CN110539322A

CN110539322A - Self-leveling manipulator

Info

Publication number: CN110539322A
Application number: CN201910738690.3A
Authority: CN
Inventors: 周静; 陈伟星
Original assignee: Kunshan Able Robotics Co Ltd
Current assignee: Kunshan Able Robotics Co Ltd
Priority date: 2019-08-12
Filing date: 2019-08-12
Publication date: 2019-12-06

Abstract

The invention discloses a self-leveling manipulator which comprises a connecting plate and a clamping jaw assembly, wherein the clamping jaw assembly comprises a clamping jaw base, a pair of clamping jaws, a driving cylinder and an elastic leveling contact connected to the clamping jaw base; a supporting plate is arranged above the clamping jaw assembly, and the clamping jaw assembly is fixedly connected with the supporting plate; the upper working surface of the supporting plate is supported with a plurality of first floating springs, the first floating springs are connected with a bearing seat plate through first linear bearings, and the bearing seat plate is relatively and fixedly connected with the connecting plate; the elastic leveling contact comprises a second floating spring, a second linear bearing and an elastic contact, the upper end of the second floating spring is connected with the second linear bearing, and the lower end of the second floating spring is connected with the elastic contact; the second linear bearing is fixedly connected with the clamping jaw base through the extension plate. The invention can automatically level according to the stress condition of the floating spring, and can ensure that the lower surface of the workpiece is completely attached to the placing plane even if the workpiece is inclined, thereby effectively protecting the workpiece, avoiding the collision and deformation of the workpiece and improving the production yield of the workpiece.

Description

Self-leveling manipulator

Technical Field

The invention relates to a manipulator, in particular to a self-leveling manipulator, and belongs to the technical field of mechanical equipment.

Background

With the continuous development of industry, the production demand of parts in the mechanical field is increasing day by day, and due to a plurality of factors such as the continuous increase of wages of workers and the like, the labor-intensive production and processing can not meet the development demand of enterprises. For this reason, in the production and processing of parts, more and more enterprises are beginning to introduce automatic production equipment, and a robot is widely used in various fields as one of the equipments for automatically transporting workpieces. However, the manipulator has a self-leveling function at present, so that the lower surface of a workpiece cannot be completely attached to a placing plane in the workpiece clamping and transporting process, and a certain corner of the workpiece and the placing plane are deformed or damaged in the collision process, so that the quality inspection of the workpiece is unqualified, and the production cost is increased.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a self-leveling manipulator which has a self-leveling function and can effectively protect workpieces.

in order to achieve the purpose, the technical scheme adopted by the invention is as follows: a self-leveling manipulator comprises a connecting plate and a clamping jaw assembly, wherein the clamping jaw assembly comprises a clamping jaw base, a pair of clamping jaws connected to the clamping jaw base and a clamping jaw driving mechanism for driving the pair of clamping jaws to clamp a workpiece, and the clamping jaw base is also connected with an elastic leveling contact; a supporting plate is arranged above the clamping jaw assembly, and the clamping jaw assembly is fixedly connected with the supporting plate; the upper working surface of the supporting plate is supported with a plurality of first floating springs; the first floating spring is connected with a seat plate through a first linear motion system, and the seat plate is fixedly connected with the connecting plate relatively.

Furthermore, the elastic leveling contact comprises a second floating spring, a second linear motion system and an elastic contact, the upper end of the second floating spring is connected with the second linear motion system, and the lower end of the second floating spring is connected with the elastic contact; the second linear motion system is fixedly connected with the clamping jaw base through the extension plate.

Preferably, the first linear motion system and/or the second linear motion system is a linear bearing.

Furthermore, the clamping jaw assemblies are at least provided with two groups, a respective supporting plate is arranged above each clamping jaw assembly, and the connecting plate is fixedly connected with the supporting plate of one group of clamping jaw assemblies through a connecting piece.

preferably, the support plate is i-shaped.

Preferably, each support plate is supported with four first floating springs which are symmetrically distributed at four corners of the I-shaped support plate.

Preferably, the jaw drive mechanism comprises a cylinder.

Furthermore, an extension plate is arranged on the clamping jaw base and extends along the direction away from the clamping jaw, and the elastic leveling contact is arranged on the extension plate.

Compared with the prior art, the invention has the following beneficial effects: the first floating spring and the elastic leveling contact are arranged, so that the compression amount of each floating spring can be adjusted according to the reaction force generated when the workpiece is contacted with the placing plane, automatic leveling is realized, the lower surface of the workpiece can be completely attached when the workpiece is contacted with the placing plane even if the clamped workpiece is in an inclined state, the workpiece is prevented from being in hard contact with the placing plane, the workpiece is prevented from being collided and deformed, and the yield of the workpiece is improved; set up two sets of clamping jaw assemblies at least, can once accomplish and be no less than snatching of two work pieces, can obviously improve work efficiency.

Drawings

Fig. 1 is a schematic structural diagram of a self-leveling manipulator according to an embodiment of the present invention;

FIG. 2 is another schematic structural view of FIG. 1;

In the figure: 1. a connecting plate; 2. a jaw assembly; 2a, a clamping jaw base; 2b, a clamping jaw; 2c, a cylinder; 3. A support plate; 4. an elastic leveling contact; 4a, a second floating spring; 4b, a second linear motion system; 4c, an elastic contact; 5. a first floating spring; 6. a first linear motion system; 7. a seat plate; 9. an extension plate.

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

As shown in fig. 1 and 2, the self-leveling manipulator provided by the embodiment of the present invention includes at least two clamping jaw assemblies 2, a connecting plate 1 and a base plate 7 fixedly connected to the connecting plate 1, wherein the clamping jaw assemblies 2 are connected to form a whole through the base plate 7, and are connected to a manipulator whole driving mechanism through the connecting plate 1, so as to implement synchronous motion of each part of the manipulator.

The clamping jaw assembly 2 comprises a clamping jaw base 2a, a pair of clamping jaws and a clamping jaw driving mechanism, wherein the clamping jaws are connected to the clamping jaw base 2a respectively, and the clamping jaw driving mechanism drives the two clamping jaws to be close to each other so as to realize workpiece grabbing. A supporting plate 3 is fixed above each clamping jaw component 2, a plurality of first floating springs 5 are supported between the supporting plate 3 and the seat plate 7, and the first floating springs 5 are connected with the seat plate 7 through a first linear motion system 6. More specifically, the support plate 3 is i-shaped, and four first floating springs 5 are symmetrically distributed at four corners of the support plate 3. The first linear motion system 6 can be a linear bearing, which ensures that the first floating spring 5 is compressed or stretched in a linear direction. The clamping jaw driving mechanism can be selected from a cylinder 2 c.

The clamping jaw base 2a is also connected with an extension plate 9, the extension plate 9 extends towards the direction far away from the pair of clamping jaws, and the extension plate 9 is provided with an elastic leveling contact 4. The elastic leveling contact 4 comprises a second floating spring 4a, a second linear bearing and an elastic contact 4c, the upper end of the second floating spring 4a is connected with a second linear motion system 4b, the lower end of the second floating spring 4a is connected with the elastic contact 4c, and the second linear motion system 4b is connected on the extension plate 9. Similarly, the second linear motion system 4b may be a linear bearing.

According to the embodiment of the invention, the first floating spring 5 and the elastic leveling contact 4 can adjust the compression amount of each floating spring according to the reaction force generated when the workpiece is contacted with the placing plane, so that automatic leveling is realized, even if the clamped workpiece is in an inclined state, the lower surface of the workpiece can be completely attached to the placing plane when the clamped workpiece is contacted with the placing plane, the workpiece is prevented from being in hard contact with the placing plane, the workpiece is prevented from being deformed due to collision, and the yield of the workpiece is improved;

After the workpiece is grabbed, the elastic leveling contact 4 can be abutted against the part of the workpiece extending beyond the clamping jaw, when the lower surface of the workpiece is contacted with the placing plane, the elastic leveling contact 4 is matched with the clamping jaw to ensure that the lower surface of the workpiece is completely attached to the placing plane, the workpiece is prevented from being in hard contact with the placing plane, the workpiece is prevented from being deformed due to collision, and the yield of the workpiece is improved.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims

1. The self-leveling manipulator is characterized by comprising a connecting plate and a clamping jaw assembly, wherein the clamping jaw assembly comprises a clamping jaw base, a pair of clamping jaws connected to the clamping jaw base and a clamping jaw driving mechanism for driving the pair of clamping jaws to clamp a workpiece, and the clamping jaw base is also connected with an elastic leveling contact; a supporting plate is arranged above the clamping jaw assembly, and the clamping jaw assembly is fixedly connected with the supporting plate; the upper working surface of the supporting plate is supported with a plurality of first floating springs; the first floating spring is connected with a seat plate through a first linear motion system, and the seat plate is fixedly connected with the connecting plate relatively.

2. the self-leveling manipulator according to claim 1, wherein the elastic leveling contact comprises a second floating spring, a second linear motion system and an elastic contact, the upper end of the second floating spring is connected with the second linear motion system, and the lower end of the second floating spring is connected with the elastic contact; the second linear motion system is fixedly connected with the clamping jaw base through the extension plate.

3. A self-levelling manipulator according to claim 2, wherein the first and or second linear motion systems are linear bearings.

4. The self-leveling manipulator according to claim 1, wherein the gripper assemblies are arranged in at least two sets, a respective support plate is arranged above each gripper assembly, and the connecting plate is fixedly connected with the support plate of one set of the gripper assemblies through a connecting piece.

5. The self-leveling manipulator according to any one of claims 1 to 4, wherein the support plate is I-shaped.

6. The self-leveling manipulator according to claim 5, wherein four first floating springs are supported on each support plate and symmetrically distributed at four corners of the I-shaped support plate.

7. The self-leveling robot of claim 1, wherein the jaw drive mechanism comprises a cylinder.

8. The self-leveling manipulator according to claim 1, wherein an extension plate is provided on the jaw base, the extension plate extends in a direction away from the jaws, and the resilient leveling contacts are provided on the extension plate.