatic posture conversion mechanism comprises a beam assembly, a left supporting plate assembly, a right supporting plate assembly, a left rotating assembly, a right rotating assembly, a left claw assembly and a right claw assembly;
the beam assembly is arranged in a robot deburring workstation, and is connected with the left supporting plate assembly, the right supporting plate assembly and the auxiliary device thereof by utilizing a transverse guide rail to realize the movement in the horizontal direction;
the left supporting plate assembly is connected with the left rotating assembly and the auxiliary device thereof by utilizing a longitudinal guide rail, so that the left rotating assembly can move in the vertical direction;
the left gripper assembly is connected with the left rotating assembly and used for realizing the rotation of the left gripper assembly along the anticlockwise direction on a vertical plane;
the right supporting plate assembly is connected with the right rotating assembly and the auxiliary device thereof by utilizing a longitudinal guide rail, so that the right rotating assembly can move in the vertical direction;
the right paw assembly is connected with the left rotating assembly and used for realizing the clockwise rotation of the right paw assembly on a vertical plane;
the left gripper assembly and the right gripper assembly are used for clamping parts and can realize the conversion of the postures of the parts.
Furthermore, the left supporting plate assembly and the right supporting plate assembly are respectively positioned at two ends of the beam assembly, and the horizontal stroke is 200mm.
Further, the left pallet assembly, the right pallet assembly, the left rotating assembly, the right rotating assembly, the left claw assembly and the right claw assembly of the posture switching mechanism are all driven by cylinders.
Further, the angle interval of the counterclockwise rotation of the left gripper assembly on the left rotating assembly is 0-90 degrees.
Further, the angle interval of clockwise rotation of the right gripper assembly on the right rotating assembly is 0-90 degrees.
Further, the vertical stroke of the left rotating assembly on the left supporting plate assembly is 90mm.
Further, the vertical stroke of the right rotating assembly on the right supporting plate assembly is 90mm.
Furthermore, photoelectric switches are adopted in the posture switching mechanisms for stroke limiting.
A three-axis duplex pneumatic attitude conversion method comprises the following steps:
the method comprises the following steps: installing the posture switching mechanism in a robot deburring workstation, and calibrating the installation position of the robot deburring workstation by using a laser tracker to ensure that the robot deburring workstation and a workpiece clamp to be machined keep a fixed spatial position;
step two: calibrating the clamping force position of the paw, enabling the part to contact with the pressure positioning block, determining a pressing plane of the part by utilizing three-point fixed surfaces, recording the pressing force with fixed step length through fixed-step-length pressing, and determining the clamping force position of the paw under different postures according to different parts, so that the subsequent grabbing work is facilitated;
step three: the left structure is used for feeding parts, the parts are tightly pressed by the claws by adjusting the positions in the horizontal direction and the vertical direction, and when the pressure positioning block reaches a calibration force position, a claw clamping signal is released to complete part grabbing;
step four: under the current posture, the deburring processing is convenient by moving the three-axis position;
step five: the left rotating assembly rotates 90 degrees anticlockwise, the right rotating assembly rotates 90 degrees clockwise, the vertical position is adjusted to enable the central lines of the left and right claws to coincide, and left-right rotation is prepared for posture conversion;
step six: on the premise of ensuring that the center lines of the left and right claws are overlapped, the supporting plate assemblies on the two sides are driven by the air cylinder to move horizontally and tightly press, when the right claw reaches a part calibration force position, a right claw clamping signal is released, and meanwhile, the left claw is released to complete posture conversion;
step seven: after the posture is converted, the deburring processing is continued through position conversion, and the mechanism returns to the normal position after the processing is finished.
The invention has the advantages that:
1) The invention utilizes the pressure positioning block to calibrate the pressing force, and the pressing positioning surface of the part is aligned by three points, so that the working efficiency is improved compared with manual clamping.
2) The invention replaces the traditional clamp with the duplex mechanism and the left and right claws, and simplifies the complexity of clamping through force position control.
3) The three-freedom-degree machining device has three degrees of freedom, can basically meet the posture requirement in the deburring machining process, and can realize non-blind area machining through posture transformation.
Drawings
Fig. 1 is a front view of a three-axis duplex pneumatic attitude conversion mechanism according to an embodiment of the present invention.
Fig. 2 is a left side view of a three-axis duplex pneumatic attitude conversion mechanism according to an embodiment of the present invention.
Fig. 3 is a top view of a three-axis duplex pneumatic attitude transformation mechanism according to an embodiment of the present invention.
FIG. 4 is a front view of a cross-beam assembly of a three-axis dual-linkage pneumatic attitude transformation mechanism in an embodiment of the present invention.
FIG. 5 is a top view of a three-axis dual-linkage aerodynamic attitude conversion mechanism cross-member assembly in accordance with an embodiment of the present invention.
Fig. 6 is a front view of a left pallet assembly of a three-axis duplex pneumatic attitude transformation mechanism in an embodiment of the present invention.
Fig. 7 is a left side view of a left pallet assembly of a three-axis duplex pneumatic attitude transformation mechanism in an embodiment of the present invention.
FIG. 8 is a front view of a right pallet assembly of a three-axis dual pneumatic attitude switching mechanism in an embodiment of the present invention.
FIG. 9 is a left side view of a right pallet assembly of a three-axis dual pneumatic attitude transformation mechanism in an embodiment of the invention.
Fig. 10 is a front view of a three-axis duplex pneumatic attitude conversion mechanism rotating assembly according to an embodiment of the present invention.
Fig. 11 is a cross-sectional view of a three-axis duplex pneumatic attitude conversion mechanism rotating assembly in an embodiment of the present invention.
Fig. 12 is a front view of a three-axis duplex pneumatic attitude conversion mechanism gripper assembly in an embodiment of the present invention.
Figure 13 is a top view of a three-axis duplex pneumatic attitude transfer mechanism gripper assembly in accordance with an embodiment of the present invention.
Fig. 14 is a schematic diagram of a three-axis duplex pneumatic attitude transformation method in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 3, a three-axis duplex pneumatic posture switching mechanism provided by an embodiment of the present invention includes a beam assembly 1, a left pallet assembly 2, a right pallet assembly 3, a left rotating assembly 4, a right rotating assembly 5, a left claw assembly 6, and a right claw assembly 7; the beam assembly 1 is arranged in a robot deburring workstation, and is connected with the left supporting plate assembly 2, the right supporting plate assembly 3 and auxiliary devices thereof by utilizing a transverse guide rail to realize the movement in the horizontal direction; the left supporting plate component 2 is connected with the left rotating component 4 and an auxiliary device thereof by a longitudinal guide rail, so that the left rotating component 4 can move in the vertical direction; wherein, the left gripper assembly 6 is connected with the left rotating assembly 4 for realizing the rotation of the left gripper assembly 6 along the counterclockwise direction on the vertical plane; the right supporting plate component 3 is connected with the right rotating component 5 and an auxiliary device thereof by utilizing a longitudinal guide rail, so that the right rotating component 5 can move in the vertical direction; the right paw component 7 is connected with the left rotating component 4, and is used for realizing the clockwise rotation of the right paw component 7 on a vertical plane; the left gripper assembly 6 and the right gripper assembly 7 are used for clamping parts and can realize the conversion of the postures of the parts.
Specifically, as shown in fig. 4 and 5, the beam assembly 1 is installed in a robot deburring workstation, wherein the base 101 is a framework part of the mechanism, is in a quadrilateral barrel frame structure, is used for supporting the whole mechanism, and is closed at two ends by a base left baffle 102 and a base right baffle 103; two guide rails, namely a horizontal upward guide rail 104 and a horizontal downward guide rail 104, are arranged on the front surface of the base 101; and four limits of a left supporting plate left limit 106, a left supporting plate right limit 017, a right supporting plate left limit 108 and a right supporting plate right limit 109 are arranged on the plane; a horizontal left cylinder 111 and a horizontal right cylinder 112 are mounted on the top surface of the base 101 through a horizontal cylinder block 110, and two drag chain fixing plates 113 are fixedly connected to the top surface of the base 101 and are respectively used for connecting a left drag chain 114, a left drag chain connecting plate 115, a right drag chain 116 and a right drag chain connecting plate 117; the horizontal left cylinder 111 and the horizontal right cylinder 112 are respectively connected with a horizontal left connecting plate 120 and a horizontal right connecting plate 121 through a right cylinder connecting piece 118 and a left cylinder connecting piece 119, and cylinders drive the left supporting plate assembly 2 and the right supporting plate assembly 3 through guide rails.
Specifically, as shown in fig. 6 and 7, the left pallet assembly 2 is used to control the structure connected thereto to move vertically, the left pallet base 201 is connected to the beam assembly 1 through the left pallet left lower slide 202, the left pallet right lower slide 203, the left pallet right upper slide 204 and the left pallet left upper slide 205, and the left pallet base 201 is provided with four-directional limit positions, namely, a left pallet left limit 206, a left pallet right limit 207, a left pallet vertical lower limit 208 and a left pallet vertical upper limit 209; the left supporting plate vertical upward limit 209 is indirectly fixed on the left supporting plate base 201 through a left supporting plate vertical upward limit base 210, and a left supporting plate limit seat 211 is used as a vertical stroke end point to avoid the structural overtravel; the left supporting plate cylinder 212 is fixed at the upper right part of the left supporting plate base 201, the left supporting plate vertical guide rail 213 is fixed at the middle position of the left supporting plate base 201 along the vertical direction, the left supporting plate connecting plate 214 is in sliding connection with the left supporting plate vertical guide rail 213 through the left supporting plate vertical slide block 215, and the left supporting plate cylinder 212 drives the left supporting plate driving plate 217 to move through the left supporting plate cylinder connecting rod 216 and drives the left supporting plate connecting plate 218 to move along the vertical direction.
Specifically, as shown in fig. 8 and 9, the right supporting plate assembly 2 is used for controlling the structure connected with the right supporting plate assembly to move vertically, the right supporting plate base 301 is connected to the beam assembly 1 through the right supporting plate left lower slide block 302, the right supporting plate right lower slide block 303, the right supporting plate right upper slide block 304 and the right supporting plate left upper slide block 305, and four direction limits of a right supporting plate left limit 306, a right supporting plate right limit 307, a right supporting plate vertical lower limit 308 and a right supporting plate vertical upper limit 309 are arranged on the right supporting plate base 301; the right supporting plate vertical upward limiting base 309 is indirectly fixed on the right supporting plate base 301 through the right supporting plate vertical upward limiting base 310, and the right supporting plate limiting base 311 serves as a vertical stroke end point to avoid structural overtravel; the right supporting plate cylinder 312 is fixed at the upper right position of the right supporting plate base 301, the right supporting plate vertical guide rail 313 is fixed at the middle position of the right supporting plate base 301 along the vertical direction, the right supporting plate connecting plate 314 is connected with the right supporting plate vertical guide rail 313 in a sliding mode through the right supporting plate vertical sliding block 315, and the right supporting plate cylinder 312 drives the right supporting plate driving plate 317 to move through the right supporting plate cylinder connecting rod 316 and drives the right supporting plate connecting plate 314 to move along the vertical direction.
Specifically, as shown in fig. 10 and fig. 11, since the left rotating assembly 4 and the right rotating assembly 5 have the same structure, the same description is given, a drag chain 402 and a rotating support 403 are fixedly connected above a rotating assembly bottom plate 401, a rotating cylinder 404 is connected to the rotating support 403 through a hinge, a rotating base 405 is fixed on the rotating assembly bottom plate 401, a rotating bearing base 406, a rotating left bearing 407, a rotating bearing pad 408, a rotating swing link 409 and a rotating right bearing 410 are sequentially sleeved on a rotating center rod 411, and the rotating cylinder 404 drives the rotating connecting rod 417 and the rotating swing link 409 to drive a rotating connecting disc 412 fixedly connected to the rotating center rod 411 to rotate; the rotating base 405 is provided with a 90-degree slot, a lower rotating limiting seat 413 and an upper rotating limiting seat 414 are respectively arranged at the upper part and the lower part, and a lower rotating limiting seat 415 and an upper rotating limiting seat 416 are respectively installed in the lower rotating limiting seat 413 and the upper rotating limiting seat 414, and are used for limiting the rotating angle of the rotating swing rod 409.
Further, the rotary swing link 409 keeps synchronously rotating with the rotary center rod 411 through a key.
Specifically, as shown in fig. 12 and 13, since the left-hand gripper assembly 6 and the right-hand gripper assembly 7 have the same structure, the three-jaw cylinder 601 is fixed below the gripper base 602, and is connected with the gripper 605 with the gripper pad 604 through the cylinder slider 603 to move; the limiting pressing block 606 is distributed above the air cylinder sliding block 603 and is used for limiting the moving range of the air cylinder sliding block 603; the pressure positioning blocks 607 are all fixedly connected with the three-jaw cylinder 601 through a force measuring and pressing structure consisting of a spring rod 608, a spring 609 and a tightening nut 610 and a spring clamping block 611 and a spring pressing seat 612.
Furthermore, the pressure positioning blocks 607 form three groups of force measuring and compressing structures through spring rods 608, springs 609 and tightening nuts 610, and are uniformly distributed on the spring compressing seats 612; the spring clamping block 611 and the spring pressing seat 612 are respectively installed at two ends of the spring 609, and are used for limiting the pressing movement of the force measuring pressing structure.
Specifically, the left supporting plate component 2 and the right supporting plate component 3 are respectively positioned at two ends of the beam component 1, and the horizontal stroke is 200mm; the left supporting plate assembly 2, the right supporting plate assembly 3, the left rotating assembly 4, the right rotating assembly 5, the left claw assembly 6 and the right claw assembly 7 of the posture switching mechanism are all driven by cylinders; the counterclockwise rotation angle interval of the left claw assembly 6 on the left rotation assembly 4 is 0-90 degrees; the angle interval of clockwise rotation of the right gripper assembly 7 on the right rotating assembly 5 is 0-90 degrees; the vertical stroke of the left rotating assembly 4 on the left supporting plate assembly 2 is 90mm; the vertical stroke of the right rotating assembly 5 on the right supporting plate assembly 3 is 90mm; and the gesture switching mechanisms are all limited in stroke by adopting photoelectric switches.
As shown in fig. 14, a three-axis duplex pneumatic attitude transformation method includes the following steps:
the method comprises the following steps: installing the posture switching mechanism in a robot deburring workstation, and calibrating the installation position of the robot deburring workstation by using a laser tracker to ensure that the robot deburring workstation and a workpiece clamp to be machined keep a fixed spatial position;
step two: calibrating the clamping force position of the paw, enabling the part to contact with the pressure positioning block, determining a pressing plane of the part by utilizing three-point fixed surfaces, recording the pressing force with fixed step length through fixed-step-length pressing, and determining the clamping force position of the paw under different postures according to different parts, so that the subsequent grabbing work is facilitated;
step three: the left structure is used for feeding parts, the parts are pressed tightly by using the paw through adjusting the horizontal and vertical positions, and when the pressure positioning block reaches the calibration force position, the paw clamping signal is released to complete part grabbing;
step four: under the current posture, the deburring processing is convenient by moving the three-axis position;
step five: the left rotating assembly rotates 90 degrees anticlockwise, the right rotating assembly rotates 90 degrees clockwise, the vertical position is adjusted to enable the central lines of the left and right claws to coincide, and left-right rotation is prepared for posture conversion;
step six: on the premise of ensuring that the center lines of the left and right claws are overlapped, the supporting plate assemblies on the two sides are driven by the air cylinder to move horizontally and tightly press, when the right claw reaches a part calibration force position, a right claw clamping signal is released, and meanwhile, the left claw is released to complete posture conversion;
step seven: after the posture is converted, the deburring processing is continued through position conversion, and the mechanism returns to the normal position after the processing is finished.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (1)
1. A conversion method of a three-axis duplex pneumatic attitude conversion mechanism comprises a beam assembly (1), a left supporting plate assembly (2), a right supporting plate assembly (3), a left rotating assembly (4), a right rotating assembly (5), a left claw assembly (6) and a right claw assembly (7);
the beam assembly (1) is installed in a robot deburring workstation, and the left supporting plate assembly (2), the right supporting plate assembly (3) and an auxiliary device thereof are connected through a transverse guide rail to realize horizontal movement;
the left supporting plate component (2) is connected with the left rotating component (4) and the auxiliary device thereof by utilizing a longitudinal guide rail, so that the left rotating component (4) can move in the vertical direction;
wherein the left gripper assembly (6) is connected with the left rotating assembly (4) for realizing the rotation of the left gripper assembly (6) along the counterclockwise direction on the vertical plane;
the right supporting plate assembly (3) is connected with the right rotating assembly (5) and an auxiliary device thereof by utilizing a longitudinal guide rail, so that the right rotating assembly (5) can move in the vertical direction;
wherein the right gripper assembly (7) is connected with the right rotating assembly (5) for realizing the rotation of the right gripper assembly (7) along the clockwise direction on the vertical plane;
the left gripper assembly (6) and the right gripper assembly (7) are used for clamping parts and can realize the conversion of the postures of the parts; the method is characterized by comprising the following steps:
the method comprises the following steps: installing the posture switching mechanism in a robot deburring workstation, and calibrating the installation position of the robot deburring workstation by using a laser tracker to ensure that the robot deburring workstation and a workpiece clamp to be machined keep a fixed spatial position;
step two: calibrating the clamping force position of the paw, enabling the part to contact with the pressure positioning block, determining a pressing plane of the part by utilizing three-point fixed surfaces, recording the pressing force with fixed step length through fixed-step-length pressing, and determining the clamping force position of the paw under different postures according to different parts, so that the subsequent grabbing work is facilitated;
the method comprises the following specific steps: the three-jaw cylinder (601) is fixed below the paw base (602) and is connected with a paw (605) with a paw cushion block (604) to move through a cylinder slide block (603); the limiting pressing blocks (606) are distributed above the air cylinder sliding blocks (603) and are used for limiting the moving range of the air cylinder sliding blocks (603); the pressure positioning blocks (607) are fixedly connected with the three-jaw cylinder (601) through spring clamping blocks (611) and spring clamping seats (612), the pressure positioning blocks (607) form three groups of force measuring and clamping structures through the spring rods (608), the springs (609) and the tightening nuts (610), and the three groups of force measuring and clamping structures are uniformly distributed on the spring clamping seats (612); the spring clamping block (611) and the spring pressing seat (612) are respectively arranged at two ends of the spring (609) and used for limiting the pressing movement of the force measuring pressing structure;
step three: the left structure is used for feeding parts, the parts are tightly pressed by the claws by adjusting the positions in the horizontal direction and the vertical direction, and when the pressure positioning block reaches a calibration force position, a claw clamping signal is released to complete part grabbing;
step four: under the current posture, the deburring processing is convenient by moving the three-axis position;
step five: the left rotating assembly rotates 90 degrees anticlockwise, the right rotating assembly rotates 90 degrees clockwise, the vertical position is adjusted to enable the central lines of the left paw and the right paw to be overlapped, and left-right rotation prepares for posture conversion;
step six: on the premise of ensuring that the center lines of the left and right claws are overlapped, the supporting plate assemblies on the two sides are driven by the air cylinder to move horizontally and tightly press, when the right claw reaches a part calibration force position, a right claw clamping signal is released, and meanwhile, the left claw is released to complete posture conversion;
step seven: after the posture is converted, the deburring processing is continued through position conversion, and the mechanism returns to the normal position after the processing is finished.
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