CN114536312A - Flexible device applied to manipulator - Google Patents
Flexible device applied to manipulator Download PDFInfo
- Publication number
- CN114536312A CN114536312A CN202210104352.6A CN202210104352A CN114536312A CN 114536312 A CN114536312 A CN 114536312A CN 202210104352 A CN202210104352 A CN 202210104352A CN 114536312 A CN114536312 A CN 114536312A
- Authority
- CN
- China
- Prior art keywords
- connecting seat
- manipulator
- flexible device
- robot
- flexible
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 208000004350 Strabismus Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
Images
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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of manipulators, in particular to a flexible device applied to a manipulator, which comprises a linear guide rail, a cylinder connecting seat, a robot connecting seat and a mold spring, wherein the robot connecting seat is arranged at the top of the linear guide rail and is connected with the cylinder connecting seat through the mold spring; when one flexible device is arranged, a robot connecting seat of the flexible device is connected with the manipulator, and an air cylinder connecting seat is connected with the clamping jaw air cylinder; when the flexible device is provided with two flexible devices, the robot connecting seat of one flexible device is connected with the manipulator, and the air cylinder connecting seat is connected with the robot connecting seat of the other flexible device. The flexible device applied to the manipulator disclosed by the invention can perform left/right and/or front/back offset when encountering a blocked condition in the lowering process, so that the anti-collision purpose is achieved and the adaptability of a receiving station is improved.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a flexible device applied to a manipulator.
Background
In the manufacturing process of the lithium battery, automatic manipulators are used for clamping the battery cell at multiple places, and in the prior art, only flexible anti-collision devices are added in the up-down direction, so that the self-precision of the manipulators is used for controlling the falling position of a single point in the front-back, left-right directions; and current manipulator is only to carrying out the anticollision from top to bottom, because long-term the use, the tray warp and the tray collision that targets in place makes the commodity circulation line take place to warp or squint, and the whereabouts position that the manipulator set up can not follow the change, increases the maintenance cost and the production stagnation cost of commodity circulation line. Therefore, it is important to provide a flexible device applied to a manipulator, which increases the flexibility of the manipulator, prevents collision with a battery cell or other products, and reduces the logistics line maintenance cost, the product loss cost and the production shutdown cost.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a flexible device applied to a manipulator, including a linear guide, a cylinder connecting seat, a robot connecting seat and a mold spring, wherein the robot connecting seat is disposed at the top of the linear guide, and the robot connecting seat is connected to the cylinder connecting seat through the mold spring; when one flexible device is arranged, a robot connecting seat of the flexible device is connected with the manipulator, and a cylinder connecting seat is connected with the clamping jaw cylinder; when the flexible device is provided with two flexible devices, the robot connecting seat of one flexible device is connected with the manipulator, and the air cylinder connecting seat is connected with the robot connecting seat of the other flexible device. The flexible device applied to the manipulator disclosed by the invention can perform left/right and/or front/back offset when encountering a blocked condition in the lowering process, so that the anti-collision purpose is achieved and the adaptability of a receiving station is improved.
The purpose of the invention can be realized by the following technical scheme:
the invention provides a flexible device applied to a manipulator, which is connected with the manipulator and a clamping jaw air cylinder and comprises a linear guide rail, an air cylinder connecting seat, a robot connecting seat and a mould spring,
the linear guide rail is used for controlling the left-right movement and/or the front-back movement of the whole device,
the robot connecting seat is used for connecting a manipulator,
the die springs are used to increase the flexibility,
the cylinder connecting seat is used for connecting the clamping jaw cylinder,
the robot connecting seat sets up in linear guide top, and the robot connecting seat passes through mould spring coupling cylinder connecting seat, and robot connecting seat top is connected with the manipulator.
In one embodiment of the invention, the flexible means is provided with one or two;
when one flexible device is arranged, the robot connecting seat of the flexible device is connected with the manipulator;
when the flexible device is provided with two flexible devices, the robot connecting seat of one flexible device is connected with the manipulator, and the air cylinder connecting seat is connected with the robot connecting seat of the other flexible device.
In one embodiment of the present invention, when two flexible devices are provided, the two flexible devices are vertically placed along the central axis of the distal end of the manipulator.
In one embodiment of the present invention, the linear guide includes a guide rail and a slider.
In one embodiment of the invention, the guide rail is connected to the robot connecting seat.
In one embodiment of the invention, the slider is connected to a cylinder connection base.
In one embodiment of the invention, the cylinder connecting seat is provided with a plurality of nail holes at the bottom.
In one embodiment of the invention, a clamping jaw air cylinder is arranged at the bottom of the air cylinder connecting seat and is connected with the linear guide rail through a bolt hole.
In one embodiment of the invention, a spring stop is arranged on one side of the die spring away from the linear guide rail.
In one embodiment of the invention, the robot connecting seat is provided with a nail hole at the top, and the robot connecting seat is connected with the manipulator through the nail hole.
Compared with the prior art, the invention has the following beneficial effects:
when the flexible device applied to the manipulator meets a blocked condition in the process of lowering, left/right and/or front/back deviation can be carried out, so that the anti-collision purpose is achieved and the adaptability of a receiving station is improved; the adjustable manipulator mechanism can be applied to all industries using manipulators, effectively increases the adjustable range, reduces collision, enables the manipulator functionality to be more comprehensive, and compensates the defect of insufficient precision in a profound sense.
Drawings
FIG. 1 is a schematic structural view of a robot according to the present invention;
FIG. 2 is a schematic view of a flexible device applied to a robot according to the present invention;
FIG. 3 is a schematic cross-sectional view of a flexible device applied to a robot according to the present invention;
FIG. 4 is a schematic view of a disassembled structure of a flexible device applied to a robot of the present invention;
reference numbers in the figures: 1. an object to be clamped; 2. a linear guide rail; 3. a cylinder connecting seat; 4. a robot connecting seat; 5. a die spring; 6. a clamping jaw cylinder; 7. spring catch.
Detailed Description
The invention provides a flexible device applied to a manipulator, which is connected with the manipulator and a clamping jaw air cylinder and comprises a linear guide rail, an air cylinder connecting seat, a robot connecting seat and a mould spring,
the linear guide rail is used for controlling the left-right movement and/or the front-back movement of the whole device,
the robot connecting seat is used for connecting a manipulator,
the die springs are used to increase the flexibility,
the cylinder connecting seat is used for connecting the clamping jaw cylinder,
the robot connecting seat sets up in linear guide top, and the robot connecting seat passes through mould spring coupling cylinder connecting seat, and robot connecting seat top is connected with the manipulator.
In one embodiment of the invention, the flexible means is provided with one or two;
when one flexible device is arranged, the robot connecting seat of the flexible device is connected with the manipulator;
when the flexible device is provided with two flexible devices, the robot connecting seat of one flexible device is connected with the manipulator, and the air cylinder connecting seat is connected with the robot connecting seat of the other flexible device.
In one embodiment of the present invention, when two flexible devices are provided, the two flexible devices are vertically placed along the central axis of the distal end of the manipulator.
In one embodiment of the present invention, the linear guide includes a guide rail and a slider.
In one embodiment of the invention, the guide rail is connected to the robot connecting seat.
In one embodiment of the invention, the slider is connected to a cylinder connection base.
In one embodiment of the invention, the cylinder connecting seat is provided with a plurality of nail holes at the bottom.
In one embodiment of the invention, a clamping jaw air cylinder is arranged at the bottom of the air cylinder connecting seat and is connected with the linear guide rail through a bolt hole.
In one embodiment of the invention, a spring stop is arranged on one side of the die spring away from the linear guide rail.
In one embodiment of the invention, the robot connecting seat is provided with a nail hole at the top, and the robot connecting seat is connected with the manipulator through the nail hole.
The invention is described in detail below with reference to the figures and specific embodiments.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
Example 1
The embodiment provides a flexible device applied to a manipulator.
As shown in fig. 1-4, a flexible device (1 flexible device) applied to a manipulator comprises a linear guide rail 2, a cylinder connecting seat 3, a robot connecting seat 4 and a mold spring 5, wherein the linear guide rail 2 is used for controlling the left-right movement and/or the front-back movement of the whole device, the robot connecting seat 4 is used for connecting the manipulator, the mold spring 5 is used for increasing the flexibility, the cylinder connecting seat 3 is used for connecting a clamping jaw cylinder 6,
the robot connecting seat 4 is arranged at the top of the linear guide rail 2; the linear guide rail 2 comprises a guide rail and a slide block, the guide rail is connected with the robot connecting seat 4, and the slide block is connected with the cylinder connecting seat 3; the bottom end of the cylinder connecting seat 3 is provided with a plurality of nail holes, and the clamping jaw cylinder 6 is in bolted connection with the linear guide rail 2 through the nail holes; the robot connecting seat 4 is connected with the cylinder connecting seat 3 through a mold spring 5, and a spring catch 7 is arranged on one side of the mold spring 5, which is far away from the linear guide rail 2; the top of the robot connecting seat 5 is also provided with a nail hole, and the robot connecting seat 5 is connected with the manipulator through the nail hole.
When two flexible devices are arranged, the robot connecting seat 4 of the flexible device close to the manipulator is connected with the manipulator, and the cylinder connecting seat 3 is connected with the robot connecting seat 4 of the flexible device far away from the manipulator; the cylinder connecting seat 3 far away from the manipulator is connected with the clamping jaw cylinder 6; at this point, the two flexible devices are placed vertically along the central axis of the end of the manipulator.
When the clamping jaw type anti-collision device works, the clamping jaw air cylinder 6 clamps an object 1 to be clamped, when the lateral surface is blocked in the lowering process, the linear guide rail 2 is subjected to deviation in the direction opposite to the blocking direction along the guide rail through the sliding block in the linear guide rail 2 (when any one of the left/right direction or the front/rear direction is blocked in the lowering process, the linear guide rail 2 is subjected to deviation in the opposite direction, when the left/right direction and the front/rear direction are blocked in the lowering process, the two linear guide rails 2 are respectively subjected to deviation in the opposite direction to the blocking direction), then the object 1 to be clamped is conveyed to the correct position, the anti-collision purpose is achieved, and the adaptability of a receiving station is improved.
The embodiments described above are described to facilitate an understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.
Claims (10)
1. A flexible device applied to a manipulator is connected with the manipulator and a clamping jaw air cylinder (6) and is characterized by comprising a linear guide rail (2), an air cylinder connecting seat (3), a robot connecting seat (4) and a mould spring (5),
the linear guide rail (2) is used for controlling the left-right movement and/or the front-back movement of the whole device,
the robot connecting seat (4) is used for connecting a manipulator,
the die spring (5) is used to increase the flexibility,
the cylinder connecting seat (3) is used for connecting the clamping jaw cylinder (6),
robot connecting seat (4) set up in linear guide (2) top, and cylinder connecting seat (3) are connected through mould spring (5) in robot connecting seat (4), and robot connecting seat (4) top is connected with the manipulator.
2. The flexible device applied to the manipulator according to claim 1, wherein one or two flexible devices are provided;
when one flexible device is arranged, the robot connecting seat (4) of the flexible device is connected with the manipulator;
when the number of the flexible devices is two, the robot connecting seat (4) of one flexible device is connected with the manipulator, and the cylinder connecting seat (3) is connected with the robot connecting seat (4) of the other flexible device.
3. The robot according to claim 2, wherein when two flexible units are provided, the two flexible units are vertically disposed along a central axis of the end of the robot.
4. A flexible device applied to a manipulator according to claim 1, wherein the linear guide (2) comprises a guide and a slider.
5. A flexible arrangement applied to a manipulator according to claim 4, characterized in that the guide rail is connected to the robot joint holder (4).
6. A flexible device applied to a manipulator according to claim 4, characterized in that the sliding block is connected with a cylinder connecting seat (3).
7. The flexible device applied to the mechanical arm is characterized in that a plurality of nail holes are formed in the bottom of the air cylinder connecting seat (3).
8. The flexible device applied to the mechanical arm is characterized in that a clamping jaw cylinder (6) is arranged at the bottom of the cylinder connecting seat (3), and the clamping jaw cylinder (6) is in bolted connection with the linear guide rail (2) through a nail hole.
9. A flexible device applied to a manipulator according to claim 1, characterized in that a spring stop (7) is arranged on one side of the die spring (5) far away from the linear guide (2).
10. The flexible device applied to the mechanical arm is characterized in that a nail hole is formed in the top of the robot connecting seat (4), and the robot connecting seat (4) is connected with the mechanical arm through the nail hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210104352.6A CN114536312A (en) | 2022-01-28 | 2022-01-28 | Flexible device applied to manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210104352.6A CN114536312A (en) | 2022-01-28 | 2022-01-28 | Flexible device applied to manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114536312A true CN114536312A (en) | 2022-05-27 |
Family
ID=81674084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210104352.6A Pending CN114536312A (en) | 2022-01-28 | 2022-01-28 | Flexible device applied to manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114536312A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202572398U (en) * | 2012-05-07 | 2012-12-05 | 宁德新能源科技有限公司 | Flexible manipulator |
| CN204450588U (en) * | 2014-11-04 | 2015-07-08 | 西安巨浪精密机械有限公司 | A kind of robot anticollision device, collision-prevention device |
| KR101968751B1 (en) * | 2017-12-19 | 2019-08-13 | 전자부품연구원 | Collision sensing apparatus, end effector having the same, robot, and collision detection method using the same |
| CN212445253U (en) * | 2020-06-10 | 2021-02-02 | 山东友泰机床制造有限公司 | Mechanical gripper with axial compensation function |
| CN213890058U (en) * | 2020-12-10 | 2021-08-06 | 山东智造工业技术有限公司 | Floating type mechanical arm clamp |
| CN113442116A (en) * | 2021-06-25 | 2021-09-28 | 上海非夕机器人科技有限公司 | Flexible clamping mechanism for tail end of robot and robot |
| CN214352504U (en) * | 2020-12-30 | 2021-10-08 | 深圳市高晟智能装备有限公司 | Flexible mechanical clamp |
| CN217345486U (en) * | 2022-01-28 | 2022-09-02 | 上海兰钧新能源科技有限公司 | Flexible device applied to manipulator |
-
2022
- 2022-01-28 CN CN202210104352.6A patent/CN114536312A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202572398U (en) * | 2012-05-07 | 2012-12-05 | 宁德新能源科技有限公司 | Flexible manipulator |
| CN204450588U (en) * | 2014-11-04 | 2015-07-08 | 西安巨浪精密机械有限公司 | A kind of robot anticollision device, collision-prevention device |
| KR101968751B1 (en) * | 2017-12-19 | 2019-08-13 | 전자부품연구원 | Collision sensing apparatus, end effector having the same, robot, and collision detection method using the same |
| CN212445253U (en) * | 2020-06-10 | 2021-02-02 | 山东友泰机床制造有限公司 | Mechanical gripper with axial compensation function |
| CN213890058U (en) * | 2020-12-10 | 2021-08-06 | 山东智造工业技术有限公司 | Floating type mechanical arm clamp |
| CN214352504U (en) * | 2020-12-30 | 2021-10-08 | 深圳市高晟智能装备有限公司 | Flexible mechanical clamp |
| CN113442116A (en) * | 2021-06-25 | 2021-09-28 | 上海非夕机器人科技有限公司 | Flexible clamping mechanism for tail end of robot and robot |
| CN217345486U (en) * | 2022-01-28 | 2022-09-02 | 上海兰钧新能源科技有限公司 | Flexible device applied to manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110380315B (en) | Automatic terminal processing equipment and method | |
| CN217345486U (en) | Flexible device applied to manipulator | |
| CN107826739B (en) | Transplanting and taking device capable of realizing internal supporting and external clamping of materials | |
| CN114536312A (en) | Flexible device applied to manipulator | |
| CN214163767U (en) | Multi-carrier synchronous shifting mechanism of electronic detonator production line | |
| CN113453819B (en) | Method and device for automatically switching tool system | |
| CN112960398A (en) | Flexible feeding device | |
| CN218556157U (en) | Transfer device of punching press PIN needle in sensor plug on automobile engine | |
| CN217551056U (en) | Gantry type three-dimensional forging and pressing conveyer | |
| CN216348385U (en) | Length and width dimension detection device | |
| CN215746224U (en) | Five forging and pressing manipulators | |
| CN112222696B (en) | Clamp, clamping method, welding system and welding method | |
| CN211418807U (en) | Multi-station clamping and conveying device | |
| CN211250063U (en) | Feeding and discharging manipulator and device for shaft parts | |
| CN209868619U (en) | Positioning adjusting device | |
| CN219801467U (en) | Pin needle clamping device of connector | |
| CN111216159A (en) | Workpiece spacing adjusting device | |
| CN217050592U (en) | Get material module, transfer device and automation equipment | |
| CN213533498U (en) | Automatic feeding device | |
| CN217798591U (en) | Mechanical arm feeding mechanism with automatic detection function | |
| CN219324964U (en) | Static iron core guide tube assembly mechanism | |
| CN217572963U (en) | Robot base fixing device | |
| CN211539251U (en) | Pipe nozzle assembly machine | |
| CN219542916U (en) | Cam piece self-adaptation centering adjustment frock | |
| CN219286477U (en) | Battery cell interval adjusting mechanism and battery assembly production line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |