CN112976038B - Robot clamping jaw two-degree-of-freedom floating device - Google Patents
Robot clamping jaw two-degree-of-freedom floating device Download PDFInfo
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- CN112976038B CN112976038B CN201911290729.6A CN201911290729A CN112976038B CN 112976038 B CN112976038 B CN 112976038B CN 201911290729 A CN201911290729 A CN 201911290729A CN 112976038 B CN112976038 B CN 112976038B
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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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
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Abstract
The invention relates to the technical field of robots, in particular to a robot clamping jaw two-degree-of-freedom floating device which comprises a robot mounting plate, a mounting base plate, a clamping jaw mounting plate, an X-axis locking mechanism and a Z-axis locking mechanism, wherein the mounting base plate can be movably mounted on the robot mounting plate along the X direction, the clamping jaw mounting plate can be movably mounted on the mounting base plate along the Z axis, the X-axis locking mechanism is arranged on the robot mounting plate, the mounting base plate is locked through the X-axis locking mechanism, the Z-axis locking mechanism is arranged on the mounting base plate, and the clamping jaw mounting plate is locked through the Z-axis locking mechanism. The invention can realize the floating of two degrees of freedom of the X axis and the Z axis and meet the automatic assembly requirement of the robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a two-degree-of-freedom floating device for a robot clamping jaw.
Background
In recent years, with the rapid development of the industry in China, the demand of various industries on automatic modification is increasing, wherein the automatic assembly modification is particularly prominent. In the automatic assembly process of products, a six-axis robot is generally adopted to carry out a point-to-point assembly mode, for workpieces needing floating assembly, a single-degree-of-freedom floating device is commonly adopted to connect the tail end of the robot with a clamping jaw, but with industrial development, under certain special assembly conditions, the single-degree-of-freedom floating device is difficult to meet assembly requirements.
Disclosure of Invention
The invention aims to provide a two-degree-of-freedom floating device for a clamping jaw of a robot, which can realize floating of two degrees of freedom of an X axis and a Z axis and meet the automatic assembly requirement of the robot.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a two degree of freedom floating installation of robot clamping jaw, includes robot mounting panel, mounting substrate, clamping jaw mounting panel, X axle locking mechanical system and Z axle locking mechanical system, wherein mounting substrate can be followed X and installed on the robot mounting panel to removing, and the clamping jaw mounting panel can be followed Z axle and installed on mounting substrate with removing, and X axle locking mechanical system locates on the robot mounting panel, just mounting substrate passes through X axle locking mechanical system locking, Z axle locking mechanical system locates on the mounting substrate, just the clamping jaw mounting panel passes through Z axle locking mechanical system locking.
The X-axis locking mechanism comprises an X-axis locking cylinder and an X-axis locking pin, an X-axis locking hole is formed in the mounting substrate, and the X-axis locking pin is driven to be inserted into the X-axis locking hole through the X-axis locking cylinder.
The X-axis locking cylinder is installed on the robot mounting plate, an X-axis locking guide sleeve is arranged on the robot mounting plate, the X-axis locking pin moves along the X-axis locking guide sleeve, and a connecting plate is arranged at the end part of a cylinder rod of the X-axis locking cylinder and connected with the X-axis locking pin.
Be equipped with the X axle slider on the mounting substrate, be equipped with on the robot mounting panel with X axle slider complex X axle guide rail mounting substrate one side is equipped with X axle stopper, just be equipped with X axle reset spring on the X axle stopper, just when X axle locking mechanical system locks, the compression of X axle slider X axle reset spring.
Mounting substrate keeps away from robot mounting panel one side and is equipped with Z axle limiting plate and Z axle guiding axle, Z axle limiting plate is L type and vertical portion upper end and links firmly with mounting substrate, Z axle guiding axle one end with mounting substrate links firmly, and the other end passes link firmly with the Z axle limiting plate horizontal part that corresponds behind the clamping jaw mounting panel.
And a Z-axis guide sleeve for the Z-axis guide shaft to pass through is arranged on the clamping jaw mounting plate.
Z axle locking mechanical system includes Z axle locking cylinder, Z axle latch segment and Z axle locking wheel, and Z axle latch segment passes through Z axle locking cylinder drive and removes between robot mounting panel and mounting substrate, Z axle locking wheel locate between robot mounting panel and the mounting substrate and with the clamping jaw mounting panel links firmly, be equipped with the latch wheel spout on the Z axle locking segment, just Z axle locking wheel along the latch wheel spout removes, the tank bottom of latch wheel spout is including the first straight face, inclined plane and the second straight face that connect gradually.
When the Z-axis locking wheel is located at the first straight face of the low end, the clamping jaw mounting plate floats between the first straight face and the robot mounting plate, and when the Z-axis locking wheel is located at the second straight face of the high end, the clamping jaw mounting plate is locked by the second straight face and the robot mounting plate.
The mounting base plate is provided with a sliding groove, the Z-axis locking block moves along the sliding groove, and a limiting opening matched with the end part of the sliding groove is formed in the lower side of the Z-axis locking block.
And the Z-axis locking wheel is fixedly connected with the clamping jaw mounting plate through a locking wheel plate penetrating through the mounting substrate.
The invention has the advantages and positive effects that:
1. the floating connection is formed between the robot body and the clamping jaw, so that the floating of two degrees of freedom of an X axis and a Z axis can be realized, and the automatic assembly requirement of the robot is met.
2. The X-axis locking mechanism drives the X-axis locking pin to move by utilizing the X-axis locking cylinder in the X-axis locking mechanism to realize X-axis locking, and realizes adjustment and locking of a floating range in the Z-axis direction by utilizing the Z-axis locking cylinder and the Z-axis locking block in the Z-axis locking mechanism, so that the locking is firm, and various floating possibilities are realized.
3. The invention realizes the locking of the mechanism only by utilizing two cylinders, has simple operation and energy saving, has compact integral structure and does not occupy too much space.
Drawings
Figure 1 is a schematic structural view of the present invention,
figure 2 is a cross-sectional view of the present invention,
fig. 3 is an enlarged view of the Z-axis lock block of fig. 1.
The robot locking device comprises a robot mounting plate 1, an X-axis locking guide sleeve 11, an X-axis sliding block 2, an X-axis guide rail 3, an X-axis locking pin 4, an X-axis return spring 5, an X-axis locking cylinder 6, a connecting plate 61, an X-axis limiting block 7, an installation substrate 8, an X-axis locking hole 81, a Z-axis guide shaft 9, a Z-axis guide sleeve 10, a Z-axis limiting plate 11, a clamping jaw mounting plate 12, a Z-axis locking wheel 13, a Z-axis locking block 14, an inclined plane 141, a limiting bayonet 142, a first straight plane 143, a second straight plane 144, a Z-axis locking cylinder 15, a sliding groove 16 and a locking wheel plate 17.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1-2, the present invention includes a robot mounting plate 1, a mounting substrate 8, a jaw mounting plate 12, an X-axis locking mechanism and a Z-axis locking mechanism, wherein the mounting substrate 8 is movably mounted on the robot mounting plate 1 along an X direction, the jaw mounting plate 12 is movably mounted on the mounting substrate 8 along a Z axis, the X-axis locking mechanism is disposed on the robot mounting plate 1, and the mounting substrate 8 is locked by the X-axis locking mechanism, the Z-axis locking mechanism is disposed on the mounting substrate 8, and the jaw mounting plate 12 is locked by the Z-axis locking mechanism. When the robot clamping device works, the robot mounting plate 1 is connected with the tail end of a robot, and the clamping jaw mounting plate 12 is connected with a clamping jaw.
As shown in fig. 1, an X-axis slider 2 is arranged on the mounting substrate 8, an X-axis guide rail 3 matched with the X-axis slider 2 is arranged on the robot mounting plate 1, and the mounting substrate 8 is floated along the X-axis on the robot mounting plate 1 through the X-axis slider 2 and the X-axis guide rail 3.
As shown in fig. 1 to 2, the X-axis locking mechanism includes an X-axis locking cylinder 6 and an X-axis locking pin 4, an X-axis locking hole 81 is formed in one side of the mounting substrate 8, and the X-axis locking pin 4 is driven by the X-axis locking cylinder 6 to be inserted into the X-axis locking hole 81 to lock the mounting substrate 8.
As shown in fig. 1-2, the X-axis locking cylinder 6 is installed on the robot mounting plate 1, the robot mounting plate 1 is provided with an X-axis locking guide sleeve 11, the X-axis locking pin 4 is along the X-axis locking guide sleeve 11 moves, in this embodiment, the X-axis locking guide sleeve 11 is a linear bearing, and the end of the cylinder rod of the X-axis locking cylinder 6 is provided with a connecting plate 61 and is connected with the rear end of the X-axis locking pin 4.
As shown in fig. 1, an X-axis limiting block 7 is arranged on one side of the mounting substrate 8, an X-axis return spring 5 is arranged on the X-axis limiting block 7, when the mounting substrate 8 is locked by the X-axis locking mechanism, an X-axis slider 2 on the mounting substrate 8 compresses the X-axis return spring 5, and when the X-axis locking pin 4 is separated from the mounting substrate 8 and is locked by contact, the mounting substrate 8 is reset and moved under the action of the X-axis return spring 5.
As shown in fig. 1-2, mounting substrate 8 keeps away from 1 one side of robot mounting panel and is equipped with a plurality of Z axle limiting plate 11 and a plurality of Z axle guiding axle 9, Z axle limiting plate is L type and vertical portion upper end and links firmly with mounting substrate 8, Z axle guiding axle 9 one end with mounting substrate 8 links firmly, and the other end passes link firmly with the horizontal part of the Z axle limiting plate 11 that corresponds behind the clamping jaw mounting panel 12 be equipped with the confession on the clamping jaw mounting panel Z axle guide sleeve 10 that Z axle guiding axle 9 passed, in this embodiment, Z axle guide sleeve 10 is linear bearing.
As shown in fig. 1-2, the Z-axis locking mechanism includes a Z-axis locking cylinder 15, a Z-axis locking block 14 and a Z-axis locking wheel 13, the Z-axis locking block 14 is driven by the Z-axis locking cylinder 15 to move between the robot mounting plate 1 and the mounting substrate 8, the Z-axis locking wheel 13 is disposed between the robot mounting plate 1 and the mounting substrate 8, and the Z-axis locking wheel 13 is fixedly connected to the jaw mounting plate 12 through a locking wheel plate 17 penetrating through the mounting substrate 8, the Z-axis locking block 14 is provided with a locking wheel sliding slot, and the Z-axis locking wheel 13 moves along the locking wheel sliding slot, as shown in fig. 3, the slot bottom of the locking wheel sliding slot includes a first straight surface 143, an inclined surface 141 and a second straight surface 144 connected in sequence, wherein the first straight surface 143 is located at the lower end of the inclined surface 141, the second straight surface 144 is located at the upper end of the inclined surface 141, when the Z-axis locking wheel 13 is located at the first straight surface 143, the clamping jaw mounting panel 12 is in the state of can floating along the Z axle, and the floating range is the distance between first straight face 143 and the robot mounting panel 1, works as Z axle locking cylinder 15 drive Z axle locking piece 14 moves forward, makes Z axle locking wheel 13 be in during inclined plane 141, the floating range of clamping jaw mounting panel 12 diminishes, continues antedisplacement as Z axle locking piece 14, makes Z axle locking wheel 13 be in during the straight face 144 of second, because distance equals between second straight face 144 and the robot mounting panel 1Z axle locking wheel 13 diameter, clamping jaw mounting panel 12 can't float along the Z axle to realize clamping jaw mounting panel 12 at the epaxial locking of Z.
As shown in fig. 1, a sliding groove 16 is formed in the mounting substrate 8, the Z-axis locking block 14 is driven by the Z-axis locking cylinder 15 to move along the sliding groove 16, and a limiting opening 142 is formed in the lower side of the Z-axis locking block 14 and is matched with the end of the sliding groove 16 to limit the Z-axis locking block 14.
The working principle of the invention is as follows:
when the robot mounting plate disclosed by the invention works, the mounting base plate 8 is floated along the X axis on the robot mounting plate 1 through the X axis slide block 2 and the X axis guide rail 3, and the clamping jaw mounting plate 12 is moved along the Z axis guide shaft 9 to be floated along the Z axis between the mounting base plate 8 and the horizontal part of the Z axis limiting plate 11. X axle locking mechanical system includes X axle locking cylinder 6 and X axle locking pin 4 mounting substrate 8 one side is equipped with X axle locking hole 81, just X axle locking pin 4 passes through the drive of X axle locking cylinder 6 is inserted realize will in the X axle locking hole 81 mounting substrate 8 locks. The Z-axis locking mechanism comprises a Z-axis locking cylinder 15, a Z-axis locking block 14 and a Z-axis locking wheel 13, wherein the Z-axis locking wheel 13 is fixedly connected with the clamping jaw mounting plate 12 through a locking wheel plate 17 penetrating through the mounting substrate 8, a locking wheel sliding groove is arranged on the Z-axis locking block 14, the Z-axis locking wheel 13 moves along the locking wheel sliding groove, the groove bottom of the locking wheel sliding groove comprises a first straight surface 143, an inclined surface 141 and a second straight surface 144 which are sequentially connected, when the Z-axis locking wheel 13 is positioned on the first straight surface 143 of the low end, the clamping jaw mounting plate 12 is in a floating state along the Z-axis, the floating range is the distance between the first straight surface 143 and the robot mounting plate 1, when the Z-axis locking cylinder 15 drives the Z-axis locking block 14 to move forwards to enable the Z-axis locking wheel 13 to be positioned on the inclined surface 141, the floating range of the clamping jaw mounting plate 12 is reduced, and the floating range adjustment of the clamping jaw 12 is realized, when the Z-axis locking block 14 moves forward to make the Z-axis locking wheel 13 located on the second straight surface 144 at the high end, the distance between the second straight surface 144 and the robot mounting plate 1 is equal to the diameter of the Z-axis locking wheel 13, and the jaw mounting plate 12 cannot float along the Z-axis, so that the locking of the jaw mounting plate 12 on the Z-axis is realized.
Claims (6)
1. The utility model provides a two degree of freedom floating installation of robot clamping jaw which characterized in that: the robot clamping device comprises a robot mounting plate (1), a mounting base plate (8), a clamping jaw mounting plate (12), an X-axis locking mechanism and a Z-axis locking mechanism, wherein the mounting base plate (8) can be movably mounted on the robot mounting plate (1) along the X direction, the clamping jaw mounting plate (12) can be movably mounted on the mounting base plate (8) along the Z axis, the X-axis locking mechanism is arranged on the robot mounting plate (1), the mounting base plate (8) is locked through the X-axis locking mechanism, the Z-axis locking mechanism is arranged on the mounting base plate (8), and the clamping jaw mounting plate (12) is locked through the Z-axis locking mechanism;
the X-axis locking mechanism comprises an X-axis locking cylinder (6) and an X-axis locking pin (4), an X-axis locking hole (81) is formed in the mounting substrate (8), and the X-axis locking pin (4) is driven to be inserted into the X-axis locking hole (81) through the X-axis locking cylinder (6);
an X-axis sliding block (2) is arranged on the mounting substrate (8), an X-axis guide rail (3) matched with the X-axis sliding block (2) is arranged on the robot mounting plate (1), an X-axis limiting block (7) is arranged on one side of the mounting substrate (8), an X-axis reset spring (5) is arranged on the X-axis limiting block (7), and when the X-axis locking mechanism is locked, the X-axis sliding block (2) compresses the X-axis reset spring (5);
the Z-axis locking mechanism comprises a Z-axis locking cylinder (15), a Z-axis locking block (14) and a Z-axis locking wheel (13), the Z-axis locking block (14) is driven by the Z-axis locking cylinder (15) to move between the robot mounting plate (1) and the mounting substrate (8), the Z-axis locking wheel (13) is arranged between the robot mounting plate (1) and the mounting substrate (8) and fixedly connected with the clamping jaw mounting plate (12), a locking wheel sliding groove is formed in the Z-axis locking block (14), the Z-axis locking wheel (13) moves along the locking wheel sliding groove, and the groove bottom of the locking wheel sliding groove comprises a first straight surface (143), an inclined surface (141) and a second straight surface (144) which are sequentially connected;
when Z axle locking wheel (13) is in first straight face (143) of low side, clamping jaw mounting panel (12) float between first straight face (143) and robot mounting panel (1), when Z axle locking wheel (13) is in high-end second straight face (144), clamping jaw mounting panel (12) are through second straight face (144) and robot mounting panel (1) locking.
2. The robotic gripper two degree of freedom floating mount of claim 1, wherein: x axle locking cylinder (6) install in on robot mounting panel (1) be equipped with X axle locking uide bushing (11) on robot mounting panel (1), X axle locking round pin (4) along X axle locking uide bushing (11) remove, the cylinder rod tip of X axle locking cylinder (6) be equipped with a connecting plate (61) with X axle locking round pin (4) link to each other.
3. The robotic gripper two degree of freedom floating mount of claim 1, wherein: mounting substrate (8) are kept away from robot mounting panel (1) one side and are equipped with Z axle limiting plate and Z axle guiding axle (9), Z axle limiting plate is L type and vertical portion upper end and links firmly with mounting substrate (8), Z axle guiding axle (9) one end with mounting substrate (8) link firmly, and the other end passes link firmly with the Z axle limiting plate horizontal part that corresponds behind clamping jaw mounting panel (12).
4. The robotic gripper two degree of freedom floating mount of claim 1, wherein: and a Z-axis guide sleeve (10) for the Z-axis guide shaft (9) to pass through is arranged on the clamping jaw mounting plate (12).
5. The robotic gripper two degree of freedom floating mount of claim 1, wherein: the mounting base plate (8) is provided with a sliding groove (16), the Z-axis locking block (14) moves along the sliding groove (16), and a limiting opening (142) matched with the end part of the sliding groove (16) is formed in the lower side of the Z-axis locking block (14).
6. The robotic gripper two degree of freedom floating mount of claim 1, wherein: the Z-axis locking wheel (13) is fixedly connected with the clamping jaw mounting plate (12) through a locking wheel plate (17) penetrating through the mounting substrate (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911290729.6A CN112976038B (en) | 2019-12-16 | 2019-12-16 | Robot clamping jaw two-degree-of-freedom floating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911290729.6A CN112976038B (en) | 2019-12-16 | 2019-12-16 | Robot clamping jaw two-degree-of-freedom floating device |
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| Publication Number | Publication Date |
|---|---|
| CN112976038A CN112976038A (en) | 2021-06-18 |
| CN112976038B true CN112976038B (en) | 2022-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911290729.6A Active CN112976038B (en) | 2019-12-16 | 2019-12-16 | Robot clamping jaw two-degree-of-freedom floating device |
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| CN (1) | CN112976038B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114431276A (en) * | 2022-01-30 | 2022-05-06 | 华中科技大学 | End effector for poultry carcass rotation and poultry carcass processing table |
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| AU1188997A (en) * | 1995-09-28 | 1997-04-17 | Gerd Hormansdorfer | Process and device for manufacturing workpieces with non-circular inner or outer contours |
| US8941814B2 (en) * | 2011-06-20 | 2015-01-27 | Nikon Corporation | Multiple-blade holding devices |
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|---|---|---|---|---|
| CA2026813A1 (en) * | 1989-11-27 | 1991-05-28 | Robert J. Hyatt | Method and apparatus for robotic transfer of workpieces |
| CN101007594A (en) * | 2006-12-31 | 2007-08-01 | 王树生 | Floating chuck device |
| CN105640648A (en) * | 2016-03-16 | 2016-06-08 | 北京理工大学 | Pose mechanical-adjusting movable platform |
| CN107283174A (en) * | 2016-04-12 | 2017-10-24 | 浙江科技学院 | A kind of linear fast tool servo device of two degrees of freedom based on air-float guide rail |
| CN105817907A (en) * | 2016-06-07 | 2016-08-03 | 马新足 | Floating-type working table device |
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| CN112976038A (en) | 2021-06-18 |
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