CN111687878B - Floating self-adaptive structure device of robot arm - Google Patents
Floating self-adaptive structure device of robot arm Download PDFInfo
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- CN111687878B CN111687878B CN202010494910.5A CN202010494910A CN111687878B CN 111687878 B CN111687878 B CN 111687878B CN 202010494910 A CN202010494910 A CN 202010494910A CN 111687878 B CN111687878 B CN 111687878B
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- 230000002457 bidirectional effect Effects 0.000 claims abstract description 12
- 230000003044 adaptive effect Effects 0.000 claims 3
- 238000009434 installation Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005188 flotation Methods 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
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
-
- 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. Comprises a rotary floating device, a front floating device, a rear floating device and a left floating device and a right floating device; one end of the rotary floating device is arranged at the end part of the six-axis 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-back floating device comprises a large cylinder, a push plate, a bidirectional combined sliding block, a front guide rail, a rear guide rail and a left guide rail and a right guide rail; the left and right floating device comprises a small cylinder, a semi-ball head and a floating plate. The invention realizes the error adjustment during the installation of the workpiece, compensates the small error of the robot arm to realize the flexible installation, improves the automatic installation of the shaft parts, improves the production efficiency and reduces the labor intensity of staff.
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 automatically installing shaft parts.
Background
Along with the development of domestic economy, labor resources are increasingly scarce, production batches are larger and larger, required automation level is also higher and higher, most parts are installed manually at present, and even if a mechanical arm is used, rigid extrusion occurs when shaft parts are extruded and installed due to positioning errors and machining errors, so that assembly fails. The invention effectively provides two angle compensations for the manipulator, and two displacement compensations 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.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the invention comprises a rotary floating device, a front floating device, a rear floating device and a left floating device and a right floating device; one end of the rotary floating device is arranged at the end part of the six-axis 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-axis flange, the fixed balance plate is fixed on the fixed flange, the center of the fixed balance plate is fixedly arranged and connected with the root part of the rotary ball head shaft, the symmetrical two sides of the spherical end part of the rotary ball head shaft are both fixedly provided with a circular protruding shaft as a rotary moving head, the side parts of the two rotary moving heads are respectively provided with a rotary floating plate I and a rotary floating plate II, and the rotary floating plate I and the rotary floating plate II are fixedly connected through a connecting rod; the rotary floating plate I and the rotary floating plate II are respectively provided with a hemispherical groove at one side close to the spherical end part of the rotary ball head shaft, and the two hemispherical parts of the spherical end part of the rotary ball head shaft are respectively embedded in the hemispherical grooves of the rotary floating plate I and the rotary floating plate II to form spherical hinge connection; meanwhile, strip-shaped through grooves are formed in the middle of the groove walls of the hemispheric grooves 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 the rotary moving heads on two sides are respectively embedded in the strip-shaped through grooves of the hemispheric 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 connected 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 respectively fixedly connected to an intermediate connecting plate at the end face far away from the fixed balance plate, and the intermediate connecting plate is provided with a front-back floating device.
The front-back floating device comprises a large cylinder, a push plate, a bidirectional combined sliding block, a front guide rail, a rear guide rail, a left guide rail and a right guide rail; the two large cylinders are mounted on the middle connecting plate through large cylinder brackets, the output ends of the large cylinders are fixedly connected with the middle parts of respective pushing plates, and two sides of each pushing plate are fixedly provided with two-way combined sliding blocks; two parallel guide rails are arranged on two sides of the middle connecting plate and serve as front guide rails and rear guide rails, and one end of a bidirectional combined sliding block on two sides of a push plate corresponding to each large cylinder is respectively embedded on the two guide rails of the front guide rail and the rear guide rail and moves along the front guide rail and the rear guide rail; the floating plates of the left and right floating devices are provided with two parallel guide rails as left and right guide rails near one end face of the front and rear floating devices, wherein the other end of the bidirectional combined sliding block at two sides of the push plate corresponding to one large cylinder is embedded on one guide rail of the left and right guide rails and moves along the left and right guide rails, and the other end of the bidirectional combined sliding block at two sides of the push plate corresponding to the other large cylinder is embedded on the other guide rail of the left and right guide rails and moves along the left and right guide rails.
The left-right floating device comprises a small air cylinder, a semi-ball head and a floating plate, wherein the small air cylinder is arranged at four corners of one end face of the floating plate, which is close to the front-back floating device, through an air cylinder bracket, the semi-ball head is fixed on an output rod of the small air cylinder, the semi-ball heads of the four small air cylinders are all propped against the side faces of four corners of a middle connecting plate, and the floating plate is fixedly arranged at one end face of the floating plate, which is far away from the front-back floating device.
The output ends of the four floating balance cylinders are respectively connected with two angles of one end face of the rotating floating plate, which are close to the outer side, and two angles of the two end faces of the rotating floating plate, which are close to the outer side, through respective rotating contact heads.
The front guide rail, the rear guide rail, the left guide rail and the right guide rail are all arranged along the axial direction perpendicular to the rotating ball head shaft.
The output rod of the small cylinder is axially arranged along the direction parallel to the left guide rail and the right guide rail.
The invention has flexible connection between the manipulator and the clamping device, and realizes a structure of one rotary floating and two displacement floating, thereby realizing error adjustment during workpiece installation, compensating small errors of the manipulator and realizing flexible self-adaptive installation and movement.
The invention has the beneficial effects that:
according to the invention, flexible automatic assembly of shaft parts can be realized, when a small error occurs in shaft hole matching, the robot can automatically adjust through the floating self-adaptive device, the accurate matching of the shaft holes is ensured, the assembly is successful, the flexible assembly accuracy is improved, the manual intervention is reduced, and the assembly precision and efficiency are improved.
According to the flexible structure device arranged between the mechanical arm and the clamping jaw, the automatic installation of shaft parts is improved, the production efficiency is improved, and the labor intensity of staff is reduced.
Drawings
Fig. 1 is a three-dimensional view of the entire present invention.
FIG. 2 is a front view of the rotational floatation device of the present invention;
FIG. 3 is a top view of the front and rear flotation device of the present invention;
FIG. 4 is a front view of the left and right floating device of the present invention;
fig. 5 is a three-dimensional view of a partial piece of the rotational float device (including the rotational moving head and the rotational float 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. six-axis flange, 2, fixed flange, 3, fixed balance plate, 4, floating balance cylinder, 5, rotary contact head, 6, rotary floating plate one, 7, middle connecting plate, 8, rotary moving head, 9, rotary floating plate two, 10, rotary ball head shaft, 11, big cylinder bracket, 12, big cylinder, 13, push plate, 14, two-way combined slide block, 15, front and rear guide rail, 16, left and right guide rail, 17, small cylinder, 18, semi-ball head, 19, cylinder bracket, 20, floating plate, 21 three-jaw chuck.
Detailed Description
The invention is further described below with reference to the drawings and examples.
The invention is arranged at the tail end of a manipulator, and the specific implementation comprises a rotary floating device, a front floating device, a rear floating device and a left floating device and a right floating device, and the accurate assembly is realized mainly by adaptively adjusting the degrees of freedom of an assembly workpiece in all directions.
As shown in fig. 1, one end of a rotary floating device a is mounted at the end of a six-axis flange 1 of the manipulator, the other end of the rotary floating device a is mounted with a front and rear floating device B, a left and right floating device C is mounted on the front and rear floating device B, and a three-jaw chuck 21 is mounted on the left and right floating device C.
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-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 arranged and connected with the root part of the rotary ball head shaft 10, the axial direction of the rotary ball head shaft 10 is perpendicular to the fixed balance plate 3, the root part of the rotary ball head shaft 10 is in a rod shape, the end part of the rotary ball head shaft 10 is spherical, two symmetrical sides of the spherical end part of the rotary ball head shaft 10 are both fixedly provided with a circular protruding shaft serving as a rotary movable head 8, the diameter of the circular protruding 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 movable heads 8 is perpendicular to the axial direction of the rotary ball head shaft 10, the first rotary floating plate 6 and the second rotary floating plate 9 are respectively arranged at the two symmetrical sides of the spherical end part of the rotary ball head shaft 10, the first rotary floating plate 6 and the second rotary floating plate 9 are spliced into a rectangular plate like of the fixed balance plate 3, and the first rotary floating plate 6 and the second rotary floating plate 9 are fixedly connected through connecting rods.
The first rotary floating plate 6 and the second rotary floating plate 9 are respectively provided with hemispherical grooves at one side close to the spherical end part of the rotary ball head shaft 10, and the 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 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 fixedly connected, a ball hole groove is formed in the middle of the rotary ball head shaft, and the spherical end 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 connected with one corner of the first rotary floating plate 6 or the second rotary floating plate 9 through a rotary contact head 5, the output ends of the four floating balance cylinders 4 are respectively connected with two corners of the end face of the first rotary floating plate 6, which are close to the outer side, and two corners of the end face of the second rotary floating plate 9, which are close to the outer side through the rotary contact head 5 and the two corners of the end face of the first rotary floating plate 6, the end face of the second rotary floating plate 9, which is far from the fixed balance plate 3, are fixedly connected to the middle connecting plate 7, and the middle connecting plate 7 is provided with a front-back floating device.
When the workpiece receives the action of force, the intermediate connecting plate 7 is driven to rotate along the rotary ball head shaft 10, then through rotary extrusion, the four floating balance cylinders 4 extend out of four corners integrally formed by the first rotary floating plate 6 and the second rotary floating plate 9, and the first rotary floating plate 6 and the second rotary floating plate 9 are driven to integrally rotate around the ball joint under the limit of the rotary moving head 8, so that new balance is realized. The intermediate connection plate 7 will drive the three-jaw chuck 21 to rotate together. The rear intermediate connection plate 7 is thereby connected by means of a rotary float device, and the whole of the left-right float device and the front-rear float device, which are connected by means of a mounting thereof, has two degrees of freedom of rotation follow-up.
As shown in fig. 3, the front-rear floating device B includes a large cylinder 12, a push plate 13, a bidirectional combined slide block 14, front-rear guide rails 15, and left-right guide rails 16; two large cylinders 12 are mounted 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 sliding blocks 14; two parallel guide rails are arranged on the two sides of the large air cylinder 12 on the middle connecting plate 7 and serve as front guide rails and rear guide rails 15, and one end of a two-way combined sliding block 14 on the two sides of a push plate 13 corresponding to each large air cylinder 12 is embedded on the two guide rails of the front guide rail and the rear guide rail 15 respectively and moves along the front guide rail and the rear guide rail 15; the floating plate 20 of the left and right floating device C is provided with two parallel guide rails as left and right guide rails 16 near the middle of one end surface of the front and rear floating device B, wherein the other end of the bidirectional combined sliding block 14 at the two sides of the push plate 13 corresponding to one large cylinder 12 is embedded on one guide rail of the left and right guide rails 16 and moves along the left and right guide rails 16, and the other end of the bidirectional combined sliding block 14 at the two sides of the push plate 13 corresponding to the other large cylinder 12 is embedded on the other guide rail of the left and right guide rails 16 and moves along the left and right guide rails 16; the front and rear guide rails 15 and the left and right guide rails 16 are each arranged in an axial direction perpendicular to the rotary ball shaft 10.
When the workpiece receives the force, the large air cylinder 12 stretches and moves along one direction, and the other large air cylinder 12 stretches and moves along the other direction, namely, the floating plate 20 is driven to move along the front guide rail 15 by stretching one air cylinder and compressing the other air cylinder, so that new balance is realized. This achieves the movement of the left and right guide rails 16 while also driving the movement of the three-jaw chuck 21. The left and right floating devices C, the floating plates and the three-jaw chuck thereof have the freedom degree of forward and backward follow-up through the forward and backward floating devices.
As shown in fig. 4, the left-right floating device C comprises a small air cylinder 17, a semi-ball head 18 and a floating plate 20, wherein the small air cylinder 17 is installed at four corners of one end face of the floating plate 20 near the front-back floating device B through an air cylinder bracket 19, the small air cylinder 17 is distributed at four corners of the floating plate 20, output rods of the small air cylinder 17 are axially arranged along a direction parallel to the left-right guide rail 16, the semi-ball head 18 is fixed on the output rods of the small air cylinder 17, the semi-ball heads 18 of the four small air cylinders 17 are all propped against the side faces of four corners of the part middle connecting plate 7, the floating plate 20 is fixedly provided with a three-jaw chuck 21 at one end face far away from the front-back floating device B, and the tail end of the three-jaw chuck 21 is clamped with a workpiece.
When the workpiece receives force, the two small air cylinders 17 move the other two small air cylinders 17 to move in the other directions, and new balance is realized by stretching the two air cylinders and compressing the two air cylinders. This effects movement of the float plate 20 and also moves the three-jaw chuck 21. The three-jaw chuck 21 thus has a degree of freedom of left-right follow-up by the front-rear floating means.
The working process of the invention is as follows:
the manipulator grabs the axle type part and carries out hole assembly, when producing slight deviation between axle center and the hole center, the manipulator continues to exert the compressive force downwards, can produce rotatory offset between rotatory bulb axle 10 and the rotatory movable head 8 this moment, floating balance cylinder 4 and rotatory floating plate 6 and rotatory floating plate 9 interact and guarantee to produce only slight rotatory offset between rotatory bulb axle 10 and the rotatory movable head 8, big cylinder 12 and little cylinder 17 are acted on the intermediate junction plate 7 respectively simultaneously, be fixed with two-way combination slider 14 on the intermediate junction plate 7, front and back guide rail 15 and control guide rail 16, can make self have 4 upper floating degrees of freedom in a left and right directions, three-jaw chuck 21 can adjust self gesture under the combined action of three devices and make axle type part accurately install in the shaft hole.
Therefore, the invention can realize flexible automatic assembly of shaft parts, improve flexible assembly accuracy, reduce manual intervention and improve assembly precision and efficiency.
The foregoing detailed description is provided to illustrate the present invention and not to limit the invention, and any modifications and changes made to the present invention within the spirit of the present invention and the scope of the appended claims fall within the scope of the present invention.
Claims (4)
1. The utility model provides a self-adaptation constructional device floats to robot which characterized in that: comprises a rotary floating device (A), a front-back floating device (B) and a left-right floating device (C); one end of the rotary floating device (A) is arranged at the end part of the six-axis flange (1) of the manipulator, the other end of the rotary floating device (A) is provided with a front floating device and a rear floating device (B), the front floating device and the rear floating device (B) are provided with a left floating device and a right floating device (C), and the left floating device and the right floating device (C) are provided with a three-jaw chuck (21);
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-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 arranged at the root part of the rotary ball head shaft (10), the symmetrical two sides of the spherical end part of the rotary ball head shaft (10) are respectively fixed with a circular protruding shaft to serve as rotary moving heads (8), the side parts of the two rotary moving heads (8) are respectively provided with a first rotary floating plate (6) and a second rotary floating plate (9), and the first rotary floating plate (6) and the second rotary floating plate (9) are fixedly connected through connecting rods; 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 the 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 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); a floating balance cylinder (4) is arranged at four corners of the fixed balance plate (3), the output end of each floating balance cylinder (4) is connected with one corner of the first rotary floating plate (6) or the second rotary floating plate (9) through a rotary contact head (5), the first rotary floating plate (6) and the second rotary floating plate (9) are fixedly connected to an intermediate connecting plate (7) at the end face far away from the fixed balance plate (3), and a front-back floating device is arranged on the intermediate connecting plate (7);
the front-back floating device (B) comprises a large cylinder (12), a push plate (13), a bidirectional combined sliding block (14), a front-back guide rail (15) and a left-right guide rail (16); two large cylinders (12) are mounted on 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 pushing plates (13), and two sides of each pushing plate (13) are fixedly provided with two-way combined sliding blocks (14); two parallel guide rails are arranged on two sides of the middle connecting plate (7) and serve as front guide rails and rear guide rails (15), and one end of a bidirectional combined sliding block (14) on two sides of a push plate (13) corresponding to each large cylinder (12) is respectively embedded on the two guide rails of the front guide rails and the rear guide rails (15) and moves along the front guide rails and the rear guide rails (15); two parallel guide rails are arranged on one end surface of a floating plate (20) of the left and right floating device (C) close to a front floating device (B) and a rear floating device (B) to serve as left and right guide rails (16), wherein the other end of a bidirectional combined sliding block (14) on two sides of a push plate (13) corresponding to one large cylinder (12) is embedded on one guide rail of the left and right guide rails (16) and moves along the left and right guide rails (16), and the other end of the bidirectional combined sliding block (14) on two sides of the push plate (13) corresponding to the other large cylinder (12) is embedded on the other guide rail of the left and right guide rails (16) and moves along the left and right guide rails (16);
the left-right floating device (C) comprises small air cylinders (17), semi-ball heads (18) and a floating plate (20), wherein the small air cylinders (17) are installed at four corners of one end face of the floating plate (20) close to the front-rear floating device (B) through air cylinder supports (19), the semi-ball heads (18) are fixed on output rods of the small air cylinders (17), the semi-ball heads (18) of the four small air cylinders (17) are all propped against the side faces of four corners of a middle connecting plate (7), and the floating plate (20) is fixedly provided with a three-jaw chuck (21) at one end face far away from the front-rear floating device (B).
2. The robotic floating adaptive structure device of claim 1, wherein:
the output ends of the four floating balance cylinders (4) are respectively connected with two angles of the outer side of the end surfaces of the rotary contact head (5) and the first rotary floating plate (6) and two angles of the outer side of the end surface of the second rotary floating plate (9) in a contact manner.
3. The robotic floating adaptive structure device of claim 1, wherein:
the front guide rail (15) and the rear guide rail (16) are arranged along the axial direction perpendicular to the rotary ball head shaft (10).
4. The robotic floating adaptive structure device of claim 1, wherein:
the output rod of the small cylinder (17) is axially arranged along the direction parallel to the left guide rail (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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| Publication Number | Publication Date |
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| CN111687878A CN111687878A (en) | 2020-09-22 |
| CN111687878B true CN111687878B (en) | 2023-10-31 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112692533B (en) * | 2020-12-16 | 2022-02-01 | 杭州徐睿机械有限公司 | Robot floating holding deviation rectifying fine throwing mechanism and operation method thereof |
| CN113697477B (en) * | 2021-08-13 | 2022-12-13 | 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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| CN208662986U (en) * | 2018-08-22 | 2019-03-29 | 三和盛电子科技（东莞）有限公司 | A kind of floating assembly manipulator |
| CN109128756A (en) * | 2018-10-29 | 2019-01-04 | 武汉联航机电有限公司 | A kind of XY is to separated float clamp mechanism |
| 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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| CN111687878A (en) | 2020-09-22 |
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