CN108274452A - Industrial robot axial direction self-adapting flexible flange - Google Patents
Industrial robot axial direction self-adapting flexible flange Download PDFInfo
- Publication number
- CN108274452A CN108274452A CN201810245385.6A CN201810245385A CN108274452A CN 108274452 A CN108274452 A CN 108274452A CN 201810245385 A CN201810245385 A CN 201810245385A CN 108274452 A CN108274452 A CN 108274452A
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- flange
- industrial robot
- freedom
- keyway
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 19
- 230000008034 disappearance Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of industrial robot axial direction self-adapting flexible flanges, including pedestal, two degrees of freedom flange, connected ball and square key；Pedestal is equipped with semi-spherical grooves, connected ball is equipped in semi-spherical grooves, keyway one is equipped in semi-spherical grooves, connected ball top is equipped with keyway two, keyway one and keyway two are mutually perpendicular to, and square key are equipped between semi-spherical grooves and connected ball, the upper portion of square key is in keyway one, in in keyway two, connected ball bottom end is fixedly connected with two degrees of freedom flange for the lower portion of square key.Two end faces of flange can generate deflection opposite to a certain degree under external force in the present invention, and restore initial position after external force disappearance, thus industrial robot end is allowed to there is axial error to a certain degree with workpiece, enable that fixture is more flexible, effectively grabbing workpiece, and it is easy to use, simple in structure, at low cost, there is extensive dissemination in industrial automation.
Description
Technical field
The invention belongs to technical field of automation, and in particular to a kind of industrial robot axial direction self-adapting flexible flange.
Background technology
The application class that the operations such as carrying, stacking are important in automatic field is realized by industrial robot grabbing workpiece
Topic.It when industrial robot grabbing workpiece, usually has higher requirements to the placement position of workpiece, to meet industrial robot and workpiece
Otherwise effective contact is easy to cause industrial robot grabbing workpiece insecure because of position error and captured positioning to ask
Topic.
Currently, for the translation position deviation of industrial robot end clamp and workpiece, have empty by spring, compression
The methods of gas realizes the flange product that plane is floated, but also lacks economic, practical flange product for axial angle deviation.
It is solved the problems, such as typically only by the positioning accuracy for improving workpiece as possible.This method the disadvantage is that the requirement to positioning device too
Height causes positioning device manufacturing cost high, lacks adaptability and flexibility.It can be seen that also lack a kind of at low cost on the market,
Industrial robot axial direction self-adapting flexible flange simple in structure, adaptable.
Invention content
In order to solve the above technical problem, the present invention provides a kind of industrial robot axial direction self-adapting flexible flanges.It should
Two end faces of flange can generate deflection opposite to a certain degree under external force, and restore initial bit after external force disappearance
It sets.By the way that two end faces of the flange are connected respectively to robot and end clamp, make industrial robot allow its end with
There is axial error to a certain degree in workpiece, so that fixture can more flexible, effectively grabbing workpiece.
In order to achieve the above object, the present invention adopts the following technical scheme that：
A kind of industrial robot axial direction self-adapting flexible flange, including pedestal, two degrees of freedom flange, connected ball and square key；
The pedestal is equipped with semi-spherical grooves, and connected ball is equipped in the semi-spherical grooves, and keyway one is equipped in the semi-spherical grooves, described
Connected ball top is equipped with keyway two, and the keyway one and keyway two are mutually perpendicular to, are equipped between the semi-spherical grooves and connected ball
Square key, the upper portion of the square key is in the keyway one, and the lower portion of the square key is in the keyway two, the company
Bottom end of receiving is fixedly connected with the two degrees of freedom flange.
Preferably, the pedestal is equipped with outer cover, and the outer cover can cover the two degrees of freedom flange, and described two certainly
Include ring flange and flange shaft by degree flange, the top of the flange shaft is fixedly connected with the connected ball, the flange shaft
Surrounding is equipped with multiple cylinders, is equipped with piston rod in each cylinder, the front end of the piston rod is in contact with the outer cover.
Preferably, the ring flange is equipped with multiple air admission holes, the flange shaft is equipped with each air admission hole one by one
Corresponding venthole is connected between corresponding air admission hole and venthole by venthole, the quantity of venthole and the quantity of cylinder
The position of identical and each venthole is corresponding with each cylinder, and venthole and corresponding cylinders are logical, and venthole can incite somebody to action
Compressed air is passed through in respective cylinder, and the piston rod in pusher cylinder slides axially along cylinder.
Preferably, there are three the cylinder is total, and three cylinders are uniformly distributed in the surrounding of flange shaft.
Preferably, the top and bottom of the outer cover are equipped with opening, the opening is for installing positioning screw.
Preferably, the pedestal is equipped with multiple threaded holes one.
Preferably, the two degrees of freedom flange is equipped with multiple threaded holes two.
Preferably, the bottom of the connected ball is equipped with connection screw thread, the two degrees of freedom flange and connected ball pass through institute
Connection screw thread is stated to be connected.
The beneficial effects of the invention are as follows：
The present invention can make industrial robot during industrial robot grabbing workpiece and industrial robot deburring
It is more effectively contacted with workpiece, reduces the requirement to positioning device, and easy to use, simple in structure, at low cost, automating
Field has extensive dissemination.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of two degrees of freedom flange；
Fig. 3 is the structural schematic diagram of connected ball；
Fig. 4 is the structural schematic diagram of pedestal；
Fig. 5 is the cooperation schematic diagram of connected ball and pedestal；
Fig. 6 is cylinder and piston rod schematic diagram；
Fig. 7 is flange action schematic diagram.
Reference numerals list：
100- pedestals；200- outer covers；300- two degrees of freedom flanges；400- square keys；500- connected balls；600- cylinders；700-
Piston rod；101- threaded holes one；102- semi-spherical grooves；103- keyways one；301- ring flanges；302- flange shafts；303- air admission holes；
304- ventholes；305- ventholes；306- threaded holes two；501- keyways two；502- connection screw threads.
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and detailed description：
As shown in Figures 1 to 7, a kind of industrial robot axial direction self-adapting flexible flange, including pedestal 100, two degrees of freedom
Flange 300, connected ball 500 and square key 400；Pedestal 100 is equipped with semi-spherical grooves 102, and connected ball is equipped in semi-spherical grooves 102
500, semi-spherical grooves 102 are interior to be equipped with keyway 1, and 500 top of connected ball is equipped with keyway 2 501, keyway 1 and keyway two
501 are mutually perpendicular to, and square key 400 are equipped between semi-spherical grooves 102 and connected ball 500, the upper portion of square key 400 is in keyway one
In 103, in keyway 2 501,500 bottom end of connected ball is fixedly connected with two degrees of freedom flange 300 for the lower portion of square key 400.
Square key 400 can realize two degrees of freedom sliding in connected ball 500 and pedestal 100 with the swing of two degrees of freedom flange 300.
Pedestal 100 is equipped with outer cover 200, and outer cover 200 can cover two degrees of freedom flange 300, and two degrees of freedom flange 300 wraps
Ring flange 301 and flange shaft 302 are included, the top of flange shaft 302 is fixedly connected with connected ball 500, is equipped with around flange shaft 302
Multiple cylinders 600 are equipped with piston rod 700 in each cylinder 600, and the front end of piston rod 700 is in contact with outer cover 200.
Ring flange 301 is equipped with multiple air admission holes 303, and flange shaft 302 is equipped with one-to-one with each air admission hole 303
Venthole 304 is connected between corresponding air admission hole 303 and venthole 304 by venthole 305, the quantity and gas of venthole 304
The quantity of cylinder 600 is identical and the position of each venthole 304 is corresponding with each cylinder 600, venthole 304 and corresponding cylinder
600 are connected, and the air admission hole 303 being arranged on two degrees of freedom flange 300 can be passed through compressed air, and venthole 305 can be connected
Compressed air can be passed through in respective cylinder 600 by compressed air, venthole 304,700 edge of piston rod in pusher cylinder 600
Cylinder 600 slides axially.Two degrees of freedom flange 300 is pushed to put when piston rod 700 slides in cylinder 600 along 600 axis of cylinder
It is dynamic.
When 300 radial force unevenness of two degrees of freedom flange, one of them or two 700 stress of piston rod are into cylinder 600
Axially movable, other piston rods 700 are inwardly away from outer cover 200, while two degrees of freedom flange 300 being pushed to move, two degrees of freedom
Flange 300 generates two degrees of freedom and swings, and is removed in external force or when two degrees of freedom 300 uniform force of flange, three piston rods 700 by
Power is uneven, one of them or two piston rods 700 push two degrees of freedom flange 300 to transport along 600 axially outward movement of cylinder
Dynamic, when three piston rods 700 move to initial position, two degrees of freedom flange 300 is back to initial position.Two degrees of freedom flange 300
When by axial torque, the remains stationary in connected ball 500 of square key 400, two degrees of freedom flange 300 not will produce rotation.
There are three cylinder 600 is total in this example, and three cylinders 600 are uniformly distributed in the surrounding of flange shaft 302.Outer cover 200
Top and bottom be equipped with opening, be open for installing positioning screw.
Pedestal 100 is equipped with multiple threaded holes 1.Pedestal 100 can be fixed on industrial machine by threaded hole 1
The end of device people.Two degrees of freedom flange 300 is equipped with multiple threaded holes 2 306.Fixture can be fixed by threaded hole 2 306
On two degrees of freedom flange 300.The bottom of connected ball 500 is equipped with connection screw thread 502, two degrees of freedom flange 300 and connected ball 500
It is connected by connection screw thread 502.
The course of work of above-mentioned apparatus is as follows：Industrial robot axial direction self-adapting flexible flange passes through the spiral shell on pedestal 100
Pit is fixed on the end of industrial robot, by the threaded hole stationary fixture of two degrees of freedom flange 300, using preceding passing through two
The air admission hole 303 of degree of freedom flange 300 is passed through compressed air, and gas enters cylinder 600 by venthole 305 and venthole 304,
Piston rod 700 is pushed to move to extreme position, three 700 heads of piston rod are in contact with outer cover 200 at this time, work as industrial machine
Artificial to make, when 300 radial force unevenness of two degrees of freedom flange, two degrees of freedom flange 300 can generate two degree of freedom and swing, and make it
In one or two piston rods 700 be pressurized, piston rod 700 is along 600 axially inward movement of cylinder, other piston rods 700 and outer cover
200 phases are from, no longer stress, as shown in Figure 7.When external force removal or two degrees of freedom 300 uniform force of flange, three piston rods
700 unbalance stress, one of them or two piston rods 700 move to three piston rods along 600 axially outward movement of cylinder
700 initial position, at this time two degrees of freedom flange 300 be restored to initial position.
When above-mentioned apparatus is for industrial robot gripping workpiece, allows workpiece to have certain position error, reduce workpiece
The requirement of positioning device, it is cost-effective, and also the gripping postindustrial manipulator shaft of workpiece can be returned to just to self-adapting flexible flange
Beginning position.The device is easy to use, simple in structure, at low cost, has extensive dissemination in industrial automation.
The technical means disclosed in the embodiments of the present invention is not limited only to the technological means disclosed in the above embodiment, further includes
By the above technical characteristic arbitrarily the formed technical solution of combination.It should be pointed out that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (8)
1. a kind of industrial robot axial direction self-adapting flexible flange, which is characterized in that including pedestal, two degrees of freedom flange, connection
Ball and square key；The pedestal is equipped with semi-spherical grooves, and connected ball is equipped in the semi-spherical grooves, key is equipped in the semi-spherical grooves
Slot one, the connected ball top are equipped with keyway two, and the keyway one and keyway two are mutually perpendicular to, the semi-spherical grooves and connected ball
Between be equipped with square key, the upper portion of the square key is in the keyway one, and the lower portion of the square key is in the keyway two
Interior, the connected ball bottom end is fixedly connected with the two degrees of freedom flange.
2. industrial robot axial direction self-adapting flexible flange as described in claim 1, which is characterized in that the pedestal is equipped with
Outer cover, and the outer cover can cover the two degrees of freedom flange, the two degrees of freedom flange include ring flange and flange shaft, described
The top of flange shaft is fixedly connected with the connected ball, and multiple cylinders are equipped with around the flange shaft, are all provided in each cylinder
There are piston rod, the front end of the piston rod to be in contact with the outer cover.
3. industrial robot axial direction self-adapting flexible flange as claimed in claim 2, which is characterized in that set on the ring flange
There are multiple air admission holes, the flange shaft to be equipped with and the one-to-one venthole of each air admission hole, corresponding air admission hole and outlet
It is connected to by venthole between hole, the quantity of venthole is identical as the quantity of cylinder and position and each cylinder of each venthole
Corresponding, venthole and corresponding cylinders are logical, and compressed air can be passed through in respective cylinder by venthole, in pusher cylinder
Piston rod slide axially along cylinder.
4. industrial robot axial direction self-adapting flexible flange as claimed in claim 2, which is characterized in that the cylinder shares three
It is a, and three cylinders are uniformly distributed in the surrounding of flange shaft.
5. industrial robot axial direction self-adapting flexible flange as claimed in claim 2, which is characterized in that the upper end of the outer cover
It is equipped with opening with lower end, the opening is for installing positioning screw.
6. the industrial robot axial direction self-adapting flexible flange as described in claim 1 to 5 any one, which is characterized in that institute
It states pedestal and is equipped with multiple threaded holes one.
7. the industrial robot axial direction self-adapting flexible flange as described in claim 1 to 5 any one, which is characterized in that institute
It states two degrees of freedom flange and is equipped with multiple threaded holes two.
8. the industrial robot axial direction self-adapting flexible flange as described in claim 1 to 5 any one, which is characterized in that institute
The bottom for stating connected ball is equipped with connection screw thread, and the two degrees of freedom flange is connected with connected ball by the connection screw thread.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810245385.6A CN108274452A (en) | 2018-03-23 | 2018-03-23 | Industrial robot axial direction self-adapting flexible flange |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810245385.6A CN108274452A (en) | 2018-03-23 | 2018-03-23 | Industrial robot axial direction self-adapting flexible flange |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108274452A true CN108274452A (en) | 2018-07-13 |
Family
ID=62810306
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810245385.6A Pending CN108274452A (en) | 2018-03-23 | 2018-03-23 | Industrial robot axial direction self-adapting flexible flange |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108274452A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108943022A (en) * | 2018-08-09 | 2018-12-07 | 张欢 | A kind of radially compliant compensation device |
| CN109648551A (en) * | 2018-12-12 | 2019-04-19 | 深圳市汇联时代科技有限公司 | A kind of rotary position limiting structure and method and the robot with the rotary position limiting structure |
| CN109822607A (en) * | 2019-04-08 | 2019-05-31 | 苏州紫金港智能制造装备有限公司 | A kind of flexible flange suitable for robot end |
| CN110745327A (en) * | 2019-11-26 | 2020-02-04 | 中冶南方工程技术有限公司 | Variable-rigidity floating robot end effector connecting device and robot |
| CN111168646A (en) * | 2019-12-27 | 2020-05-19 | 兰州空间技术物理研究所 | Limiting structure on three degrees of freedom of space spherical mechanism |
| CN113124025A (en) * | 2021-04-30 | 2021-07-16 | 洛阳尚奇机器人科技有限公司 | Robot tail end flange interface with flexibility |
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|---|---|---|---|---|
| DD219145A1 (en) * | 1983-10-31 | 1985-02-27 | Eberhard Kuehlfluck | GRIPPING APPARATUS FOR HANDLING PREFERABLY UNMITTED WORKPIECES |
| KR20050078828A (en) * | 2004-02-03 | 2005-08-08 | 테스코 주식회사 | Apparatus for connecting air pressure attachment to robot arm |
| CN102172713A (en) * | 2010-12-30 | 2011-09-07 | 一重集团大连设计研究院有限公司 | Omnidirectional swing stopping device for pressure head |
| CN202158104U (en) * | 2011-06-30 | 2012-03-07 | 乐清市三丰传动有限公司 | Spherical hinge type coupling |
| CN102470997A (en) * | 2009-07-02 | 2012-05-23 | 韩国气压***有限公司 | Vacuum gripper device capable of angular displacement |
| CN102661824A (en) * | 2012-05-12 | 2012-09-12 | 吉林大学 | Power wrapping connector driving torque detection device of test bed of railway vehicle transmission system |
| CN102837143A (en) * | 2011-06-22 | 2012-12-26 | 白四海 | Pipeline flange positioning device |
| CN104972348A (en) * | 2015-07-16 | 2015-10-14 | 佛山市普拉迪数控科技有限公司 | Mechanical hand with adjustable angle and stable structure |
| CN106426287A (en) * | 2016-11-09 | 2017-02-22 | 北京工业大学 | Flexible tail end connecting device for industrial robot |
| CN208005670U (en) * | 2018-03-23 | 2018-10-26 | 苏州紫金港智能制造装备有限公司 | Industrial robot axial direction self-adapting flexible flange |
-
2018
- 2018-03-23 CN CN201810245385.6A patent/CN108274452A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD219145A1 (en) * | 1983-10-31 | 1985-02-27 | Eberhard Kuehlfluck | GRIPPING APPARATUS FOR HANDLING PREFERABLY UNMITTED WORKPIECES |
| KR20050078828A (en) * | 2004-02-03 | 2005-08-08 | 테스코 주식회사 | Apparatus for connecting air pressure attachment to robot arm |
| CN102470997A (en) * | 2009-07-02 | 2012-05-23 | 韩国气压***有限公司 | Vacuum gripper device capable of angular displacement |
| CN102172713A (en) * | 2010-12-30 | 2011-09-07 | 一重集团大连设计研究院有限公司 | Omnidirectional swing stopping device for pressure head |
| CN102837143A (en) * | 2011-06-22 | 2012-12-26 | 白四海 | Pipeline flange positioning device |
| CN202158104U (en) * | 2011-06-30 | 2012-03-07 | 乐清市三丰传动有限公司 | Spherical hinge type coupling |
| CN102661824A (en) * | 2012-05-12 | 2012-09-12 | 吉林大学 | Power wrapping connector driving torque detection device of test bed of railway vehicle transmission system |
| CN104972348A (en) * | 2015-07-16 | 2015-10-14 | 佛山市普拉迪数控科技有限公司 | Mechanical hand with adjustable angle and stable structure |
| CN106426287A (en) * | 2016-11-09 | 2017-02-22 | 北京工业大学 | Flexible tail end connecting device for industrial robot |
| CN208005670U (en) * | 2018-03-23 | 2018-10-26 | 苏州紫金港智能制造装备有限公司 | Industrial robot axial direction self-adapting flexible flange |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108943022A (en) * | 2018-08-09 | 2018-12-07 | 张欢 | A kind of radially compliant compensation device |
| CN109648551A (en) * | 2018-12-12 | 2019-04-19 | 深圳市汇联时代科技有限公司 | A kind of rotary position limiting structure and method and the robot with the rotary position limiting structure |
| CN109648551B (en) * | 2018-12-12 | 2022-03-22 | 深圳市汇联时代科技有限公司 | Rotation limiting structure and method and robot with rotation limiting structure |
| CN109822607A (en) * | 2019-04-08 | 2019-05-31 | 苏州紫金港智能制造装备有限公司 | A kind of flexible flange suitable for robot end |
| CN109822607B (en) * | 2019-04-08 | 2023-09-29 | 苏州紫金港智能制造装备有限公司 | Flexible flange suitable for robot end |
| CN110745327A (en) * | 2019-11-26 | 2020-02-04 | 中冶南方工程技术有限公司 | Variable-rigidity floating robot end effector connecting device and robot |
| CN111168646A (en) * | 2019-12-27 | 2020-05-19 | 兰州空间技术物理研究所 | Limiting structure on three degrees of freedom of space spherical mechanism |
| CN113124025A (en) * | 2021-04-30 | 2021-07-16 | 洛阳尚奇机器人科技有限公司 | Robot tail end flange interface with flexibility |
| CN113124025B (en) * | 2021-04-30 | 2022-09-23 | 洛阳尚奇机器人科技有限公司 | Robot tail end flange interface with flexibility |
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Effective date of registration: 20240618 Address after: Room 402, building 24, Yuzhou Zunfu, Jinghai Town, Jinghai District, Tianjin Applicant after: Tianjin Haoning Technology Service Co.,Ltd. Country or region after: China Address before: 215300 building 4, 232 Yuanfeng Road, Kunshan City, Suzhou City, Jiangsu Province Applicant before: SUZHOU ZIJINGANG INTELLIGENT MANUFACTURING EQUIPMENT Co.,Ltd. Country or region before: China |
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