CN211362323U - Floating gripper - Google Patents

Abstract

The utility model discloses a float and hold in hand, from top to bottom include in proper order that perpendicular roof beam connecting plate, vertical press board, connecting plate, slider float and hold in hand the body, be provided with a plurality of vertical optical axes between vertical press board and the connecting plate that floats, still be provided with resilient means between vertical press board and the connecting plate that floats, the below that the slider corresponds the connecting plate that floats is provided with the guide rail, is provided with resilient means between slider and the baffle. Because can not just contact to the rigid, the elastic device plays key cushioning effect, because elastic thrust of elastic device, can hug closely the work piece to the lathe main shaft locating surface on, at this moment the lathe main shaft again hugs closely the part, the part position just can not change again, this can solve the part material loading problem that the angle is required.

Description

Floating gripper

Technical Field

The utility model belongs to the technical field of the manipulator is grabbed, especially, relate to a unsteady hand is grabbed.

Background

In the modern life, the most important difference between the mechanical hand grasping and the human arm grasping lies in the flexibility and the strength under the development of the science and technology in the new moon. The manipulator can repeatedly do the same action with the greatest advantage, and the manipulator can never feel tired under the normal condition of the machine, the application of the manipulator can be more and more extensive, the manipulator is high-tech automatic production equipment developed in recent decades, and the operation accuracy and the operation capability in the environment are completed.

After a part is placed on a machining platform of a machine tool by an existing manipulator, the existing manipulator is not provided with a buffer placement device, so that on one hand, the part cannot accurately position a machining point of the machine tool, and the machining error is large; on the other hand, the part just contacts the machined surface of the main shaft of the machine tool, so that mechanical collision type abrasion is easily caused, and the quality of a machined part and the service life of the machine tool are influenced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a unsteady hand is grabbed, has solved current manipulator and has grabbed the in-process that the lathe was laid to the part, owing to do not have buffer function, leads to just can damaging the problem of grabbing to just contacting.

In order to solve the technical problem, the utility model discloses a realize through following technical scheme:

a floating grab comprises a vertical beam connecting plate, a vertical pressing plate, a floating connecting plate, a sliding block and a grab body from top to bottom in sequence, wherein a connecting piece is arranged between the sliding block and the grab body, the grab body is respectively arranged in the transverse direction and the vertical direction of the connecting piece,

a plurality of vertical optical axes are arranged between the vertical pressing plate and the floating connecting plate, the upper end of each vertical optical axis penetrates through the vertical pressing plate and is in sliding fit with the penetrating part of the vertical pressing plate, the lower end of each vertical optical axis is fixedly connected with the floating connecting plate, and an elastic device is further arranged between the vertical pressing plate and the floating connecting plate;

the slider is provided with the guide rail corresponding to the below of the connecting plate that floats, the side of slider is provided with the baffle, the baffle is fixed in the downside of the connecting plate that floats, be provided with resilient means between slider and the baffle.

Further, a floating grab, the resilient means comprises a spring.

Further, a float and hold in hand, vertical pressure board all is provided with the sensor with the slider corresponds the anti-side direction of resilient means.

Further, a position that floats is held in hand, vertical optical axis corresponds the through hole is provided with the axle sleeve.

The utility model discloses following beneficial effect has:

(1) because the elastic device plays a key role in buffering when the hand grab is not just in rigid contact with the machine tool, the hand grab body grabs the part and then downwards presses the part by aligning with the positioning surface of the machine tool, and because the elastic device is arranged between the vertical pressing plate and the floating connecting plate, when the hand grab contacts the machine tool, the floating connecting plate has a buffering function of moving in the opposite direction, and the hand grab is prevented from being just in rigid contact with the machine tool and damaging the hand grab; when the part in the horizontal direction is installed, the hand-held body moves after encountering a rigid body, and due to the elastic thrust of the elastic device, a workpiece can be tightly attached to the positioning surface of the machine tool spindle, and at the moment, the machine tool spindle tightly holds the part, so that the position of the part can not be changed, and the problem of part feeding with angular requirements can be solved.

(2) The spring is in a compressed state in an original state, and the vertical beam connecting plate and the floating connecting plate are pushed upwards and downwards to ensure that the relative positions of the two plates are fixed and the point position of the manipulator is correct;

(3) the vertical beam connecting plate moves downwards, after the part is hit by the hand grab body, the vertical beam can continue to move downwards, the sensor is separated from the detection block, the system can receive signals when the detection block cannot detect the part, the vertical beam cannot move downwards at the moment, and the position is soft and limited.

Of course, it is not necessary for any particular product to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

FIG. 1: the utility model discloses the schematic structure.

In the drawings, the components represented by the respective reference numerals are listed below:

the vertical beam type optical axis sensor comprises a vertical beam connecting plate 1, a vertical pressing plate 2, a floating connecting plate 3, a sliding block 4, a handheld body 5, a connecting piece 51, a vertical optical axis 21, an elastic device 6, a guide rail 41, a baffle plate 42, a spring 61, a sensor 7 and a shaft sleeve 8.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "open hole", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", and the like, indicate positional or positional relationships, are merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the components or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

As shown in fig. 1: a floating grab comprises a vertical beam connecting plate 1, a vertical pressing plate 2, a floating connecting plate 3, a sliding block 4 and a grab body 5 from top to bottom in sequence, wherein a connecting piece 51 is arranged between the sliding block 4 and the grab body 5, the grab body 5 is respectively arranged in the transverse direction and the vertical direction of the connecting piece 51,

a plurality of vertical optical axes 21 are arranged between the vertical pressing plate 2 and the floating connecting plate 3, the vertical optical axes are generally uniformly and regularly arranged and fixed on the floating connecting plate, the number of the vertical optical axes is four, balance is effectively kept, the upper ends of the vertical optical axes 21 penetrate through the vertical pressing plate 2 and are in sliding fit with the penetrating part of the vertical pressing plate 2, the lower ends of the vertical optical axes 21 are fixedly connected with the floating connecting plate 3, and an elastic device 6 is arranged between the vertical pressing plate 2 and the floating connecting plate 3; when the part of vertical direction is installed to needs, vertical pressing plate is vertical pushes down, because the reaction force of part effect, the vertical elastic device between pressing plate and the connecting plate that floats of compression, vertical pressing plate simultaneously and vertical optical axis between sliding fit.

The slider 4 is provided with guide rail 41 corresponding to the below of the floating connecting plate 3, the side of the slider 4 is provided with a baffle 42, the baffle 42 is fixed on the lower side of the floating connecting plate 3, and an elastic device 6 is arranged between the slider 4 and the baffle 42. When parts in the transverse direction need to be installed, the vertical beam connecting plate drives the whole hand grab to move horizontally, when the parts on the hand grab contact the main shaft of the machine tool, the reaction force of the parts and the machine tool makes the sliding block move on the sliding rail, and meanwhile, under the elastic buffering action of the elastic device, the hand grab plays an elastic pressing action on the parts, so that the hand grab is effectively protected from the action force of steel on the part; it should be noted that the baffle is a fixed member, and is used for cooperating with the sliding block to compress the elastic device, and transmitting the force to the sliding block through the elastic device.

In the utility model, if the buffering function of the elastic device is not available, the parts on the gripper body can directly contact the positioning surface of the machine tool, damage the parts and damage the gripper; because can not just contact to rigid coupling, resilient means plays key cushioning effect, at this moment acts as follows, and the body snatchs the part in hand, then aims at the lathe locating surface and pushes down, because be provided with resilient means between vertical pressure board and the floating connection board, so when the contact lathe is grabbed in hand, the floating connection board has the cushioning effect of opposite direction removal, prevents to grab just contact rigid coupling with the lathe in hand, the damage is grabbed in hand.

The pressing action of vertical effect is the same, and when installing the part on the horizontal direction, the body is held in hand and is met rigid body back removal, because resilient means's elastic thrust, can hug closely the work piece to the lathe main shaft locating surface on, at this moment the lathe main shaft is hugged closely the part again, and the part position just can not change again, and this can solve the part material loading problem that the angle is required.

Said elastic means 6 comprise a spring 61. The spring is the tubulose spring, and the installation side that its both ends correspond still is provided with the mounting groove, is favorable to the installation stability.

In the utility model, in the original state, the spring is in a compressed state, and the vertical beam connecting plate and the floating connecting plate are pushed away in the up-and-down direction, so that the relative positions of the two plates are fixed, and the correct position of the manipulator is ensured; wherein the sleeve is favorable to protecting the spring, prevents that the spring from compressing excessively, and the spring is to both sides deformation.

The vertical pressing plate 2 and the sliding block 4 are provided with sensors 7 corresponding to the opposite side directions of the elastic device 6.

The utility model discloses in, erect roof beam connecting plate downstream, after the body hits the part when grabbing, erect the roof beam and can continue downstream, break away from the detection piece when the sensor, detect not then, the system will receive the signal, erect the roof beam this moment and can not down move again, and this position is soft spacing.

Set for compression stroke to sensor addition and be 10mm, during normal use, can use the stroke within 5mm, this 5mm stroke just can be solved and hold the problem just to the steel when grabbing the part, can effectively protect and hold the body.

And a shaft sleeve 8 is arranged at the position of the vertical optical axis 21 corresponding to the through hole.

The utility model discloses in, the axle sleeve the inside can fill emollient, improves the slip effect.

In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims (4)

1. The utility model provides a float and hold in hand, from top to bottom includes in proper order and erects roof beam connecting plate (1), vertical pressure board (2), connecting plate (3), slider (4) and hold in hand body (5) of floating, be provided with connecting piece (51) between slider (4) and the body (5) of holding in hand, hold in hand body (5) and install respectively on the horizontal direction and the vertical direction of connecting piece (51), its characterized in that:

a plurality of vertical optical axes (21) are arranged between the vertical pressing plate (2) and the floating connecting plate (3), the upper ends of the vertical optical axes (21) penetrate through the vertical pressing plate (2) and are in sliding fit with the penetrating part of the vertical pressing plate (2), the lower ends of the vertical optical axes (21) are fixedly connected with the floating connecting plate (3), and an elastic device (6) is arranged between the vertical pressing plate (2) and the floating connecting plate (3);

the slider (4) is provided with guide rail (41) corresponding to the below of the floating connecting plate (3), the side of the slider (4) is provided with a baffle (42), the baffle (42) is fixed on the lower side of the floating connecting plate (3), and an elastic device (6) is arranged between the slider (4) and the baffle (42).

2. The floating handgrip of claim 1, wherein: the elastic means (6) comprise a spring (61).

3. A floating handgrip according to claim 1 or 2, characterized in that: the vertical pressing plate (2) and the sliding block (4) are provided with sensors (7) corresponding to the opposite side directions of the elastic device (6).

4. A floating handgrip according to claim 1 or 2, characterized in that: and a shaft sleeve (8) is arranged at the position of the vertical optical axis (21) corresponding to the through hole.

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