CN207308979U - A kind of flexibly direct writing device mechanism for industrial robot end - Google Patents
A kind of flexibly direct writing device mechanism for industrial robot end Download PDFInfo
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- CN207308979U CN207308979U CN201721290604.XU CN201721290604U CN207308979U CN 207308979 U CN207308979 U CN 207308979U CN 201721290604 U CN201721290604 U CN 201721290604U CN 207308979 U CN207308979 U CN 207308979U
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- Prior art keywords
- ring
- main shaft
- spring washer
- outer cover
- cylinder body
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Abstract
The utility model discloses a kind of flexibly direct writing device mechanism for industrial robot end, including outer cover and main shaft, cylinder body and air spring washer are sequentially installed with inside outer cover, the both ends of main shaft through main shaft after cylinder body and air spring washer are located on the outside of outer cover, fixed between main shaft and cylinder body by supplementary structure, sealing ring is set between the outer round surface of cylinder body and the inner surface of outer cover, is connected inside air spring washer by air duct with the gas-tpe fitting on outer cover.When main shaft receives axial direction or axial force, cylinder body can be moved with main shaft toward air spring washer direction, after air being passed through inside toward air spring washer, so that the rubber ring in air spring washer deforms, by adjusting the pressure of the compressed gas of input, the size of external force suffered by main shaft when swing or axial floating occurs can be changed, realize the part processing to different materials；The utility model enough realizes main shaft in the floating at 360 ° of circumferential direction ± 5 ° angle and the floating of axial direction 9mm so that the processing technology that it can be widely applicable.
Description
Technical field
A kind of flexibly direct writing device mechanism in production automation research field is the utility model is related to, particularly one kind is used for
The flexibly direct writing device mechanism of industrial robot end.
Background technology
Robot (Robot) is the installations of automated execution work.It can not only receive mankind commander, but also can run
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.
It is metalwork and nonmetal parts to have many parts in auto parts and components, and there are hair in process for part
Thorn, and artificial removal is usually used in the prior art, part processing quality is unstable, and working environment endangers people big；Utilize
Rigid blade arbor is directly processed part, is easy to cause the destruction of cutter and scrapping for part.
As robot increasingly popularizes, robot is also used on a large scale in parts industry.However, remove defeathering
It is higher to the precision of robot in the process of thorn, cause the with high costs of robot.Therefore, it is necessary to some flexibly direct writing device machines
Structure, in order to reduce the precision of robot, reduces the cost of robot.
Utility model content
The purpose of this utility model, is to provide a kind of flexibly direct writing device mechanism for industrial robot end, it has
Have the float function of axial and circumferential, installed in robot end, remain to reach in the case where part positioning accuracy is poor compared with
Good processing quality, high-quality, the quick production of part can be realized using robot rapidity and high precision.
The solution that the utility model solves its technical problem is：A kind of flexibly direct writing for industrial robot end
Device mechanism, including outer cover and main shaft, are sequentially installed with cylinder body and air spring washer inside the outer cover, the main shaft passes through cylinder body
It is located at the both ends of main shaft after air spring washer on the outside of outer cover, is fixed between main shaft and cylinder body by supplementary structure, the cylinder body
Sealing ring is set between outer round surface and the inner surface of outer cover, passes through the gas on air duct and outer cover inside the air spring washer
Pipe fitting connects.
Further as above-mentioned technical proposal is improved, and front shroud, the air are disposed with the outside of the supplementary structure
Guide plate is disposed with the outside of spring washer, is formed between the front shroud and guide plate and is used to limit supplementary structure, main shaft and sky
The limit space that gas spring washer in axial direction moves back and forth.
Further as above-mentioned technical proposal is improved, and one end in the air spring washer close to guide plate is disposed with pillar
Sell, the guide groove to match with branch pin is disposed with the outer cover.
Further as above-mentioned technical proposal is improved, be sequentially arranged on the outside of the guide plate installing plate, back shroud and
Back cover, the front shroud outside are disposed with front shroud.
Further as above-mentioned technical proposal is improved, the supplementary structure include being sleeved on main shaft exempt from key axle bush with
And positioned at the oscillating bearing exempted between key axle bush and cylinder body.
Further as above-mentioned technical proposal is improved, and the key axle bush of exempting from includes axle bush inner ring and axle bush outer ring, described
Axle bush inner ring and axle bush outer ring are coordinated by lozenges, and the oscillating bearing includes straight pin, is sleeved on the joint of axle bush outer ring
Inner ring and the joint outer ring being sleeved on outside the inner ring of joint, one end of the straight pin are fixed in the mounting hole of joint inner ring,
The other end of straight pin passes through the location hole of joint outer ring.
Further as above-mentioned technical proposal is improved, in the axle bush inner ring with the matched one end in axle bush outer ring by
Gap is divided into several clamp jaws, and the other end of axle bush inner ring is disposed with caging bolt, and one end of the caging bolt passes through axle bush
Towards the end face of axle bush outer ring after the mounting blocks of inner ring.
Further as above-mentioned technical proposal is improved, and the air spring washer includes two rubber pad rings, two rubber are consolidated
Fixed board, two rubber rings, the inner ring contacted with main shaft and the outer shroud contacted with outer cover, one end of rubber ring are embedded in rubber pad ring
Between outer shroud, the other end of rubber ring is inserted into fixed, two rubbers behind the gap between corresponding rubber fixed plate and inner ring
Air cavity is formed between cushion rubber, inner ring and outer rings, the air cavity is connected by air duct with the gas-tpe fitting on outer cover.
Further as above-mentioned technical proposal is improved, and the air duct includes first passage, second channel and the 3rd
Passage, the first passage are arranged in outer cover, and one end of first passage is blocked by chock plug, and the second channel is arranged in cylinder
In body, the third channel is applied in rubber ring, rubber pad ring and outer shroud, after cylinder body and the rubber ring fitting second channel and
Third channel connects.
The beneficial effects of the utility model are：The utility model is by setting cylinder body and having elastically-deformable air bullet
Pad, when main shaft receives axial direction or axial force, cylinder body can be moved with main shaft toward air spring washer direction, by gas-tpe fitting and
Air duct is toward after being passed through air inside air spring washer so that and the rubber ring in air spring washer deforms, when external force changes,
The deflection of rubber ring also changes correspondingly, and when external force disappears, rubber ring deformation disappears, and recovers reset condition；By adjusting input
Compressed gas pressure, thus it is possible to vary occur to swing or during axial floating external force suffered by main shaft size, realize to difference
The part processing of material；The utility model enough realizes main shaft in the floating at 360 ° of circumferential direction ± 5 ° angle and the floating of axial direction 9mm so that
The utility model can be widely applicable processing technology.In addition, the utility model realizes the clamping of electro spindle by supplementary structure
Circumferentially rotating for electric main shaft is limited with circuit oscillation.
Brief description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described.Obviously, described attached drawing is the part of the embodiment of the utility model, rather than entirely
Portion's embodiment, those skilled in the art without creative efforts, can also obtain it according to these attached drawings
His designing scheme and attached drawing.
Fig. 1 is the structure diagram of the utility model；
Fig. 2 be in Fig. 1 A-A to sectional view；
Fig. 3 is the isometric view of the utility model.
Embodiment
Carried out below with reference to the technique effect of the design of embodiment and attached drawing to the utility model, concrete structure and generation
Clearly and completely describe, to be completely understood by the purpose of this utility model, feature and effect.Obviously, described embodiment
It is the part of the embodiment of the utility model, rather than whole embodiments, the embodiment based on the utility model, the skill of this area
The other embodiment that art personnel are obtained without creative efforts, belongs to the model of the utility model protection
Enclose.In addition, all connection/connection relations being previously mentioned in text, not singly refer to component and directly connect, and refer to can be according to specific reality
Situation is applied, by adding or reducing couple auxiliary, to form more preferably draw bail.
With reference to Fig. 1~Fig. 3, a kind of flexibly direct writing device mechanism for industrial robot end, including outer cover 3 and main shaft
12, it is sequentially installed with cylinder body 4 and air spring washer inside the outer cover 3, the main shaft 12 is through main shaft after cylinder body 4 and air spring washer
12 both ends are located at the outside of outer cover 3, are fixed between main shaft 12 and cylinder body 4 by supplementary structure, the outer round surface of the cylinder body 4 and
Annular seal space is formed between supplementary structure and air spring washer after sealing ring is set between the inner surface of outer cover 3, in the air spring washer
Portion is connected by air duct with the gas-tpe fitting 14 on outer cover 3.Sealing ring is O-ring seal.
By setting cylinder body 4 and air spring washer, when main shaft 12 receives axial direction or axial force, cylinder body 4 can be with main shaft
12 move toward air spring washer direction, and at this time, cylinder body 4 is piston, can be moved back and forth in outer cover 3, pass through gas-tpe fitting 14 and sky
Gas passage is toward after being passed through air inside air spring washer so that and the rubber ring in air spring washer deforms, when external force changes, rubber
The deflection of cushion rubber also changes correspondingly, and when external force disappears, rubber ring deformation disappears, and recovers reset condition；By adjusting input
The pressure of compressed gas, thus it is possible to vary the size of external force suffered by main shaft 12 when swing or axial floating occurs, realizes to difference
The part processing of material；The utility model enough realizes floating and the floating of axial direction 9mm of the main shaft 12 at 360 ° of circumferential direction ± 5 ° angle, makes
Obtain the processing technology that the utility model can be widely applicable.
Preferred embodiment is further used as, front shroud 2, the air spring washer are disposed with the outside of the supplementary structure
Outside be disposed with guide plate 9, between the front shroud 2 and guide plate 9 formed be used for limit supplementary structure, main shaft 12 and sky
The limit space that gas spring washer in axial direction moves back and forth.Electric main shaft in outer cover 3 is limited between front shroud 2 and guide plate 9
12nd, the axial floating scope of key axle bush, oscillating bearing and air spring washer is exempted from.
It is further used as preferred embodiment, one end in the air spring washer close to guide plate 9 is disposed with branch pin
15, the guide groove to match with branch pin 15 is disposed with the outer cover 3.
Preferred embodiment is further used as, the outside of guide plate 9 has been sequentially arranged installing plate 8,10 and of back shroud
Back cover 11, the outside of front shroud 2 are disposed with front shroud 1.Back cover 11 and front shroud 1 are dust cover, and rising prevents external impurities from entering
Effect inside flexibly direct writing device.
Be further used as preferred embodiment, the supplementary structure include being sleeved on main shaft 12 exempt from key axle bush and
Positioned at the oscillating bearing exempted between key axle bush and cylinder body 4.The key axle bush of exempting from includes axle bush inner ring 23 and axle bush outer ring 22, described
Axle bush inner ring 23 and axle bush outer ring 22 are coordinated by lozenges, and the oscillating bearing includes straight pin 19, is sleeved on axle bush outer ring
22 joint inner ring 21 and the joint outer ring 20 being sleeved on outside joint inner ring 21, one end of the straight pin 19 are fixed on joint
In the mounting hole of inner ring 21, the other end of straight pin 19 passes through the location hole of joint outer ring 20.In joint, inner ring 21 can be swung
In the case of, the relative rotation of joint inner ring 21 and joint outer ring 20 is prevented by the cooperation of straight pin 19 and location hole.
Be further used as preferred embodiment, in the axle bush inner ring 23 with 22 matched one end of axle bush outer ring by
Gap is divided into several clamp jaws, and the other end of axle bush inner ring 23 is disposed with caging bolt 24, and one end of the caging bolt 24 is worn
Cross towards the end face of axle bush outer ring 22 after the mounting blocks of axle bush inner ring 23, by axle bush outer ring 22 in the outer surface of axle bush inner ring 23
Slide so that clamp jaw fixes main shaft 12, and caging bolt 24 plays position-limiting action, prevents clamp jaw from crushing main shaft 12.
Preferred embodiment is further used as, the air spring washer includes two rubber pad rings, 7, two rubber fixed plates
70th, two rubber rings 6, the inner ring 71 contacted with main shaft 12 and the outer shroud 5 contacted with outer cover 3, one end of rubber ring 6 are embedded in rubber
Between rubber cushion ring 7 and outer shroud 5, the other end of rubber ring 6 is inserted into the gap between corresponding rubber fixed plate 70 and inner ring 71
After fix, form air cavity between two rubber rings 6, inner ring 71 and outer shroud 5, the air cavity pass through air duct with outer cover 3
Gas-tpe fitting 14 connects.Wherein inner ring 71 coordinates with main shaft 12, and outer shroud 5 coordinates with outer cover 3, when 12 cutter head of main shaft is subject to external force
Effect when, around the pivot of oscillating bearing, rubber ring 6 deforms main shaft 12, when external force changes, the change of rubber ring 6
Shape amount also changes correspondingly, and when external force disappears, the deformation of rubber ring 6 disappears, and recovers reset condition.
Preferred embodiment is further used as, the air duct includes first passage 18, second channel 17 and the 3rd
Passage 16, the first passage 18 are arranged in outer cover 3, and one end of first passage 18 is blocked by chock plug 13, and described second is logical
Road 17 is arranged in cylinder body 4, and the third channel 16 is applied in rubber ring 6, rubber pad ring 7 and outer shroud 5, the cylinder body 4 and rubber
Second channel 17 is connected with third channel 16 after cushion rubber 6 is bonded.It is first logical to enter outer cover 3 for extraneous air transtracheal connector 14
After in road 18, the L-shape second channel 17 in the inside of cylinder body 4 is flowed through, covers air spring washer then into entering after third channel 16
Inside, after adjustment is passed through the pressure of air, controls 6 deformation quantity of rubber ring in air spring washer, and swing or axial occurs to change
The size of external force suffered by main shaft 12 during floating, realizes the part processing to different materials.
Above is illustrated to the better embodiment of the utility model, but the utility model is created and unlimited
In the embodiment, those skilled in the art can also make a variety of on the premise of without prejudice to the utility model spirit
Equivalent modifications or replacement, these equivalent modifications or replacement are all contained in the application claim limited range.
Claims (9)
- A kind of 1. flexibly direct writing device mechanism for industrial robot end, it is characterised in that：It is described including outer cover and main shaft Cylinder body and air spring washer are sequentially installed with inside outer cover, the main shaft is through the both ends of main shaft after cylinder body and air spring washer positioned at outer Cover outside, is fixed by supplementary structure between main shaft and cylinder body, is set between the outer round surface of the cylinder body and the inner surface of outer cover Sealing ring is put, is connected inside the air spring washer by air duct with the gas-tpe fitting on outer cover.
- 2. the flexibly direct writing device mechanism according to claim 1 for industrial robot end, it is characterised in that：It is described auxiliary Help and front shroud be disposed with the outside of structure, be disposed with guide plate on the outside of the air spring washer, the front shroud and guide plate it Between formed be used for limit the limit space that supplementary structure, main shaft and air spring washer in axial direction move back and forth.
- 3. the flexibly direct writing device mechanism according to claim 2 for industrial robot end, it is characterised in that：The sky One end in gas spring washer close to guide plate is disposed with branch pin, and the guide groove to match with branch pin is disposed with the outer cover.
- 4. the flexibly direct writing device mechanism according to claim 2 for industrial robot end, it is characterised in that：It is described to lead Installing plate, back shroud and back cover have been sequentially arranged on the outside of to plate, front shroud is disposed with the outside of the front shroud.
- 5. being used for the flexibly direct writing device mechanism of industrial robot end according to Claims 1 to 4 any one of them, its feature exists In：The supplementary structure includes being sleeved on main shaft exempting from key axle bush and positioned at the joint shaft exempted between key axle bush and cylinder body Hold.
- 6. the flexibly direct writing device mechanism according to claim 5 for industrial robot end, it is characterised in that：It is described to exempt from Key axle bush includes axle bush inner ring and axle bush outer ring, and the axle bush inner ring and axle bush outer ring are coordinated by lozenges, the joint shaft Contract the joint outer ring for including straight pin, being sleeved on the joint inner ring of axle bush outer ring and being sleeved on outside the inner ring of joint, the cylinder One end of pin is fixed in the mounting hole of joint inner ring, and the other end of straight pin passes through the location hole of joint outer ring.
- 7. the flexibly direct writing device mechanism according to claim 6 for industrial robot end, it is characterised in that：The axis Several clamp jaws are divided into by gap with the matched one end in axle bush outer ring in lining inner ring, the other end arrangement of axle bush inner ring is limited Position bolt, one end of the caging bolt through after the mounting blocks of axle bush inner ring towards the end face of axle bush outer ring.
- 8. being used for the flexibly direct writing device mechanism of industrial robot end according to Claims 1 to 4 any one of them, its feature exists In：The air spring washer include two rubber pad rings, two rubber fixed plates, two rubber rings, the inner ring that is contacted with main shaft with And the outer shroud contacted with outer cover, one end of rubber ring are embedded between rubber pad ring and outer shroud, the other end of rubber ring is inserted into phase Fixed behind gap between the rubber fixed plate and inner ring answered, two form air cavity, the gas between rubber ring, inner ring and outer rings Chamber is connected by air duct with the gas-tpe fitting on outer cover.
- 9. the flexibly direct writing device mechanism according to claim 8 for industrial robot end, it is characterised in that：The sky Gas passage includes first passage, second channel and third channel, and the first passage is arranged in outer cover, one end of first passage Blocked by chock plug, the second channel is arranged in cylinder body, and the third channel is applied in rubber ring, rubber pad ring and outer Second channel is connected with third channel after ring, the cylinder body and rubber ring are bonded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721290604.XU CN207308979U (en) | 2017-09-30 | 2017-09-30 | A kind of flexibly direct writing device mechanism for industrial robot end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721290604.XU CN207308979U (en) | 2017-09-30 | 2017-09-30 | A kind of flexibly direct writing device mechanism for industrial robot end |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207308979U true CN207308979U (en) | 2018-05-04 |
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ID=62429002
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721290604.XU Expired - Fee Related CN207308979U (en) | 2017-09-30 | 2017-09-30 | A kind of flexibly direct writing device mechanism for industrial robot end |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207308979U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639242A (en) * | 2017-09-30 | 2018-01-30 | 广州蓝圣智能科技有限公司 | A kind of flexibly direct writing device mechanism for industrial robot end |
| CN109732475A (en) * | 2019-01-24 | 2019-05-10 | 华南理工大学 | Multi-direction floating executing agency |
-
2017
- 2017-09-30 CN CN201721290604.XU patent/CN207308979U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639242A (en) * | 2017-09-30 | 2018-01-30 | 广州蓝圣智能科技有限公司 | A kind of flexibly direct writing device mechanism for industrial robot end |
| CN107639242B (en) * | 2017-09-30 | 2024-04-09 | 沈阳敏能汽车零部件有限公司 | Flexible actuator mechanism for tail end of industrial robot |
| CN109732475A (en) * | 2019-01-24 | 2019-05-10 | 华南理工大学 | Multi-direction floating executing agency |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180504 Termination date: 20190930 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |