CN112276996A

CN112276996A - Flexible unit and mechanical arm applying same

Info

Publication number: CN112276996A
Application number: CN201910676968.9A
Authority: CN
Inventors: 苏鑫; 江儒飞; 朱博君; 梁志安
Original assignee: Foshan Longshen Robot Co Ltd
Current assignee: Foshan Longshen Robot Co Ltd
Priority date: 2019-07-25
Filing date: 2019-07-25
Publication date: 2021-01-29

Abstract

The invention relates to the technical field of robots, and provides a flexible unit and a mechanical arm applying the flexible unit, wherein the flexible unit comprises a fixed plate and a driven plate, a support column, a universal swivel and an elastic connecting piece are arranged between the fixed plate and the driven plate, the driven plate is provided with a through hole sleeved with the support column, the sleeved end of the support column and the through hole is provided with a trapezoidal sleeve, and the trapezoidal sleeve is fastened and fixed with the through hole from the inside of the driven plate; the driven plate is internally provided with a containing seat which is sleeved with the elastic connecting piece, the containing seat is provided with an opening corresponding to the universal swivel, and the elastic connecting piece penetrates out of the opening and is connected with the universal swivel; the driven plate is displaced towards the direction of the universal swivel under the action of external force and is separated from the fixing of the trapezoidal sleeve, and the horizontal angle of the driven plate is adjusted under the steering of the universal swivel. The mechanical arm provided by the invention has the advantages that the workpiece taking angle is effectively expanded on the premise of ensuring the bearing capacity, the workpiece taking mode is optimized, and the performance of the whole machine is improved.

Description

Flexible unit and mechanical arm applying same

Technical Field

The invention relates to the technical field of robots, in particular to a flexible unit and a mechanical arm applying the flexible unit.

Background

With the increasing development of science and technology, in the production and processing operation, the manual assembly line operation originally adopted has been gradually replaced by the full-mechanical automatic production line, and then the human cost is saved, especially in the standardized industrial production field, the high-tech industrial robot equipment has been adopted as the processing node on the production line, the human hand processing is replaced, the modern production and processing are carried out by utilizing the advantages of high stability, large bearing capacity, accurate operation and the like of the industrial robot, and the industrial robot has been gradually popularized to all large-scale full-mechanical automatic production lines.

In the existing full-mechanical automatic production line, the mechanical arm of the industrial robot is the most popular application device, the mechanical arm has good bearing capacity, which cannot be compared by human beings, and the operation is accurate, so long as the corresponding operation flow is set, the mechanical arm can accurately complete actions such as grabbing and conveying. For example, a simple pick-up robot, which has the main function of grabbing and conveying a workpiece to a designated position by a mechanical arm, generally comprises the mechanical arm and a clamping jaw, wherein the mechanical arm is provided with a plurality of turning points, each turning point is provided with a corresponding driver, and multi-angle movement is realized under the action of the drivers; the clamping jaw is used for grabbing a workpiece and conveying the workpiece to a designated position along with the movement of the mechanical arm.

For the movable mode of the mechanical arm driving the clamping jaw, the workpiece is generally grabbed by horizontal translation on an X axis or longitudinal up-and-down movement on a Y axis. However, in practical application, the workpieces are not necessarily placed in order, and the placing angles are not uniform, so that the clamping jaws of the mechanical arms are difficult to grab the workpieces or grab the workpieces unstably, the workpieces are easy to fall off in the conveying process, and particularly when the workpieces have certain weight, the workpieces fall off, damage or potential safety hazards can be caused, and the workpiece placing device is very dangerous.

Disclosure of Invention

The invention aims to provide a flexible unit and a mechanical arm applying the flexible unit, which improve the structure of the mechanical arm, effectively expand a pickup angle on the premise of ensuring the bearing capacity, optimize a pickup mode of the mechanical arm and improve the performance of a robot.

In order to achieve the purpose, the invention adopts the technical scheme that:

a flexible unit is applied to a mechanical arm of an industrial robot and comprises a fixed plate and a driven plate, wherein a supporting column, a universal swivel and an elastic connecting piece are arranged between the fixed plate and the driven plate, the driven plate is provided with a through hole sleeved with the supporting column, a trapezoidal sleeve is arranged at the sleeved end of the supporting column and the through hole, and the trapezoidal sleeve is fastened and fixed with the through hole from the inside of the driven plate; the driven plate is internally provided with a containing seat which is sleeved with the elastic connecting piece, the containing seat is provided with an opening corresponding to the universal swivel, and the elastic connecting piece penetrates out of the opening and is connected with the universal swivel; the driven plate is displaced towards the direction of the universal swivel under the action of external force and is separated from the fixation of the trapezoidal sleeve, and the horizontal angle of the driven plate is adjusted under the steering of the universal swivel.

Furthermore, elastic connecting piece includes spliced pole, spring and mounting flange, the spliced pole is followed the trompil is worn out with universal turning is connected, mounting flange is fixed in the holding seat, spring elastic connection is in between spliced pole and the mounting flange. And the driven plate can pass through the elastic connecting piece and be elastically connected with the universal swivel, and elastically displace along the connecting column towards the direction of the universal swivel under the action of external force.

Furthermore, a convex ring which gradually expands from top to bottom is arranged on the connecting column, and the convex ring is fastened with the opening from the inside of the driven plate; the diameter of trompil is greater than the spliced pole, just the trompil be equipped with bulge loop shape complex's first flaring. On one hand, the convex ring is buckled with the opening, so that the connecting column and the supporting column play a supporting role at the same time, the connecting hardness is enhanced, and the bearing capacity is improved; on the other hand, when the driven plate elastically displaces towards the universal rotary head along the connecting column under the action of external force, the driven plate is separated from the buckling state of the convex ring and the opening at the same time, and the movable angle is adjusted along with the steering of the universal rotary head. The first flaring that sets up on the trompil is favorable to the trompil with bulge loop automatic alignment resumes the lock joint state.

The flexible unit structure is further improved, the universal swivel is provided with a sleeve groove which is sleeved with the connecting column, one end of the universal swivel is fixedly connected with the fixed plate, and the other end of the universal swivel is sleeved with the connecting column through the sleeve groove; the notch of the sleeve groove is also provided with a locking piece for fixing the connecting column, so that the connection fixing effect of the elastic connecting piece is enhanced. Let elastic connecting piece elastic connection be in the driven plate with between the universal swivel, can do effectual bearing support, can let the driven plate can follow the nimble diversion of universal swivel again, angle of adjustment.

On the basis, the retaining member with be equipped with the isolation interval between the bulge loop on the spliced pole, the isolation interval is used for providing the displacement space, lets the driven plate is in under elastic connecting piece's the effect downwards the direction elastic displacement of universal swivel. After the driven plate is displaced, the driven plate can be separated from the buckling state of the trapezoidal sleeve and the convex ring, and the horizontal angle of the driven plate is corrected under the control of the universal swivel.

The structure of the flexible unit is further improved, a fixed table for mounting the fixed flange is arranged in the containing seat, and a movable cavity of the spring is arranged in the fixed table; the fixing platform is also provided with a fixing hole for fixing the fixing flange. And one end of the elastic connecting piece is fixedly connected with a fixed platform of the driven plate through the fixed flange, and the other end of the elastic connecting piece is fixedly connected with the universal swivel through the connecting column in a sleeved mode. The movable cavity arranged in the fixed table is used for providing an elastic telescopic space for a connecting spring between the connecting column and the fixed flange, so that the driven plate can realize elastic displacement performance.

Furthermore, the containing seat is further provided with a groove, the groove penetrates through the bottom of the driven plate in the horizontal direction of the driven plate, the middle of the groove is provided with the opening, and the two ends of the groove are respectively provided with the through holes. The groove is favorable for arranging the open hole and the through hole which penetrate through the driven plate, so that the surface close to the driven plate is sleeved with the elastic connecting piece and the supporting column, a movable space is provided inside the driven plate, and the driven plate is enabled to be in a displacement space when the trapezoidal sleeve is separated from the convex ring of the connecting column.

And the structure of the flexible unit is further improved, the diameter of the through hole is larger than that of the support column, and the through hole is provided with a second flaring matched with the trapezoidal sleeve in shape. The second flaring is favorable for the through hole and the trapezoidal sleeve to be automatically aligned and restore the buckling state.

Furthermore, a dustproof sleeve is arranged between the fixed plate and the driven plate, and the dustproof sleeve is a folding movable sleeve. On one hand, the dustproof sleeve plays a role in blocking, and prevents foreign objects from permeating into the flexible unit to influence the activity effect of the flexible unit; on the other hand, the dustproof sleeve is a folding movable sleeve, so that the dustproof sleeve is beneficial to being matched with the displacement of the driven plate to deform correspondingly, and the overall adaptability is improved.

The invention also provides a mechanical arm, which comprises a mechanical arm and a clamping jaw, wherein the flexible unit is arranged between the mechanical arm and the clamping jaw, and the fixing plate is fixed with the mechanical arm; the driven plate is connected with the clamping jaw and moves in the flexible unit under the action force of the clamping jaw, and the grabbing angle of the clamping jaw is adjusted.

Compared with the prior art, the flexible unit is arranged between the mechanical arm and the clamping jaw, so that the moving mode of the mechanical arm driving the clamping jaw is effectively expanded. Wherein, a universal swivel and a support column are arranged between the fixed plate and the driven plate of the flexible unit, and the steering angle can be effectively expanded. The mechanical arm is fixed with a fixing plate of the flexible unit, the clamping jaw is connected with a driven plate of the flexible unit, and the driven plate is connected with the universal swivel through the elastic connecting piece. When the mechanical arm drives the clamping jaw to move downwards to the workpiece, the clamping jaw contacts the workpiece and is under the action force of the workpiece, so that the driven plate elastically displaces towards the direction of the universal swivel and is separated from the trapezoidal sleeves of the supporting columns on the two sides. The elastic displacement is generated because the driven plate is internally provided with an elastic connecting piece connected with the universal swivel. When the driven plate is separated from the fixed state, the driven plate can turn in multiple angles from the turning direction of the universal turning head, so that the angle of the clamping jaw for grabbing the workpiece is corrected, the clamping jaw can firmly grab the workpiece, the situation that the placing angles of the workpiece are different is effectively adapted, and the workpiece taking mode of the mechanical arm is optimized. When a workpiece is grabbed, the clamping jaw is lifted by the mechanical arm, the driven plate moves downwards under the action of gravity, so that the through hole in the driven plate and the trapezoidal sleeve of the supporting column are fastened and fixed, the supporting column provides connection hardness between the fixed plate and the driven plate, and the weight of the workpiece is effectively borne.

For the flexible unit adopting the spring structure in the prior art, although the flexible activity of the spring structure can be utilized to expand the turning angle for the clamping jaw, the flexible unit adopting the spring structure needs to be provided with a corresponding spring connecting structure, so that the turning angle is limited. Especially, the spring structure is too flexible, which seriously affects the bearing capacity, and even if the spring structure with multi-layer combination is arranged, the connection hardness cannot be compensated, so that the mechanical arm is easily damaged or even cut off. According to the flexible unit, the fixed plate and the driven plate are fixedly connected through the support column, and the sleeve joint end of the support column and the through hole of the driven plate is provided with the trapezoidal sleeve. On the one hand, the trapezoidal sleeve is arranged inside the driven plate and is buckled with the through hole, so that the driven plate and the fixed plate are fixedly connected, the supporting column provides connection hardness between the driven plate and the fixed plate, and the bearing capacity of the mechanical arm for grabbing workpieces is effectively guaranteed. On the other hand, in order to enable the driven plate connected with the clamping jaws to realize the movable adjusting function, the driven plate is connected with the universal rotary head through an elastic connecting piece, so that the driven plate is elastically displaced under the action of external force, the through holes in the driven plate are separated from the trapezoidal sleeves of the supporting columns to release the buckling state, and the angle change is realized under the steering of the universal rotary head, so that the angle of the clamping jaws for grabbing workpieces is corrected. Therefore, compared with the flexible unit adopting a spring structure in the prior art, the flexible unit has high connection hardness, can effectively ensure the bearing capacity, expands the workpiece taking angle on the premise of the high connection hardness, and improves the performance of the mechanical arm of the industrial robot.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described 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 to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a structural view of a robot arm to which the flexible unit of the present invention is applied;

FIG. 2 is an overall structural view of the flexible unit of the present invention;

FIG. 3 is a structural view of the flexible unit of the present invention with the boot removed;

FIG. 4 is a cross-sectional view of the flexible unit of FIG. 3;

FIG. 5 is a schematic view of the driven plate of the flexible unit of the present invention being angularly deflectable;

FIG. 6 is a bottom structural view of a driven plate of the flexible unit of the present invention;

FIG. 7 is an exploded view of a flexible unit of the present invention;

FIG. 8 is a structural view of the driven plate of the flexible unit of the present invention in a fixed state;

fig. 9 is a view showing a state where the driven plate of the flexible unit of the present invention is released from the fixation.

Reference numerals: 100. a mechanical arm; 200. a clamping jaw; 300. a flexible unit; 1. a fixing plate; 2. a driven plate; 20. a housing seat; 21. a through hole; 211. a second flare; 22. opening a hole; 221. a first flare; 23. a fixed table; 231. a fixing hole; 24. a movable cavity; 25. a groove; 3. a support pillar; 31. a trapezoidal sleeve; 4. a universal swivel; 41. sleeving a groove; 42. a locking member; 5. an elastic connecting member; 51. connecting columns; 511. a convex ring; 52. a spring; 53. a fixed flange; 6. a dust-proof cover.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1 to 4, a robot arm according to an embodiment of the present invention includes a robot arm 100 and a clamping jaw 200, a flexible unit 300 is disposed between the robot arm 100 and the clamping jaw 200, the flexible unit 300 includes a fixed plate 1 and a driven plate 2, and the fixed plate 1 is fixed to the robot arm 100; the driven plate 2 is connected with the clamping jaw 200, and moves in the flexible unit 300 under the action force of the clamping jaw 200, so as to adjust the grabbing angle of the clamping jaw 200. A supporting column 3, a universal swivel 4 and an elastic connecting piece 5 are arranged between the fixed plate 1 and the driven plate 2, the driven plate 2 is provided with a through hole 21 which is sleeved with the supporting column 3, the sleeved end of the supporting column 3 and the through hole 21 is provided with a trapezoidal sleeve 31, and the trapezoidal sleeve 31 is fastened and fixed with the through hole 21 from the inside of the driven plate 2; the driven plate 2 is also internally provided with an accommodating seat 20 sleeved with the elastic connecting piece 5, the accommodating seat 20 is provided with an opening 22 corresponding to the universal swivel 4, and the elastic connecting piece 5 penetrates out of the opening 22 and is connected with the universal swivel 4; the driven plate 2 is displaced towards the direction of the universal swivel 4 under the action of external force and is separated from the fixing of the trapezoid sleeve 31, and the horizontal angle of the driven plate 2 is adjusted under the steering of the universal swivel 4.

Preferably, as shown in fig. 2, a dustproof sleeve 6 is further disposed between the fixed plate 1 and the driven plate 2, and the dustproof sleeve 6 is a foldable movable sleeve. On one hand, the dustproof sleeve 6 has a blocking effect, so that foreign matters are prevented from permeating into the flexible unit 300 to influence the activity effect of the flexible unit 300; on the other hand, the dustproof sleeve 6 is a folding movable sleeve, so that the corresponding deformation is facilitated by matching with the displacement of the driven plate 2, and the overall adaptability is improved.

In the robot arm of the present invention, the flexible unit 300 is disposed between the robot arm 100 and the clamping jaw 200, so as to effectively expand the movement of the robot arm 100 driving the clamping jaw 200. The universal swivel 4 is arranged between the fixed plate 1 and the driven plate 2 of the flexible unit 300, so that the steering angle of the clamping jaw 200 can be effectively expanded, and the problem of different placing angles of workpieces is solved. As shown in fig. 5, under the steering of the universal steering head 4, the steering angle of the driven plate 2 can be effectively expanded, so that the pickup mode of the mechanical arm can be optimized.

In addition, the fixed plate 1 and the driven plate 2 are fixedly connected through a support column 3, and a trapezoidal sleeve 31 is arranged at the sleeve joint end of the support column 3 and the through hole 21 of the driven plate 2. On one hand, the trapezoid sleeve 31 is buckled with the through hole 21 inside the driven plate 2, so that the driven plate 2 and the fixed plate 1 are connected and fixed, and the support column 3 provides connection hardness between the driven plate 2 and the fixed plate 1, thereby effectively ensuring the bearing capacity of the mechanical arm for grabbing a workpiece. On the other hand, in order to enable the driven plate 2 connected with the clamping jaw 200 to realize the movable adjustment function, the driven plate 2 is connected with the universal swivel 4 through the elastic connecting piece 5, so that the driven plate 2 is elastically displaced under the action of external force, the through hole 21 in the driven plate 2 is separated from the trapezoidal sleeve 31 of the supporting column 3 to release the buckling state, and the angle change is realized under the steering of the universal swivel 4, so that the angle of the clamping jaw 200 for grabbing a workpiece is corrected, and the performance of the mechanical arm is effectively improved.

Wherein, it is right elastic connecting element 5's structure is optimized, as shown in fig. 4, 7, elastic connecting element 5 includes spliced pole 51, spring 52 and mounting flange 53, spliced pole 51 is followed trompil 22 wear out with universal bull head 4 is connected, mounting flange 53 is fixed in holding in the seat 20, spring 52 elastic connection is in between spliced pole 51 and the mounting flange 53 to make driven plate 2 accessible elastic connecting element 5 with universal bull head elastic connection, and follow under the exogenic action spliced pole 51 to universal bull head 4's direction elastic displacement.

Preferably, the connecting column 51 is further provided with a convex ring 511 which gradually expands from top to bottom, and the convex ring 511 is fastened with the opening 22 from the inside of the driven plate 2 so as to be matched with the supporting column 3 and simultaneously enable the connecting column 51 to play a supporting role, so that the connecting hardness is enhanced, and the bearing capacity is improved. When the driven plate 2 elastically displaces towards the universal swivel 4 along the connecting column 51 under the action of external force, the driven plate 2 is simultaneously separated from the fastening state of the convex ring 511 and the opening 22, and the movable angle is adjusted along with the rotation of the universal swivel 4.

Preferably, as shown in fig. 6, the diameter of the opening 22 is larger than that of the connecting column 51, and the opening 22 is provided with a first flared end 221 which is matched with the convex ring 511 in shape, and the first flared end 221 facilitates the automatic alignment of the opening 22 and the convex ring 511 to restore the fastening state.

The structure of the universal swivel 4 is optimized, as shown in fig. 4 and 7, the universal swivel 4 is provided with a sleeve groove 41 which is sleeved with the connecting column 51, one end of the universal swivel 4 is fixedly connected with the fixing plate 2, and the other end of the universal swivel is sleeved with the connecting column 51 through the sleeve groove 41. The notch of the sleeve groove 41 is also provided with a locking piece 42 for fixing the connecting column 51, and the locking piece 42 can preferably adopt a locking nut and the like, so that the connection fixing effect of the elastic connecting piece 5 is enhanced. Let 5 elastic connection of elastic connecting piece be in driven plate 2 with between the universal head 4, both do effectual bearing and support, can let driven plate 2 can follow the nimble diversion of universal head 4 again, angle of adjustment.

On the basis, an isolation space is arranged between the locking piece 42 and the convex ring 511 on the connecting column 51, and the isolation space is used for providing a displacement space to enable the driven plate 2 to elastically displace towards the direction of the universal swivel 4 under the action of the elastic connecting piece 5. After the driven plate 2 is displaced, the driven plate can be disengaged from the fastening state of the trapezoidal sleeve 31 and the convex ring 511, and the horizontal angle of the driven plate 2 can be corrected under the control of the universal swivel 4.

The structure of the driven plate 2 is optimized, as shown in fig. 6, a fixed table 23 for installing the fixed flange 53 is arranged in the accommodating seat 20, and a movable cavity 24 of the spring 52 is arranged in the fixed table 23; the fixing table 23 is further provided with a fixing hole 231 for fixing the fixing flange 53. One end of the elastic connecting piece 5 is fixedly connected with the fixed platform 23 of the driven plate 2 through the fixed flange 53, and the other end of the elastic connecting piece is fixedly connected with the universal swivel 4 through the connecting column 51 in a sleeved mode. The movable cavity 24 arranged in the fixed table 23 provides an elastic telescopic space for the connecting spring 52 between the connecting column 51 and the fixed flange 53, so that the driven plate 2 can realize elastic displacement performance.

Preferably, the containing seat 20 is further provided with a groove 25, the groove 25 penetrates through the bottom of the driven plate 2 in the horizontal direction of the driven plate 2, the opening 22 is arranged in the middle of the groove 25, and the through holes 21 are respectively arranged at two ends of the groove 25. The groove 25 facilitates the arrangement of the opening 22 and the through hole 21 penetrating through the driven plate 2, so as to be close to the surface of the driven plate 2 to be sleeved with the elastic connecting piece 5 and the supporting column 3, and provide a moving space from the inside of the driven plate 2, so that the driven plate 2 provides a displacement space when being separated from the trapezoidal sleeve 31 and the convex ring 511 of the connecting column 51.

The connecting structure of the supporting column 3 and the driven plate 2 is optimized, as shown in fig. 6, the diameter of the through hole 21 is larger than that of the supporting column 3, and the through hole 21 is provided with a second flaring 211 matched with the trapezoidal sleeve 31 in shape. The second flaring 211 is beneficial to the automatic alignment of the through hole 21 and the trapezoidal sleeve 31, and the buckling state is recovered.

Referring to fig. 1, 8 and 9, the mechanical arm of the present invention has the following working principle:

1. when the clamping jaw 200 contacts the workpiece, under the action of the workpiece, the clamping jaw 200 is linked with the driven plate 2 in the flexible unit 300 to elastically displace towards the universal swivel 4, so that the driven plate 2 is separated from the trapezoidal sleeves 31 of the support columns 3 on the two sides, the opening 22 in the middle of the driven plate 2 is separated from the convex ring 511 on the elastic connecting piece 5, and the fixed state of the driven plate 2 is released. Wherein the elastic displacement is generated because the driven plate 2 is internally provided with an elastic connecting piece 5 connected with the universal swivel 4.

2. The driven plate 2 can change the horizontal angle of the driven plate 2 under the steering of the universal steering head 4 when being separated from the fixed state, so that the angle of the clamping jaw 200 for grabbing the workpiece is corrected, the clamping jaw 200 can firmly grab the workpiece, the situation that the placing angles of the workpiece are different is effectively adapted, and the workpiece taking mode of the mechanical arm is optimized.

3. After grabbing the workpiece, the robot arm 100 lifts the clamping jaw 200, and the driven plate 2 in the flexible unit 300 moves downward under the action of gravity, so that the through hole 21 on the driven plate 2 and the trapezoidal sleeve 31 of the supporting column 3 are fastened and fixed, and meanwhile, the opening 22 in the middle of the driven plate 2 is fastened with the convex ring 511 of the elastic connecting piece 5, and the fixed state of the driven plate 2 is restored. The support column 3 is used for providing a support function, so that the flexible unit 300 has connection rigidity, thereby effectively bearing the weight of the clamping jaw 200 for grabbing the workpiece and conveying the workpiece to a specified position under the action of the mechanical arm 100.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A flexible unit is applied to a mechanical arm of an industrial robot and is characterized by comprising a fixed plate and a driven plate, wherein a supporting column, a universal swivel and an elastic connecting piece are arranged between the fixed plate and the driven plate; the driven plate is internally provided with a containing seat which is sleeved with the elastic connecting piece, the containing seat is provided with an opening corresponding to the universal swivel, and the elastic connecting piece penetrates out of the opening and is connected with the universal swivel; the driven plate is displaced towards the direction of the universal swivel under the action of external force and is separated from the fixation of the trapezoidal sleeve, and the horizontal angle of the driven plate is adjusted under the steering of the universal swivel.

2. The flexible unit according to claim 1, wherein the elastic connecting member comprises a connecting column, a spring and a fixing flange, the connecting column penetrates out of the opening to be connected with the universal swivel, the fixing flange is fixed in the accommodating seat, and the spring is elastically connected between the connecting column and the fixing flange.

3. The flexible unit according to claim 2, wherein the connecting column is provided with a convex ring gradually expanding from top to bottom, and the convex ring is buckled with the opening from the inside of the driven plate; the diameter of trompil is greater than the spliced pole, just the trompil be equipped with bulge loop shape complex's first flaring.

4. The flexible unit according to claim 3, wherein the universal swivel is provided with a sleeve groove sleeved with the connecting column, one end of the universal swivel is fixedly connected with the fixing plate, and the other end of the universal swivel is sleeved with the connecting column through the sleeve groove; the notch of the sleeve groove is also provided with a locking piece for fixing the connecting column.

5. The flexible unit of claim 4, wherein a spacing distance is provided between the locking member and the protruding ring on the connecting column, and the spacing distance is used for providing a displacement space for the driven plate to elastically displace towards the direction of the universal swivel under the action of the elastic connecting member.

6. The flexible unit according to claim 2, wherein a fixed table for mounting the fixed flange is arranged in the accommodating seat, and a movable cavity of the spring is arranged in the fixed table; the fixing platform is also provided with a fixing hole for fixing the fixing flange.

7. The flexible unit according to claim 6, wherein the accommodating seat is further provided with a groove, the groove penetrates through the bottom of the driven plate from the horizontal direction of the driven plate, the middle of the groove is provided with the opening, and the two ends of the groove are respectively provided with the through holes.

8. A flexible unit according to claim 1, characterized in that the through hole has a larger diameter than the support column and is provided with a second flaring which is form-fitted with the ladder sleeve.

9. The flexible unit of claim 1, further comprising a dust boot disposed between the fixed plate and the driven plate, wherein the dust boot is a foldable flexible boot.

10. A mechanical arm, comprising a mechanical arm and a clamping jaw, wherein a flexible unit as claimed in any one of claims 1 to 9 is arranged between the mechanical arm and the clamping jaw, and the fixing plate is fixed with the mechanical arm; the driven plate is connected with the clamping jaw and moves in the flexible unit under the action force of the clamping jaw, and the grabbing angle of the clamping jaw is adjusted.