CN111687878A - Floating self-adaptive structure device of robot arm - Google Patents
Floating self-adaptive structure device of robot arm Download PDFInfo
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- CN111687878A CN111687878A CN202010494910.5A CN202010494910A CN111687878A CN 111687878 A CN111687878 A CN 111687878A CN 202010494910 A CN202010494910 A CN 202010494910A CN 111687878 A CN111687878 A CN 111687878A
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- 230000002457 bidirectional effect Effects 0.000 claims abstract description 13
- 230000003044 adaptive effect Effects 0.000 claims 4
- 238000009434 installation Methods 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000001125 extrusion Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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Classifications
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- 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
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- 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
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a floating self-adaptive structure device of a robot hand. Comprises a rotary floating device, a front floating device, a rear floating device, a left floating device and a right floating device; one end of the rotary floating device is arranged at the end part of a six-shaft flange of the manipulator, the other end of the rotary floating device is provided with a front floating device and a rear floating device, the front floating device and the rear floating device are provided with a left floating device and a right floating device, and the left floating device and the right floating device are provided with a three-jaw chuck; the rotary floating device comprises a fixed flange, a fixed balance plate, a rotary ball head shaft and two rotary floating plates; the front and rear floating devices comprise a large cylinder, a push plate, a bidirectional combined sliding block, a front and rear guide rail and a left and right guide rail; the left floating device and the right floating device comprise small cylinders, hemispherical heads and floating plates. The invention realizes the error adjustment during workpiece installation, compensates the tiny error of a robot hand, realizes flexible installation, improves the automatic installation of shaft parts, improves the production efficiency and reduces the labor intensity of workers.
Description
Technical Field
The invention relates to an internal driving structure device at the tail end of a manipulator in the field of intelligent assembly, in particular to a floating self-adaptive structure device of the manipulator, which is used for automatic installation of shaft parts.
Background
Along with the development of domestic economy, the labor resources are increasingly deficient, the production batch is increasingly large, the required automation level is higher and higher, most parts are manually installed at present, and even if a manipulator is used, the rigid extrusion occurs when the shaft parts are extruded and loaded due to positioning errors and machining errors, so that the assembly fails. The invention effectively provides two angle compensations for the manipulator and two displacement compensations to realize flexible installation, thereby improving the success of automatic assembly.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a floating self-adaptive structure device of a robot hand.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention comprises a rotary floating device, a front floating device, a rear floating device, a left floating device and a right floating device; one end of the rotary floating device is installed at the end part of a six-shaft flange of the manipulator, the other end of the rotary floating device is provided with a front floating device and a rear floating device, the front floating device and the rear floating device are provided with a left floating device and a right floating device, and the left floating device and the right floating device are provided with a three-jaw chuck.
The rotary floating device comprises a fixed flange, a fixed balance plate, a rotary ball head shaft, a first rotary floating plate and a second rotary floating plate; the fixed flange is fixedly arranged at the end part of the six-shaft flange, the fixed balance plate is fixed on the fixed flange, the center of the fixed balance plate is fixedly connected with the root part of the rotary ball head shaft, two symmetrical sides of the spherical end part of the rotary ball head shaft are respectively fixed with a circular convex shaft as a rotary moving head, the sides of the two rotary moving heads are respectively provided with a first rotary floating plate and a second rotary floating plate, and the first rotary floating plate and the second rotary floating plate are fixedly connected through a connecting rod; the first rotary floating plate and the second rotary floating plate are respectively provided with a hemispherical groove at one side close to the spherical end part of the rotary ball head shaft, and two hemispherical parts of the spherical end part of the rotary ball head shaft are respectively embedded in the hemispherical grooves of the first rotary floating plate and the second rotary floating plate to form spherical hinge connection; meanwhile, strip-shaped through grooves are formed in the middle of the hemispherical groove walls of the first rotary floating plate and the second rotary floating plate, the strip-shaped through grooves of the first rotary floating plate and the second rotary floating plate are located on the same plane, and rotary moving heads on two sides are respectively embedded in the strip-shaped through grooves of the hemispherical grooves of the first rotary floating plate and the second rotary floating plate; the four corners of the fixed balance plate are respectively provided with a floating balance cylinder, the output end of each floating balance cylinder is in contact connection with one corner of the first rotating floating plate or the second rotating floating plate through a rotating contact head, the first rotating floating plate and the second rotating floating plate are fixedly connected to the intermediate connecting plate at the end surfaces far away from the fixed balance plate, and the intermediate connecting plate is provided with a front floating device and a rear floating device.
The front and rear floating devices comprise large cylinders, push plates, bidirectional combined sliding blocks, front and rear guide rails and left and right guide rails; the two large cylinders are arranged on the middle connecting plate through large cylinder supports, the output ends of the large cylinders are fixedly connected with the middle parts of the respective push plates, and two-way combined sliding blocks are fixedly arranged on two sides of each push plate; two parallel guide rails are arranged on two sides of the middle connecting plate and are used as front and rear guide rails, and one end of the bidirectional combined slide block on two sides of the push plate corresponding to each big cylinder is respectively embedded on the two guide rails of the front and rear guide rails and moves along the front and rear guide rails; two parallel guide rails are arranged on one end face, close to the front floating device and the rear floating device, of the floating plate of the left floating device and the right floating device and serve as left and right guide rails, the other ends of the two-way combined sliding blocks on two sides of the pushing plate corresponding to one large cylinder are embedded on one guide rail of the left and right guide rails and move along the left and right guide rails, and the other ends of the two-way combined sliding blocks on two sides of the pushing plate corresponding to the other large cylinder are embedded on the other guide rail of the.
The left floating device and the right floating device comprise small air cylinders, hemispherical heads and floating plates, the four corners of one end face of the floating device are provided with the small air cylinders through air cylinder supports, the output rods of the small air cylinders are fixed with the hemispherical heads, the hemispherical heads of the four small air cylinders are connected to the side faces of the four corners of the intermediate connecting plate in a propping mode, and the floating plates are fixedly provided with three-jaw chucks on the end faces of the floating device far away from the front floating device and the rear floating device.
The output ends of the four floating balance cylinders are respectively connected with two corners of one end surface of the rotary floating plate close to the outer side and two corners of the two end surfaces of the rotary floating plate close to the outer side through respective rotary contact heads.
The front and rear guide rails and the left and right guide rails are arranged along the axial direction perpendicular to the rotary ball head shaft.
The output rods of the small cylinders are axially arranged in the direction parallel to the left and right guide rails.
The invention has flexible connection between the manipulator and the clamping claw, realizes a structure of rotary floating and two displacement floating, thereby realizing error adjustment during workpiece installation, making up for tiny errors of the manipulator, and realizing flexible self-adaptive installation and movement.
The invention has the beneficial effects that:
the invention can realize flexible automatic assembly of shaft parts, when small errors occur in shaft hole matching, the robot can automatically adjust through the floating self-adaptive device, ensure accurate matching of shaft holes, ensure successful assembly, improve the accuracy of flexible assembly, reduce manual intervention and improve the assembly precision and efficiency.
The flexible structure device arranged between the manipulator and the clamping jaws improves the automatic installation of shaft parts, improves the production efficiency and reduces the labor intensity of workers.
Drawings
Fig. 1 is a three-dimensional view of the invention as a whole.
FIG. 2 is a front view of the rotary floatation device of the present invention;
FIG. 3 is a top view of the front and rear floating devices of the present invention;
FIG. 4 is a front view of the left and right floatation mechanism of the present invention;
fig. 5 is a three-dimensional view of a portion of a rotary floatation device (including a rotary displacement head and a rotary floatation plate).
In the figure: a rotary floating device A, a front and rear floating device B and a left and right floating device C; 1. the device comprises six-axis flanges, 2, a fixed flange, 3, a fixed balance plate, 4, a floating balance cylinder, 5, a rotary contact head, 6, a first rotary floating plate, 7, an intermediate connecting plate, 8, a rotary moving head, 9, a second rotary floating plate, 10, a rotary ball head shaft, 11, a large cylinder support, 12, a large cylinder, 13, a push plate, 14, a bidirectional combined slide block, 15, a front guide rail, a rear guide rail, 16, a left guide rail, a right guide rail, 17, a small cylinder, 18, a hemispherical head, 19, a cylinder support, 20, a floating plate and 21 three-jaw chucks.
Detailed Description
The invention is further illustrated by the following figures and examples.
The invention is arranged at the tail end of a manipulator, comprises a rotary floating device, a front floating device, a rear floating device and a left floating device and a right floating device, and mainly achieves accurate assembly by adaptively adjusting the degree of freedom of an assembly workpiece in each direction.
As shown in fig. 1, one end of a rotary floating device a is mounted on the end of a six-axis flange 1 of a manipulator, the other end of the rotary floating device a is mounted with a front and rear floating device B, the front and rear floating device B is mounted with a left and right floating device C, and the left and right floating device C is mounted with a three-jaw chuck 21.
As shown in fig. 2, the rotary floating device a comprises a fixed flange 2, a fixed balance plate 3, a rotary ball head shaft 10, a first rotary floating plate 6 and a second rotary floating plate 9; the fixed flange 2 is fixedly arranged at the end part of the six-shaft flange 1, the fixed balance plate 3 is fixed on the fixed flange 2, the center of the fixed balance plate 3 is fixedly arranged and connected with the root part of the rotary ball head shaft 10, the rotary ball head shaft 10 is axially vertical to the fixed balance plate 3, the root part of the rotary ball head shaft 10 is rod-shaped, the end part of the rotary ball head shaft 10 is spherical, a circular convex shaft is fixed at two symmetrical sides of the spherical end part of the rotary ball head shaft 10 and is used as a rotary moving head 8, the diameter of the circular convex shaft is smaller than that of the spherical end part of the rotary ball head shaft 10, the connecting line direction of the two rotary moving heads 8 is vertical to the axial direction of the rotary ball head shaft 10, a first rotary floating plate 6 and a second rotary floating plate 9 are respectively arranged at the side parts of the two rotary moving heads 8, the first rotary floating plate 6 and the second rotary floating plate 9 are also respectively positioned at two symmetrical sides of the spherical end, the first rotary floating plate 6 and the second rotary floating plate 9 are fixedly connected through a connecting rod.
The first rotary floating plate 6 and the second rotary floating plate 9 are respectively provided with a hemispherical groove at one side close to the spherical end part of the rotary ball head shaft 10, and two hemispherical parts of the spherical end part of the rotary ball head shaft 10 are respectively embedded in the hemispherical grooves of the first rotary floating plate 6 and the second rotary floating plate 9 to form spherical hinge connection; meanwhile, the middle parts of the hemispherical groove walls of the first rotary floating plate 6 and the second rotary floating plate 9 are provided with strip-shaped through grooves, the strip-shaped through grooves of the first rotary floating plate 6 and the second rotary floating plate 9 are positioned on the same plane, and the rotary moving heads 8 on two sides are respectively embedded in the strip-shaped through grooves of the hemispherical grooves of the first rotary floating plate 6 and the second rotary floating plate 9; the rotary ball head shaft 10 is connected with the two rotary moving heads 8, the two rotary moving heads 8 are clamped into the first rotary floating plate 6 and the second rotary floating plate 9, the first rotary floating plate 6 and the second rotary floating plate 9 are connected and fixed with each other to form a ball hole groove, and the spherical end part of the rotary ball head shaft 10 is embedded in the middle of the ball hole groove.
The four corners of the fixed balance plate 3 are respectively provided with a floating balance cylinder 4, the output end of each floating balance cylinder 4 is in contact connection with one corner of the first rotating floating plate 6 or the second rotating floating plate 9 through a rotating contact head 5, the output ends of the four floating balance cylinders 4 are in contact connection with two corners of the outer side of the end face of the first rotating floating plate 5 and the end face of the first rotating floating plate 6 and two corners of the outer side of the end face of the second rotating floating plate 9 respectively, the first rotating floating plate 6 and the second rotating floating plate 9 are fixedly connected to an intermediate connecting plate 7 on the end face far away from the fixed balance plate 3, and the intermediate connecting plate 7 is provided with a front floating device and a rear floating device.
After a workpiece receives force, the middle connecting plate 7 is driven to rotate along the rotary ball head shaft 10, then the four floating balance cylinders 4 extend out and are connected to four corners formed by the first rotary floating plate 6 and the second rotary floating plate 9 integrally through rotary extrusion, the first rotary floating plate 6 and the second rotary floating plate 9 are driven to integrally rotate around the spherical hinge under the limit of the rotary moving head 8, and new balance is achieved. The intermediate connection plate 7 will bring the three-jaw chuck 21 into rotation together. The whole of the rear intermediate connecting plate 7 connected by the rotary floating device and the left and right floating devices and the front and rear floating devices connected with the same has two degrees of freedom of rotary follow-up.
As shown in fig. 3, the front and rear floating devices B comprise a large cylinder 12, a push plate 13, a bidirectional combined slide block 14, a front and rear guide rail 15 and a left and right guide rail 16; two large cylinders 12 are arranged on two side parts of the middle connecting plate 7 through large cylinder brackets 11, the output ends of the large cylinders 12 are fixedly connected with the middle parts of respective push plates 13, and two sides of each push plate 13 are fixedly provided with two-way combined slide blocks 14; two parallel guide rails are arranged on the middle connecting plate 7 and positioned at two sides of the large cylinders 12 and used as front and rear guide rails 15, and one end of a bidirectional combined slide block 14 at two sides of the push plate 13 corresponding to each large cylinder 12 is respectively embedded on the two guide rails of the front and rear guide rails 15 and moves along the front and rear guide rails 15; two parallel guide rails are arranged in the middle of the floating plate 20 of the left and right floating device C, which is close to one end face of the front and rear floating device B, and are used as left and right guide rails 16, wherein the other ends of the bidirectional combined sliders 14 on two sides of the push plate 13 corresponding to one large cylinder 12 are embedded on one guide rail of the left and right guide rails 16 and move along the left and right guide rails 16, and the other ends of the bidirectional combined sliders 14 on two sides of the push plate 13 corresponding to the other large cylinder 12 are embedded on the other guide rail of the left and right guide rails 16 and; the front-rear guide rail 15 and the left-right guide rail 16 are each arranged in the axial direction perpendicular to the rotary ball shaft 10.
When the workpiece is acted by force, the large cylinder 12 moves in a telescopic way along one direction, and the other large cylinder 12 moves in a telescopic way along the other direction, namely, the floating plate 20 is driven to move along the front and rear guide rails 15 by the stretching of one cylinder and the compression of the other cylinder, so that new balance is realized. This allows the left and right guide rails 16 to move, which also drives the three-jaw chuck 21 to move. Therefore, the left floating device C, the right floating device C, the floating plate thereof and the three-jaw chuck have the freedom of back and forth follow-up through the front and back floating devices.
As shown in fig. 4, the left and right floating device C includes a small cylinder 17, a semi-spherical head 18 and a floating plate 20, the four corners of the floating plate 20 near one end face of the front and rear floating device B are all provided with the small cylinder 17 through a cylinder bracket 19, the four small cylinders 17 are distributed at the four corners of the floating plate 20, output rods of the small cylinders 17 are axially arranged in a direction parallel to the left and right guide rails 16, the semi-spherical heads 18 are fixed on the output rods of the small cylinders 17, the semi-spherical heads 18 of the four small cylinders 17 are all abutted to the side faces of the four corners of the intermediate connecting plate 7, a three-jaw chuck 21 is fixedly arranged on one end face of the floating plate 20 far away from the front and rear floating device B, and a workpiece is.
After the workpiece is acted by force, the two small air cylinders 17 move the other two small air cylinders 17 to move towards the other direction, and new balance is realized by stretching the two air cylinders and compressing the two air cylinders. This effects movement of the floating plate 20 and also movement of the three-jaw chuck 21. The three-jaw chuck 21 thus has the freedom to follow left and right by the front and rear floating means.
The working process of the invention is as follows:
the mechanical arm grabs shaft parts to carry out hole-aligning assembly, when slight deviation is generated between the shaft center and the hole center, the mechanical arm continues to apply pressing force downwards, at the moment, rotational offset can be generated between the rotary ball head shaft 10 and the rotary moving head 8, the mutual action of the floating balance cylinder 4, the rotary floating plate 6 and the rotary floating plate 9 ensures that only slight rotational offset is generated between the rotary ball head shaft 10 and the rotary moving head 8, meanwhile, the large cylinder 12 and the small cylinder 17 are respectively acted on the middle connecting plate 7, the middle connecting plate 7 is fixedly provided with the bidirectional combined slide block 14, the front guide rail 15, the rear guide rail 15, the left guide rail 16 and the right guide rail 16, the mechanical arm can have floating freedom degrees in the front-back and left-right directions, and the three-jaw chuck 21 can adjust the posture of the mechanical arm under the.
Therefore, the flexible automatic assembling device can realize flexible automatic assembling of shaft parts, improve the flexible assembling accuracy, reduce manual intervention and improve the assembling precision and efficiency.
The foregoing detailed description is intended to illustrate and not limit the invention, which is intended to be within the spirit and scope of the appended claims, and any changes and modifications that fall within the true spirit and scope of the invention are intended to be covered by the following claims.
Claims (5)
1. The utility model provides a floating self-adaptation constructional device of robot which characterized in that: comprises a rotary floating device (A), a front floating device (B), a rear floating device (B) and a left floating device and a right floating device (C); one end of the rotary floating device (A) is installed at the end part of a six-axis flange (1) of the manipulator, the other end of the rotary floating device (A) is provided with a front floating device (B) and a rear floating device (B), the front floating device (B) and the rear floating device (B) are provided with a left floating device (C) and a right floating device (C), and a three-jaw chuck (21) is installed on the left floating device (C) and.
2. The robot floating adaptive structure device according to claim 1, wherein:
the rotary floating device (A) comprises a fixed flange (2), a fixed balance plate (3), a rotary ball head shaft (10), a first rotary floating plate (6) and a second rotary floating plate (9); the fixed flange (2) is fixedly installed at the end part of the six-axis flange (1), the fixed balance plate (3) is fixed on the fixed flange (2), the center of the fixed balance plate (3) is fixedly installed and connected with the root part of the rotary ball head shaft (10), two symmetrical sides of the spherical end part of the rotary ball head shaft (10) are respectively fixed with a circular convex shaft as a rotary moving head (8), the side parts of the two rotary moving heads (8) are respectively provided with a rotary floating plate I (6) and a rotary floating plate II (9), and the rotary floating plate I (6) and the rotary floating plate II (9) are fixedly connected through a connecting rod; one sides of the first rotary floating plate (6) and the second rotary floating plate (9) close to the spherical end part of the rotary ball head shaft (10) are respectively provided with a hemispherical groove, and two hemispherical parts of the spherical end part of the rotary ball head shaft (10) are respectively embedded in the hemispherical grooves of the first rotary floating plate (6) and the second rotary floating plate (9) to form spherical hinge connection; meanwhile, strip-shaped through grooves are formed in the middle of the hemispherical groove walls of the first rotary floating plate (6) and the second rotary floating plate (9), the strip-shaped through grooves of the first rotary floating plate (6) and the second rotary floating plate (9) are located on the same plane, and the rotary moving heads (8) on the two sides are respectively embedded in the strip-shaped through grooves of the hemispherical grooves of the first rotary floating plate (6) and the second rotary floating plate (9); four corners of the fixed balance plate (3) are respectively provided with a floating balance cylinder (4), the output end of each floating balance cylinder (4) is in contact connection with one corner of the rotary floating plate I (6) or the rotary floating plate II (9) through a rotary contact head (5), the rotary floating plate I (6) and the rotary floating plate II (9) are respectively and fixedly connected to the middle connecting plate (7) at the end surfaces far away from the fixed balance plate (3), and the middle connecting plate (7) is provided with a front floating device and a rear floating device;
the front and rear floating devices (B) comprise a large cylinder (12), a push plate (13), a bidirectional combined sliding block (14), a front and rear guide rail (15) and a left and right guide rail (16); two large cylinders (12) are arranged on the middle connecting plate (7) through a large cylinder bracket (11), the output ends of the large cylinders (12) are fixedly connected with the middle parts of respective push plates (13), and two-way combined sliding blocks (14) are fixedly arranged on two sides of each push plate (13); two parallel guide rails are arranged on two sides of the middle connecting plate (7) and serve as front and rear guide rails (15), one end of a bidirectional combined sliding block (14) on two sides of a push plate (13) corresponding to each large cylinder (12) is embedded on the two guide rails of the front and rear guide rails (15) respectively and moves along the front and rear guide rails (15); two parallel guide rails are arranged on one end face, close to the front floating device and the rear floating device (B), of a floating plate (20) of the left floating device and the right floating device (C) to serve as left and right guide rails (16), the other ends of bidirectional combined sliders (14) on two sides of a push plate (13) corresponding to one large cylinder (12) are embedded on one guide rail of the left and right guide rails (16) and move along the left and right guide rails (16), and the other ends of bidirectional combined sliders (14) on two sides of the push plate (13) corresponding to the other large cylinder (12) are embedded on the other guide rail of the left and right guide rails (16) and move along the left and right guide;
the left floating device (C) and the right floating device (C) comprise small air cylinders (17), hemispherical heads (18) and floating plates (20), the four corners of one end face of the front floating device and the rear floating device (B) of the floating plates (20) are respectively provided with one small air cylinder (17) through air cylinder supports (19), the output rods of the small air cylinders (17) are fixedly provided with the hemispherical heads (18), the hemispherical heads (18) of the four small air cylinders (17) are respectively connected to the side faces of the four corners of the middle connecting plate (7) in a propping mode, and the floating plates (20) are fixedly provided with three-jaw chucks (21) at one end face of the front floating device (B) and the rear floating.
3. The robot floating adaptive structure device according to claim 2, wherein:
the output ends of the four floating balance cylinders (4) are respectively connected with two angles of the end surface of the first rotating floating plate (6) close to the outer side and two angles of the end surface of the second rotating floating plate (9) close to the outer side through respective rotating contact heads (5).
4. The robot floating adaptive structure device according to claim 2, wherein:
the front guide rail, the rear guide rail (15), the left guide rail and the right guide rail (16) are arranged along the axial direction perpendicular to the rotary ball head shaft (10).
5. The robot floating adaptive structure device according to claim 2, wherein:
the output rod of the small air cylinder (17) is axially arranged along the direction parallel to the left and right guide rails (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010494910.5A CN111687878B (en) | 2020-06-03 | 2020-06-03 | Floating self-adaptive structure device of robot arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010494910.5A CN111687878B (en) | 2020-06-03 | 2020-06-03 | Floating self-adaptive structure device of robot arm |
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| CN111687878A true CN111687878A (en) | 2020-09-22 |
| CN111687878B CN111687878B (en) | 2023-10-31 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112692533A (en) * | 2020-12-16 | 2021-04-23 | 杭州徐睿机械有限公司 | Robot floating holding deviation rectifying fine throwing mechanism and operation method thereof |
| CN113697477A (en) * | 2021-08-13 | 2021-11-26 | 杭州徐睿机械有限公司 | Attitude-fixing material taking mechanism for tobacco pipe type special-shaped joint |
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| CN109773812A (en) * | 2018-12-07 | 2019-05-21 | 南京埃斯顿智能系统工程有限公司 | A kind of robot Special flexible fixture of automatic quick change |
| CN109648595A (en) * | 2019-01-14 | 2019-04-19 | 南京航空航天大学 | A kind of end flexible mechanical grabbing device for industrial robot |
| CN109794954A (en) * | 2019-02-21 | 2019-05-24 | 长春艾希技术有限公司 | A kind of floating platform |
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| CN112692533A (en) * | 2020-12-16 | 2021-04-23 | 杭州徐睿机械有限公司 | Robot floating holding deviation rectifying fine throwing mechanism and operation method thereof |
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