CN206475175U - Floating clamp and the robot with it - Google Patents
Floating clamp and the robot with it Download PDFInfo
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- CN206475175U CN206475175U CN201720139442.3U CN201720139442U CN206475175U CN 206475175 U CN206475175 U CN 206475175U CN 201720139442 U CN201720139442 U CN 201720139442U CN 206475175 U CN206475175 U CN 206475175U
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- grasping mechanism
- floating
- elastic component
- floating clamp
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Abstract
The utility model provides a kind of floating clamp and the robot with it, wherein, floating clamp includes：Grasping mechanism, locating dowel, grasping mechanism floating foundation, the first elastic component and mounting assembly；Grasping mechanism and locating dowel are arranged on grasping mechanism floating foundation, first elastic component is distributed in the week side of boss of grasping mechanism floating foundation by mounting assembly, the surrounding side of grasping mechanism floating foundation is leant with the first elastic component, and grasping mechanism floating foundation is moved in the range of the elastic deformation of the first elastic component.When the utility model can effectively solve 2 or multiple mechanisms need the machinery positioning could to meet production precision, due to kinematic accuracy not enough caused by the abnormal conditions that fine positioning is difficult or the machinery positioning such as guide pillar and positioning hole has some setbacks (or stuck), can be fast and accurately and need the mould that cooperates with each other or other structural establishments to realize high accuracy positioning, realize the automatic crawl and assembling of material, parts to capturing or being equipped with required precision etc..
Description
Technical field
The utility model is related to robot application technology field, more particularly to robotic asssembly or mould are implanted into inserts etc.
The automation projects of operating accuracy could be met by needing to use the machinery positionings such as guide pillar and positioning hole to coordinate.
Background technology
At present, with the development of automatic technology, mechanical arm is widely used in industrialized production, with realize material,
The automatic crawl and transmission of part etc..Although kinematic accuracy of the mechanical arm with fixation, but the fit precision of some mechanisms
The precision that can guarantee that far above robotic arm itself, and used with the long-time of mechanical arm, the crawl of mechanical arm and biography
Send the problem of motion has precise decreasing.So as to have impact on the stability of enterprise automation production, the production effect of enterprise is reduced
Rate.
In view of this, in view of the above-mentioned problems, being necessary to propose further solution.
Utility model content
The purpose of this utility model is to provide a kind of floating clamp and carries the robot of floating clamp, existing to overcome
Fine positioning is bad caused by precision present in technology is not enough or the problems such as excessive wear.
To realize above-mentioned utility model purpose, the utility model provides a kind of floating clamp, and it includes：It is grasping mechanism, fixed
Position post, grasping mechanism floating foundation, the first elastic component and mounting assembly；
The grasping mechanism and locating dowel are arranged on the grasping mechanism floating foundation, and first elastic component passes through institute
State the week side of boss that mounting assembly is distributed in the grasping mechanism floating foundation, the surrounding side of the grasping mechanism floating foundation and institute
The first elastic component is stated to lean, and the grasping mechanism floating foundation is carried out in the range of the elastic deformation of first elastic component
It is mobile.
As the improvement of floating clamp of the present utility model, the quantity of the grasping mechanism is one or more, the crawl
Distribution of Institutions is in floating foundation.
As the improvement of floating clamp of the present utility model, the quantity of the locating dowel is 1 or many, the gripper
Structure and locating dowel are distributed on floating foundation according to the workpiece form Design of cooperation.
As the improvement of floating clamp of the present utility model, the grasping mechanism is arranged at gripper by the second elastic component
On structure floating foundation, the radial direction of the elastic deformation direction of second elastic component along the grasping mechanism.
As the improvement of floating clamp of the present utility model, the end face of the locating dowel is the curved surface of evagination.
As the improvement of floating clamp of the present utility model, the mounting assembly includes the first installation frame and second and installed
Frame, first installation frame and the second installation frame are distributed in the week side of boss of the grasping mechanism floating foundation, and described
One installation frame is located between the grasping mechanism floating foundation and the second installation frame, and first elastic component is installed on described
In first installation frame and the second installation frame.
As the improvement of floating clamp of the present utility model, the floating clamp also includes installation pedestal, the installation group
Part is fixed in the installation pedestal.
As the improvement of floating clamp of the present utility model, the floating clamp also includes cover plate, and the cover plate is installed on
In the mounting assembly, the edge of the grasping mechanism floating foundation is contained in the sky between the installation pedestal and cover plate
Between in.
To realize above-mentioned utility model purpose, the utility model provides a kind of robot, and it includes mechanical arm and floating
Fixture, the floating clamp is floating clamp as described above, and the floating clamp is installed on the end of the mechanical arm.
As the improvement of robot of the present utility model, the robot also includes adpting flange, and the floating clamp leads to
Cross the end that the adpting flange is installed on the mechanical arm.
Compared with prior art, the beneficial effects of the utility model are：Floating clamp of the present utility model effectively solves 2
Or multiple mechanisms are when needing the machinery positioning could to meet production precision, due to kinematic accuracy not enough caused by fine positioning it is difficult or
The machinery positioning such as guide pillar and positioning hole have some setbacks (stuck) the problem of.Floating clamp of the present utility model can be fast and accurately sum
Need the mould or other structural establishments that cooperate with each other to realize high accuracy positioning, realize the thing to capturing or being equipped with required precision
The work such as the automatic crawl and assembling of material, parts etc., it is ensured that the stability of enterprise automation production, improve enterprise
Production efficiency.
Brief description of the drawings
Fig. 1 is the schematic perspective view of an embodiment of floating clamp of the present utility model；
Fig. 2 removes the schematic perspective view after cover plate for floating clamp in Fig. 1；
Fig. 3 is the schematic perspective view of an embodiment of robot of the present utility model.
Embodiment
The utility model is described in detail shown each embodiment below in conjunction with the accompanying drawings, but it should explanation,
These embodiments are not limitation of the utility model, and those of ordinary skill in the art are according to these embodiment institute works
Energy, method or equivalent transformation or replacement in structure, are belonged within protection domain of the present utility model.
As shown in Figure 1, 2, floating clamp 1 of the present utility model includes：Grasping mechanism 10, locating dowel 20, grasping mechanism are floated
Moving base 30, the first elastic component 40 and mounting assembly 50.
The grasping mechanism 10 is used for the crawl for realizing material, part etc..The grasping mechanism can include absorption and folder
The mode such as take.Specifically, the grasping mechanism 10 is arranged on the grasping mechanism floating foundation 30, is disposably taken to realize
Multiple materials or part are taken, the quantity of the grasping mechanism 10 can be one or more.It is described to grab as a kind of embodiment
The quantity for taking mechanism 10 is four (or other quantity), in order to avoid being influenced each other between four grasping mechanisms 10, four
The grasping mechanism 10 is separately positioned, it is preferable that four grasping mechanisms 10 be distributed at the corner location of rectangle (or according to
Actual conditions design arrangement).
The locating dowel 20, which is used to realize in floating clamp crawl and assembly material or part, to be accurately positioned, and then
Improve crawl or the assembly precision of the floating clamp.Specifically, the locating dowel 20 is arranged at the grasping mechanism floating base
On seat 30, when floating clamp moves to material or part region, the locating dowel 20 moves to the attached of positioning hole simultaneously
Closely, material or the part region offers the positioning hole that can be engaged with the locating dowel 20.So as to when the crawl
When mechanism floating foundation 30 has the error in allowed band, by the positioning between the locating dowel 20 and positioning hole, it can entangle
The error that just described grasping mechanism floating foundation 30 is present, makes it float to accurate crawl position, and then realize material, part
Deng accurate crawl or assembling.
Further, in order that obtaining the grasping mechanism floating foundation 30 has regulation surplus, first elastic component 40
The week side of boss of the grasping mechanism floating foundation 30 is distributed in by the mounting assembly 50, while the grasping mechanism floating foundation
30 surrounding side leans with first elastic component 40, and the grasping mechanism floating foundation 30 is in first elastic component
Moved in the range of 40 elastic deformation.In this way, when the locating dowel 20 is realized by the positioning hole and positioned, it is described to grab
Mechanism floating foundation 30 is taken to be moved under the drive of the locating dowel 20, so as to eliminate grasping mechanism 10 and the thing being crawled
The error on position between material or part.Preferably, positioning for convenience between the locating dowel 20 and the positioning hole
Coordinate, the end face of the locating dowel 20 is the curved surface of evagination, so facilitates the locating dowel 20 to slip into the positioning hole.
In addition, when the grasping mechanism 10 capture material, part when, in order to avoid the grasping mechanism 10 damage by pressure material,
Part, the grasping mechanism 10 has the elastic allowance of radial direction.To achieve these goals, the grasping mechanism 10 passes through
Second elastic component is arranged on grasping mechanism floating foundation 30, and the elastic deformation direction of second elastic component is along the gripper
The radial direction of structure 10.
As shown in Fig. 2 first elastic component 40 realizes the installation of itself by the mounting assembly 50.Specifically, institute
Stating mounting assembly 50 includes the first installation frame 51 and the second installation frame 52, and first installation frame 51 and second installs side
Frame 52 is distributed in the week side of boss of the grasping mechanism floating foundation 30, and first installation frame 51 is floating positioned at the grasping mechanism
Between the installation frame 52 of moving base 30 and second, first elastic component 40, which is installed on first installation frame 51 and second, pacifies
On rim frame 52.
In addition, the floating clamp also includes installation pedestal 60, the mounting assembly 50 is fixed on the installation pedestal 60
On.Meanwhile, the floating clamp also includes cover plate 70, and the cover plate 70 is installed in the mounting assembly 50, the gripper
The edge of structure floating foundation 30 is contained in the space between the installation pedestal 60 and cover plate 70.So as to the crawl
Mechanism floating foundation 30 is only moved in the range of the elastic deformation of first elastic component 40, and will not drop and
The movement of radial direction.
As shown in figure 3, based on floating clamp 1 as described above, the utility model also provides a kind of robot 2, and it includes
Mechanical arm 200 and floating clamp, the floating clamp are floating clamp 1 as described above, and the floating clamp 1 is installed on institute
State the end of mechanical arm 200.So as to which the floating clamp 1 can move to material or zero under the drive of the mechanical arm 200
Part region, realizes the crawl of material or part.The robot also includes adpting flange 300, and the floating clamp 1 passes through
The adpting flange 300 is installed on the end of the mechanical arm 200.
In summary, floating clamp of the present utility model, which effectively solves 2 or multiple mechanisms, needs machinery positioning to expire
During foot production precision, due to kinematic accuracy not enough caused by fine positioning is difficult or the machinery positioning such as guide pillar and positioning hole has some setbacks
The problem of (stuck).Floating clamp of the present utility model can be fast and accurately and need the mould that cooperates with each other or other mechanisms
Equipment realizes high accuracy positioning, realizes automatic crawl and the dress of material, parts to capturing or being equipped with required precision etc.
With grade work, it is ensured that the stability of enterprise automation production, the production efficiency of enterprise is improved.
It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of without departing substantially from spirit or essential attributes of the present utility model, can realize that this practicality is new in other specific forms
Type.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, this practicality is new
The scope of type limits by appended claims rather than described above, it is intended that the equivalency fallen in claim is contained
All changes in justice and scope are included in the utility model.Any reference in claim should not be considered as limitation
Involved claim.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It may be appreciated other embodiment.
Claims (10)
1. a kind of floating clamp, it is characterised in that the floating clamp includes：Grasping mechanism, locating dowel, grasping mechanism floating base
Seat, the first elastic component and mounting assembly；
The grasping mechanism and locating dowel are arranged on the grasping mechanism floating foundation, and first elastic component passes through the peace
Arrangement is distributed in the week side of boss of the grasping mechanism floating foundation, the surrounding side of the grasping mechanism floating foundation and described the
One elastic component is leant, and the grasping mechanism floating foundation is moved in the range of the elastic deformation of first elastic component
It is dynamic.
2. floating clamp according to claim 1, it is characterised in that the quantity of the grasping mechanism is one or more, institute
Grasping mechanism is stated to be distributed in floating foundation.
3. floating clamp according to claim 2, it is characterised in that the quantity of the locating dowel is 1 or many, described
Grasping mechanism and locating dowel are distributed on floating foundation according to the workpiece form Design of cooperation.
4. floating clamp according to claim 1, it is characterised in that the grasping mechanism is arranged at by the second elastic component
On grasping mechanism floating foundation, the radial direction of the elastic deformation direction of second elastic component along the grasping mechanism.
5. floating clamp according to claim 1, it is characterised in that the end face of the locating dowel is the curved surface of evagination.
6. floating clamp according to claim 1, it is characterised in that the mounting assembly includes the first installation frame and the
Two installation frames, first installation frame and the second installation frame are distributed in the week side of boss of the grasping mechanism floating foundation, and
First installation frame is located between the grasping mechanism floating foundation and the second installation frame, and first elastic component is installed
In in first installation frame and the second installation frame.
7. floating clamp according to claim 1, it is characterised in that the floating clamp also includes installation pedestal, described
Mounting assembly is fixed in the installation pedestal.
8. floating clamp according to claim 7, it is characterised in that the floating clamp also includes cover plate, the cover plate
Be installed in the mounting assembly, the edge of the grasping mechanism floating foundation be contained in the installation pedestal and cover plate it
Between space in.
9. a kind of robot, it is characterised in that the robot includes mechanical arm and floating clamp, and the floating clamp is such as
Floating clamp described in any one of claim 1 ~ 8, the floating clamp is installed on the end of the mechanical arm.
10. robot according to claim 9, it is characterised in that the robot also includes adpting flange, the floating
Fixture is installed on the end of the mechanical arm by the adpting flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720139442.3U CN206475175U (en) | 2017-02-16 | 2017-02-16 | Floating clamp and the robot with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720139442.3U CN206475175U (en) | 2017-02-16 | 2017-02-16 | Floating clamp and the robot with it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206475175U true CN206475175U (en) | 2017-09-08 |
Family
ID=59747924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720139442.3U Active CN206475175U (en) | 2017-02-16 | 2017-02-16 | Floating clamp and the robot with it |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206475175U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737608A (en) * | 2017-02-16 | 2017-05-31 | 戴大棋 | Floating clamp and the robot with it |
| CN113182889A (en) * | 2021-05-06 | 2021-07-30 | 江苏威马悦达智能装备有限公司 | High-precision positioning system and positioning method for connecting rod machining feeding |
-
2017
- 2017-02-16 CN CN201720139442.3U patent/CN206475175U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737608A (en) * | 2017-02-16 | 2017-05-31 | 戴大棋 | Floating clamp and the robot with it |
| CN113182889A (en) * | 2021-05-06 | 2021-07-30 | 江苏威马悦达智能装备有限公司 | High-precision positioning system and positioning method for connecting rod machining feeding |
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