Self-adaptive and compliant manipulator for internal support operation of fragile thin-walled cylindrical inner wall workpiece

Abstract

The present invention is an inner-support type self-adaptive and compliant manipulator for fragile thin-walled cylindrical inner wall workpieces. Adapt to the connection device; the grabbing device includes a disc-shaped main body, an inner support mechanism on its lower surface, and a linear motion driver on the upper surface; the inner support mechanism includes: a support leg fixed on the lower surface of the disc-shaped main body, and a radially penetrating lower end of the support leg Sliding block; the connecting rod used to connect the sliding block and the linear motion driver, the arc-shaped inner support body fixed on the outer end of the sliding block, the adaptive connection device includes a connecting sleeve that is set outside the upper end of the sleeve, and is located inside the connecting sleeve The early warning spring and sensor, and the compliant ring used to connect the drive module and the connecting cylinder; the supporting force of the invention to grab the workpiece is relatively uniform, and it is not easy to damage the fragile workpiece, and the compliant ring has a certain position when assembling the workpiece. Attitude deviation compensation function, easy to assemble.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an inner support type self-adaptive and compliant manipulator for fragile thin-walled cylindrical inner wall workpieces. Background technique [0002] For industrial production robots, feeding and unloading are the most basic functions. The chucks required for different types of products are also different. For cylindrical parts, external clamping chucks are generally used, that is, from the outside of the workpiece. To clamp the workpiece, these chucks mostly use three jaws to form a cylindrical hole to clamp and move cylindrical parts; for tubular parts, internal support chucks are generally used, but for fragile thin-walled The cylindrical inner wall workpiece adopts the traditional three grippers, referring to the existing technology (application number: CN201710356466.9, subject name: inner support type grabbing and mold pressing manipulator for cylindrical inner wall workpie...

AI Technical Summary

Problems solved by technology

[0002] For industrial production robots, feeding and unloading are the most basic functions. The chucks required for different types of products are also different. For cylindrical parts, external clamping chucks are generally used, that is, from the outside of the workpiece. To clamp the workpiece, these chucks mostly use three jaws to form a cylindrical hole to clamp and move cylindrical parts; for tubular parts, internal support chucks are generally used, but for fragile thin-walled The cylindrical inner wall workpiece adopts the traditional three grippers, referring to the existing technology (application number: CN201710356466.9, subject name: inner support type grabbing and mold pressing manipulator for cylindrical inner wall workpieces), due to the The force area of ​​a single inner support claw is small, and the pressure generated on the inner wall of the workpiece is relatively large. There are multiple complex forces on the workpiece when the supporting claws are clamping the workpiece. The inner supporting claws are difficult to control and easily cause unnecessary damage to the workpiece. However, the existing technology (application number: CN201910141096.6, subject name: easy Inner-supported grasping and assembling flexible manipulator for crushing thin-walled cylindrical inner wall workpieces) specifically solves the above problems, but it still has deficiencies. For example, in actual production operations, when the manipulator grabs the work When the workpiece is assembled, there will inevitably be deviations in shape and posture between the workpiece and the workpiece to be assembled. For example, the attached Figure 13 As shown in the schematic diagram of posture deviation, at this time, the robot holds the workpiece with rigid pressure and continues to assemble, which will inevitably damage the workpiece, the workpiece to be assembled, or both, especially the assembly of fragile workpieces, which will affect the continuity of production and reduce the Increase production efficiency, increase production costs, and even damage the manipulator, which is likely to cause greater economic losses

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