CN118219305B

CN118219305B - Multi-degree-of-freedom floating clamping jaw

Info

Publication number: CN118219305B
Application number: CN202410641985.XA
Authority: CN
Inventors: 刘伟; 冉祥进; 黄鹏程
Original assignee: Shenzhen Mo Ying Technology Co ltd
Current assignee: Shenzhen Mo Ying Technology Co ltd
Priority date: 2024-05-23
Filing date: 2024-05-23
Publication date: 2024-07-16
Anticipated expiration: 2044-05-23
Also published as: CN118219305A

Abstract

The invention discloses a multi-degree-of-freedom floating clamping jaw, which relates to the technical field of robot automation and comprises the following components: the device comprises a device butt joint end and a floating clamping jaw assembly, wherein a positioning guide piece which is in butt joint with the device butt joint end is arranged at the bottom of the floating clamping jaw assembly, a manipulator tail end connecting plate is arranged on the right side of the floating clamping jaw assembly, a universal locking assembly is arranged on the manipulator tail end connecting plate, and a sucking disc I and a sucking disc II are arranged at the left side of the floating clamping jaw assembly. According to the invention, through the arrangement of the floating module, the motion error of the mechanical arm can be automatically regulated and compensated, so that the accurate positioning is realized, and the high-precision feeding and discharging requirements of equipment are further realized instead of manual work. According to the invention, accurate positioning can be realized through the arrangement of the equipment butt joint end and the positioning guide piece, the consistency of loading and unloading each time is ensured, the universal locking assembly can be conveniently connected and detached with the mechanical arm with any size/shape, different products can be compatible, and the application requirements of different scenes are met.

Description

Multi-degree-of-freedom floating clamping jaw

Technical Field

The invention relates to the technical field of robot automation, in particular to a floating clamping jaw with multiple degrees of freedom.

Background

In the processing and manufacturing process of parts, operations such as cutting and polishing are required for the workpiece, so that the workpiece needs to be transported between stations, and the higher the stability and the speed of transportation, the higher the processing efficiency for the workpiece.

At present, along with increasing of various mechanical automation degree, automatic products such as mechanical arms, mechanical arms and the like are generally adopted for carrying workpieces, and in the prior art, the mechanical arms and common clamping jaws are mainly used for replacing manual work to finish loading and unloading actions of equipment, so that the problems of poor material taking and unloading precision, inaccurate loading and unloading positions and incapability of adapting the clamping jaws to mechanical arms with different sizes exist, and the stability of the equipment and the productivity of the equipment are seriously affected. We therefore provide a multiple degree of freedom floating jaw that addresses one or more of the above problems.

Disclosure of Invention

The present invention is directed to a multi-degree-of-freedom floating jaw, which solves the above-mentioned problems.

In order to achieve the above purpose, the present invention provides the following technical solutions: comprising the following steps: the device comprises a device butt joint end and a floating clamping jaw assembly, wherein a positioning guide piece which is in butt joint with the device butt joint end is arranged at the bottom of the floating clamping jaw assembly, a manipulator tail end connecting plate is arranged on the right side of the floating clamping jaw assembly, a universal locking assembly is arranged on the manipulator tail end connecting plate, and a sucking disc I and a sucking disc II are arranged at the left side of the floating clamping jaw assembly.

Preferably, the floating jaw assembly comprises: the camera and the module that floats are equipped with in the installing support, float and install lift cylinder and flexible cylinder one on the module, and the output of lift cylinder is fixed to be equipped with sucking disc two, and the output of flexible cylinder one is fixed to be equipped with sucking disc one.

Preferably, the floating module includes: the X-axis linear sliding rail fixing end is fixedly connected with the top of the connecting plate I, the X-axis linear sliding rail output end is fixedly connected with the bottom of the supporting plate III, the X-axis return limiting mechanism is arranged at the bottom of the supporting plate III, the Y-axis return limiting mechanism fixing end is fixedly connected with the top of the supporting plate III, the Y-axis return limiting mechanism output end is fixedly connected with the bottom of the supporting plate II, and the Y-axis return limiting mechanism is arranged at the bottom of the supporting plate II.

Preferably, the U-shaped notch I is formed in the outer wall of the supporting plate, the fixed end of the telescopic cylinder I is fixedly arranged in the U-shaped notch I, the plurality of groups of U-shaped notches II are formed in the outer wall of the supporting plate I, and the fixed end of the lifting cylinder is fixedly arranged in the U-shaped notch II.

Preferably, the four vertex angles of the second supporting plate are fixedly provided with floating rings, the outer wall of the fixed end of the second telescopic cylinder is fixedly sleeved with a fixed block, the fixed block is detachably connected with the first supporting plate through bolts, and the output end of the second telescopic cylinder penetrates through the floating rings and is fixedly connected with the second supporting plate.

Preferably, the positioning guide includes: the connecting device comprises a connecting plate II, a connecting arm and a double-hole locating piece, wherein one end of the connecting plate II is fixedly connected with the connecting plate I, and the other end of the connecting plate II is connected with the double-hole locating piece through the connecting arm;

the equipment butt joint end includes: the L-shaped connecting seat and the guide pins are fixedly arranged on the vertical section of the L-shaped connecting seat, and the two groups of guide pins are matched with the double-hole locating piece.

Preferably, the first support plate, the second support plate and the third support plate are connected through universal joints.

Preferably, the X-axis return limiting mechanism includes: the device comprises a step-type pushing piece, a buffer sleeve, a piston block, the buffer block and a limit sleeve, wherein the buffer sleeve is fixedly arranged at the three tops of a supporting plate, one end of the step-type pushing piece is movably arranged in the buffer sleeve, the other end of the step-type pushing piece extends out of the buffer sleeve, the limit sleeve is movably embedded in the step-type pushing piece, one end of a T-type return push rod far away from a T-type head movably penetrates through the step-type pushing piece and extends into the limit sleeve, one end of a rubber rod is movably connected with the inner wall of the limit sleeve, the other end of the rubber rod is hinged with the two ends of the rubber rod, the two ends of the rubber rod are abutted against the inner wall of the limit sleeve, two ends of a buffer spring are respectively fixedly connected with the first rubber rod and the second rubber rod, a buffer air cushion is fixedly connected with the inner wall of the limit sleeve, a piston block (26) is slidably connected with the inner wall of the buffer sleeve, a spherical positioning groove is formed in the center of one end of the piston block, which is close to the limit sleeve, and one end of the limit sleeve extends to the buffer sleeve in a spherical head shape and is matched with the spherical positioning groove.

Preferably, the limiting groove is formed in the inner wall of the buffer sleeve, the buffer block is fixedly arranged in the limiting groove of the buffer sleeve, the second mounting groove and the first mounting grooves are formed in the buffer block, the pressure sensor is arranged in the second mounting groove, a buffer air bag is arranged on one side, close to the piston block, of the buffer block, a pressure cushion ball is arranged in the buffer air bag, the second buffer spring is arranged in the first mounting groove, one end of the first connecting rod movably extends into the first mounting groove and is fixedly connected with the second buffer spring, the other end of the first connecting rod is fixedly provided with the push block, and the push block is fixedly connected with the buffer air bag.

Preferably, the universal lock assembly comprises: the installation chassis is connected with the tail end connecting plate of the manipulator through bolts, a circle of annular sliding grooves are formed in the installation chassis, a plurality of groups of locking blocks are movably arranged in the annular sliding grooves to form annular rings, and the annular ring walls formed by the plurality of groups of annular sliding grooves are provided with the same auxiliary locking parts;

The outer walls of the two groups of locking blocks are fixedly arranged on the fixed brackets, the first thread sleeves are respectively and movably connected with the two groups of fixed brackets, the first threaded rod and the second threaded rod are respectively and movably connected with the two groups of thread sleeves, a spherical head is arranged at one end, close to the second threaded rod, of the first threaded rod, a spherical sleeve is arranged at one end, close to the first threaded rod, of the second threaded rod, and the spherical head is movably arranged in the spherical sleeve;

The two of a plurality of groups of locking pieces that remain are connected through the same adjusting unit between every two, and adjusting unit includes: the first hinge seat and the hinge head are respectively and movably connected with one side, close to each other, of the two groups of locking blocks, the first hinge seat and the hinge head are mutually hinged, the second hinge seat is respectively and movably connected with one side, close to each other, of the two groups of locking blocks, one end of the two groups of hinge rods is respectively hinged with the second hinge seat, the other ends of the two groups of hinge rods are hinged with the second threaded sleeve, one end of the third threaded rod movably penetrates through the hinge centers of the first hinge seat and the hinge head, the other end of the third threaded rod movably extends into the second threaded sleeve and is connected with the second threaded sleeve through threads;

The auxiliary pressing and locking piece comprises: the second connecting rod, second connecting rod one end and locking piece fixed connection, second connecting rod other end swing joint has flexible arc support, the second connecting rod internalization is equipped with the direction slider, and direction slider activity extends second connecting rod and fixedly connected with connecting block one, connecting block two and flexible arc support fixed connection, third connecting rod one end and connecting block one swing joint, the third connecting rod other end and connecting block two swing joint, be cavity structure in the flexible arc support, the arc rubber pad is connected with flexible arc support inner wall through buffer spring three, connecting block three and flexible arc support inner wall fixed connection, and fourth connecting rod one end is through rotating first and arc rubber pad swing joint, the fourth connecting rod other end passes through dead lever and pressure head fixed connection, fourth connecting rod middle part and three swing joint of connecting block.

Compared with the prior art, the invention has the beneficial effects that:

because the manipulator is a moving part, errors exist in the appointed position during feeding and discharging every time, the movement errors of the mechanical arm can be automatically adjusted and compensated through the arrangement of the floating module, accurate positioning is realized, the high-precision feeding and discharging requirements of equipment are further met, the stability of the equipment is improved, and the overall performance of the production line is improved.

According to the invention, accurate positioning can be realized through the arrangement of the equipment butt joint end and the positioning guide piece, the consistency of loading and unloading each time is ensured, the universal locking assembly can be conveniently connected and detached with the mechanical arm with any size/shape, different products can be compatible, and the application requirements of different scenes are met.

Drawings

FIG. 1 is a schematic perspective view of the first embodiment of the present invention;

FIG. 2 is a schematic diagram of a second perspective structure of the present invention;

FIG. 3 is a schematic diagram of a floating module structure according to the present invention;

FIG. 4 is a schematic view of a positioning guide according to the present invention;

FIG. 5 is a schematic view of the docking end with the positioning guide of the present invention;

FIG. 6 is a schematic view of an X-axis return limiting mechanism according to the present invention;

FIG. 7 is a schematic plan view of a universal lock assembly according to the present invention;

FIG. 8 is a schematic plan view of a second embodiment of the universal lock assembly of the present invention;

FIG. 9 is a schematic perspective view of a portion of a universal lock assembly of the present invention;

fig. 10 is a schematic perspective view of an auxiliary pressing lock in the present invention.

In the figure: 1. a device docking end; 2. positioning the guide member; 3. a manipulator end connecting plate; 4. a floating jaw assembly; 5. a sucking disc I; 6. a second sucker; 7. a lifting cylinder; 8. a telescopic cylinder I; 9. a mounting bracket; 10. a camera; 11. a floating module; 12. a universal locking assembly; 13. an X-axis linear slide rail; 14. x-axis return limiting mechanism; 15. a Y-axis linear slide rail; 16. a floating ring; 17. a first supporting plate; 18. a telescopic cylinder II; 19. a T-shaped return push rod; 20. a step-shaped pushing piece; 21. a buffer sleeve; 22. a first rubber rod; 23. a buffer spring I; 24. a second rubber rod; 25. a buffer air cushion; 26. a piston block; 27. a spherical positioning groove; 28. a limit groove; 29. a buffer block; 30. a pressure sensor; 31. a pressure pad ball; 32. a buffer air bag; 33. a pushing block; 34. a first link; 35. buffer spring II; 36. a first mounting groove; 37. a second mounting groove; 38. a limit sleeve; 39. a fixed block; 40. a universal joint; 41. a Y-axis return limiting mechanism; 42. a second supporting plate; 43. a third supporting plate; 44. a first connecting plate; 45. u-shaped notch I; 46. u-shaped notch II; 47. a second connecting plate; 48. a connecting arm; 49. a double-hole positioning piece; 50. an L-shaped connecting seat; 51. a guide pin; 52. installing a chassis; 53. an annular chute; 54. a locking block; 55. the auxiliary pressing locking piece; 56. a first thread sleeve; 57. a fixed bracket; 58. a first threaded rod; 59. a spherical head; 60. a second threaded rod; 61. a spherical sleeve; 62. a hinge seat I; 63. a hinge joint; 64. a third threaded rod; 65. a second thread sleeve; 66. a hinge rod; 67. a hinge seat II; 68. a second link; 69. a guide slide block; 70. a first connecting block; 71. a third link; 72. a second connecting block; 73. a flexible arc-shaped bracket; 74. a buffer spring III; 75. a cavity; 76. an arc-shaped rubber pad; 77. a rotating head; 78. a fourth link; 79. a third connecting block; 80. a pressure head; 81. and a fixing rod.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Example 1:

Referring to fig. 1-2 and fig. 4-5, the present invention provides a technical solution, including: the device comprises a device butt joint end 1 and a floating clamping jaw assembly 4, wherein a positioning guide piece 2 which is in butt joint with the device butt joint end 1 is arranged at the bottom of the floating clamping jaw assembly 4, a manipulator tail end connecting plate 3 is arranged on the right side of the floating clamping jaw assembly 4, a universal locking assembly 12 is arranged on the manipulator tail end connecting plate 3, a sucking disc I5 is arranged on the left side of the floating clamping jaw assembly 4, and a sucking disc II 6 is arranged at the bottom of the left side of the floating clamping jaw assembly.

Preferably, the floating jaw assembly 4 comprises: the camera 10 and the module 11 that floats are equipped with in the installing support 9, float and install lift cylinder 7 and flexible cylinder one 8 on the module 11, and the output of lift cylinder 7 is fixed to be equipped with sucking disc two 6, and the output of flexible cylinder one 8 is fixed to be equipped with sucking disc one 5.

Preferably, the positioning guide 2 includes: the connecting plate II 47, the connecting arm 48 and the diplopore setting element 49, connecting plate II 47 one end and connecting plate I44 fixed connection, connecting plate II 47 other end is connected with diplopore setting element 49 through connecting arm 48.

Preferably, the device docking end 1 includes: the L-shaped connecting seat 50 and the guide pins 51, two groups of guide pins 51 are fixedly arranged on the vertical section of the L-shaped connecting seat 50, and the two groups of guide pins 51 are matched with the double-hole positioning piece 49.

The working principle of the technical scheme has the beneficial effects that: when the manipulator is used, after the manipulator is connected with the tail end of any manipulator through the universal locking assembly 12 on the tail end connecting plate 3 of the manipulator, the tail end of the clamping jaw is provided with the first sucker 5 and the second sucker 6, so that a process of taking materials from a fixed position can be realized, after the manipulator moves a workpiece to be grabbed to a specified position, after preliminary positioning is carried out through the camera 10, the manipulator drives the double-hole positioning piece 49 on the clamping jaw to be positioned on the same axis with the guide pin 51 of the butt joint end 1 of the equipment, the double-hole positioning piece 49 is inserted into the guide pin 51, deviation of the clamping position is prevented, and then the first sucker 5 and the second sucker 6 can be driven to clamp the workpiece through controlling the lifting cylinder 7 and the first telescopic cylinder 8.

Because the manipulator is a moving part, errors exist in the appointed position during each feeding and discharging, the movement errors of the mechanical arm can be automatically adjusted and compensated through the arrangement of the floating module 11, the accurate positioning is realized, the high-precision feeding and discharging requirements of equipment are further met, the stability of the equipment is improved, and the overall performance of the production line is improved.

According to the invention, accurate positioning can be realized through the arrangement of the equipment butt joint end 1 and the positioning guide piece 2, the consistency of loading and unloading each time is ensured, the universal locking assembly 12 can be conveniently connected and detached with a manipulator with any size, different products can be compatible, and the application requirements of different scenes are met.

Example 2:

Referring to fig. 2 to 3, based on embodiment 1, the floating module 11 includes: the X-axis linear sliding rail 13 is fixedly connected with the top of the first connecting plate 44, the output end of the X-axis linear sliding rail 13 is fixedly connected with the bottom of the third connecting plate 43, the X-axis return limiting mechanism 14 is arranged at the bottom of the third supporting plate 43, the fixed end of the Y-axis return limiting mechanism 41 is fixedly connected with the top of the third supporting plate 43, the output end of the Y-axis return limiting mechanism 41 is fixedly connected with the bottom of the second supporting plate 42, and the Y-axis return limiting mechanism 41 is arranged at the bottom of the second supporting plate 42.

Preferably, a first U-shaped notch 45 is formed in the outer wall of the second supporting plate 42, the fixed end of the first telescopic cylinder 8 is fixedly arranged in the first U-shaped notch 45, a plurality of groups of second U-shaped notches 46 are formed in the outer wall of the first supporting plate 17, and the fixed end of the lifting cylinder 7 is fixedly arranged in the second U-shaped notch 46.

Preferably, the floating ring 16 is fixedly arranged at the four vertex angles of the second supporting plate 42, the fixed block 39 is fixedly sleeved on the outer wall of the fixed end of the second telescopic cylinder 18, the fixed block 39 is detachably connected with the first supporting plate 17 through bolts, and the output end of the second telescopic cylinder 18 passes through the floating ring 16 and is fixedly connected with the second supporting plate 42.

Preferably, the first support plate 17, the second support plate 42 and the third support plate 43 are connected through the universal joint 40.

The working principle of the technical scheme has the beneficial effects that: when the floating module 11 is used, the X-axis linear sliding rail 13 drives the third supporting plate 43 and all parts at the upper end of the third supporting plate 43 to reciprocate along the X-axis, the Y-axis linear sliding rail 15 drives the second supporting plate 42 and the first supporting plate 17 at the upper end of the second supporting plate 42 to reciprocate along the Y-axis, the U-shaped notch I45 and the U-shaped notch II 46 are arranged to facilitate the lifting cylinder 7 and the telescopic cylinder I8 to be embedded in the first supporting plate 17 and the second supporting plate 42, the effect of avoiding all parts can be achieved, the positions of the lifting cylinder 7, the telescopic cylinder I8 and the suckers 5 and the suckers II 6 arranged at the output ends of the lifting cylinder 7 and the telescopic cylinder I8 can be finely adjusted in the mode, thereby reach the motion error who makes up the arm, realize the effect of accurate location, simultaneously, can drive backup pad two 42 and backup pad three 43 and the connecting plate one 44 of below along Z axial direction reciprocating motion through four flexible cylinders two 18, and can adjust the distance between backup pad one 17 and the backup pad two 42, thereby can change universal joint 40 rotation range, and the setting of floating ring 16 can restrict the safe distance between backup pad one 17 and the backup pad two 42, thereby play the effect of protection universal joint 40, can assist this floating module to carry out the removal of a plurality of directions through the setting of universal joint 40, not only the delivery is steady, the bearing capacity is big, dismouting and maintenance are also very convenient.

Example 3:

Referring to fig. 6, with reference to embodiments 1-2, the x-axis return stop mechanism 14 includes: the step-type pushing piece 20, the buffer sleeve 21, the piston block 26, the buffer block 29 and the limit sleeve 38, the buffer sleeve 21 is fixedly arranged at the top of the supporting plate III 43, one end of the step-type pushing piece 20 is movably arranged in the buffer sleeve 21, the other end of the step-type pushing piece 20 extends out of the buffer sleeve 21, the limit sleeve 38 is movably embedded in the step-type pushing piece 20, one end of the T-type return push rod 19 far away from the T-type head movably penetrates through the step-type pushing piece 20 and extends into the limit sleeve 38, one end of the rubber rod I22 is movably connected with the inner wall of the limit sleeve 38, the other end of the rubber rod I22 is hinged with one end of the rubber rod II 24, the other end of the rubber rod II is abutted with the inner wall of the limit sleeve 38, two ends of the buffer spring I23 are fixedly connected with the rubber rod I22 and the rubber rod II 24 respectively, the buffer air cushion 25 is fixedly connected with the inner wall of the limit sleeve 38, the piston block 26 is slidably connected with the inner wall of the buffer sleeve 21, a spherical positioning groove 27 is formed in the center of one end of the piston block 26 close to the limit sleeve 38, one end of the limit sleeve 38 extending to the buffer sleeve 21 is in a spherical head shape and is matched with the spherical positioning groove 27.

Preferably, the inner wall of the buffer sleeve 21 is provided with a limit groove 28, the buffer block 29 is fixedly arranged in the limit groove 28 of the buffer sleeve 21, the buffer block 29 is internally provided with a second installation groove 37 and a first installation groove 36, the pressure sensor 30 is arranged in the second installation groove 37, one side of the buffer block 29, which is close to the piston block 26, is provided with a buffer air bag 32, the buffer air bag 32 is internally provided with a pressure cushion ball 31, the second buffer spring 35 is arranged in the first installation groove 36, one end of the first connecting rod 34 movably extends into the first installation groove 36 and is fixedly connected with the second buffer spring 35, the other end of the first connecting rod 34 is fixedly provided with a push block 33, and the push block 33 is fixedly connected with the buffer air bag 32.

Preferably, the X-axis return limit mechanism 14 is identical in structure to the Y-axis return limit mechanism 41.

The working principle of the technical scheme has the beneficial effects that: the X-axis return limiting mechanism 14 and the Y-axis return limiting mechanism 41 are identical in structure, the X-axis return limiting mechanism 14 and the Y-axis return limiting mechanism 41 are respectively mounted on the axes of the X-axis linear slide rail 13 and the Y-axis linear slide rail 15 in the moving direction and used for protecting the whole floating module, when the floating module is used, if the floating module moves along the X\Y axis and impacts any object\obstacle, the T-shaped return push rod 19 is pushed to move along the inner wall of the limiting sleeve 38 by the impact force while sliding along the inner wall of the limiting sleeve 38, the rubber rod I22 and the rubber rod II 24 are pushed to move towards the direction close to the inner wall of the limiting sleeve 38, the buffer spring I23 is stretched to reduce the initial speed of the impact of the T-shaped return push rod 19 until the T-shaped return push rod 19 is abutted to the buffer air cushion 25, and when the impact is larger than the upper limit born by the buffer air cushion 25, the limiting sleeve 38 is pushed by the T-shaped return push rod 19 and abutted to the spherical positioning groove 27 of the piston block 26, so that the piston block 26 moves along the inner wall of the buffer sleeve 21, the piston block 26 is abutted to the buffer 32, so that the second piston block 26 is pressed against the buffer air cushion 33, the impact force is prevented from being transmitted to the linear slide rail 13, and the linear slide rail is compressed by the linear slide rail 30, and the data is compressed by the linear slide rail 13, and the data is transmitted to the linear slide rail 13 after the impact force sensor is controlled to the impact force is controlled to the linear slide rail 30, and the impact force sensor is compressed by the impact force sensor is controlled to the impact force sensor is compressed.

Through the setting of X axle return stop gear 14_Y axle return stop gear 41, can play the guard action in the removal of floating module 11 in a plurality of directions to when the deviation appears in the movable range, can in time control it and reset, improved the security of floating module 11 greatly.

Example 4:

referring to fig. 7-10, based on embodiments 1-2, the universal lock assembly 12 includes: the installation chassis 52 is connected with the manipulator tail end connecting plate 3 through bolts, a circle of annular sliding grooves 53 are formed in the installation chassis 52, a plurality of groups of locking blocks 54 are movably arranged in the annular sliding grooves 53 to form an annular ring, and the annular ring walls formed by the plurality of groups of annular sliding grooves 53 are provided with the same auxiliary locking parts 55;

the outer walls of the two sets of locking blocks 54 are fixedly arranged on the fixed support 57, the first thread sleeves 56 are respectively and movably connected with the two sets of fixed supports 57, the first threaded rod 58 and the second threaded rod 60 are respectively and movably connected with the first thread sleeves 56, a spherical head 59 is arranged at one end, close to the second threaded rod 60, of the first threaded rod 58, a spherical sleeve 61 is arranged at one end, close to the first threaded rod 58, of the second threaded rod 60, and the spherical head 59 is movably arranged in the spherical sleeve 61;

The remaining sets of locking blocks 54 are connected in pairs by the same adjusting unit comprising: the first hinge seat 62 and the hinge head 63 are respectively and movably connected with one side, close to the two groups of locking blocks 54, of the first hinge seat 62 and the hinge head 63, the first hinge seat 67 is respectively and movably connected with one side, close to the two groups of locking blocks 54, of the second hinge seat 67, one end of the two groups of hinge rods 66 is respectively hinged with the two groups of hinge seats 67, the other ends of the two groups of hinge rods 66 are both hinged with the second threaded sleeve 65, one end of the third threaded rod 64 movably penetrates through the hinge centers of the first hinge seat 62 and the hinge head 63, and the other end of the third threaded rod 64 movably extends into the second threaded sleeve 65 and is connected with the second threaded sleeve 65 through threads;

The auxiliary lock 55 includes: the second connecting rod 68, second connecting rod 68 one end and locking piece 54 fixed connection, second connecting rod 68 other end swing joint has flexible arc support 73, the second connecting rod 68 internal activity is equipped with direction slider 69, and direction slider 69 activity extends second connecting rod 68 and fixedly connected with connecting block one 70, connecting block two 72 and flexible arc support 73 fixed connection, third connecting rod 71 one end and connecting block one 70 swing joint, the third connecting rod 71 other end and connecting block two 72 swing joint, be cavity 75 structure in the flexible arc support 73, the arc rubber pad 76 is connected with flexible arc support 73 inner wall through buffer spring three 74, connecting block three 79 and flexible arc support 73 inner wall fixed connection, and fourth connecting rod 78 one end is through rotating head 77 and arc rubber pad 76 swing joint, the fourth connecting rod 78 other end passes through dead lever 81 and pressure head 80 fixed connection, fourth connecting rod 78 middle part and connecting block three 79 swing joint.

The working principle of the technical scheme has the beneficial effects that: the sealing ring is formed by connecting a plurality of groups of locking blocks 54, the sealing ring is a conical body result due to the trapezoid structure of the locking blocks 54, when the sealing ring is connected with a manipulator, the sealing ring can be opened by twisting the first threaded rod 58 and the second threaded rod 60 to move towards the direction away from each other, after the universal locking assembly 12 is sleeved at the tail end of the manipulator, the first threaded rod 58 and the second threaded rod 60 are reversely twisted to move towards the direction close to each other, the distance between the two groups of locking blocks 54 provided with the fixing support 57 at the back is reduced and drives the sealing ring formed by the groups of locking blocks 54 to be reduced, the universal locking assembly 12 is prevented from sliding down, then the sealing ring is finely adjusted according to the structure of the tail end of the manipulator, the joint of the tail end of the manipulator and the rest locking blocks 54 is intermittently observed during fine adjustment, after the position is confirmed, the third threaded rod 64 is rotated to enable the threaded sleeve two 65 to axially move along the third threaded rod 64, the threaded sleeve two 65 drives the rod 66 to move towards the direction close to each other and drive the sealing ring to be connected with the two groups of locking blocks 54 to be more tightly attached to the tail end of the manipulator, and the sealing ring is enabled to be more tightly attached to the tail end of the locking blocks 54 due to the fact that the sealing ring is more closely attached to the tail end of the sealing blocks is attached to the tail end of the manipulator;

Meanwhile, after the arc-shaped rubber pad 76 is attached to the tail end of the manipulator, the flexible arc-shaped support 73 pushes the guide sliding block 69 to slide in the sliding groove of the second connecting rod 68 through the third connecting rod 71, so that the flexible arc-shaped support 73 can rotate around the second connecting rod 68 according to the shape of the tail end of the manipulator, the tail ends of the manipulators with different shapes are adapted, the arc-shaped rubber pad 76 can be deformed towards the inner wall of the tail end of the manipulator, the buffer spring III 74 can be compressed, the pressure head 80 can be pushed outwards from the cavity 75 to the outer wall of the tail end of the manipulator through the fourth connecting rod 78 while the arc-shaped rubber pad 76 is deformed, a better stabilizing effect is achieved, and the distance between the rest groups of locking blocks 54 is changed and can be attached to the outer wall of the tail end of the manipulator with the aid of the auxiliary locking piece 55, so that manipulators with different shapes can be adapted.

The structural design of the universal locking assembly 12 enables the clamping jaw to stably clamp workpieces, the assemblies of the universal locking assembly are connected through threaded connection and hinge connection, the whole clamping jaw is firm in structure and not prone to loosening or deformation, so that clamping stability is guaranteed, the clamping force and clamping positions of the clamping jaw can be flexibly adjusted through adjusting the first threaded rod 56, the first threaded rod 58, the second threaded rod 60, the spherical head 59, the spherical sleeve 61, the third threaded rod 64, the second threaded rod 65 and other parts, clamping requirements of different workpieces are met, the adjusting unit comprises the first hinging seat 62, the hinging head 63, the second hinging seat 67, the hinging rod 66, the first connecting block 70, the second connecting block 72, the flexible arc-shaped support 73 and the third connecting block 79, connection between the plurality of groups of locking blocks 54 can be achieved, stability and flexibility of the clamping jaw are improved, the flexible arc-shaped support 73 and the arc-shaped rubber pad 76 are arranged in the auxiliary locking piece 55, the flexible arc-shaped support 73 and the third connecting block 79 are protected through the buffer spring 74, the workpiece is prevented from being damaged due to overlarge clamping force or rotating, and the clamping reliability of the clamping jaw is guaranteed when the clamping jaw is guaranteed through the third clamping head 78 and the connecting rod 80, and the clamping stability is guaranteed. The movable connection among the first hinging seat 62, the hinging head 63, the second hinging seat 67 and the locking block 54 adopts a mode similar to that between the spherical head 59 and the spherical sleeve 61, so that a larger rotation range can be realized, and the movable connection is simple and convenient.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A plurality of degrees of freedom floating clamping jaw, its characterized in that:

comprising the following steps: the device comprises a device butt joint end (1) and a floating clamping jaw assembly (4), wherein a positioning guide piece (2) which is in butt joint with the device butt joint end (1) is arranged at the bottom of the floating clamping jaw assembly (4), a manipulator tail end connecting plate (3) is arranged on the right side of the floating clamping jaw assembly (4), a universal locking assembly (12) is arranged on the manipulator tail end connecting plate (3), a sucking disc I (5) is arranged on the left side of the floating clamping jaw assembly (4), and a sucking disc II (6) is arranged at the bottom of the left side;

The floating jaw assembly (4) comprises: the camera comprises a mounting bracket (9), wherein a camera (10) and a floating module (11) are arranged in the mounting bracket (9), a lifting cylinder (7) and a telescopic cylinder I (8) are arranged on the floating module (11), a sucker II (6) is fixedly arranged at the output end of the lifting cylinder (7), and a sucker I (5) is fixedly arranged at the output end of the telescopic cylinder I (8);

The floating module (11) comprises: the X-axis linear sliding rail (13) is fixedly connected with the top of the first connecting plate (44), the output end of the X-axis linear sliding rail (13) is fixedly connected with the bottom of the third connecting plate (43), the X-axis return limiting mechanism (14) is arranged at the bottom of the third connecting plate (43), the fixed end of the Y-axis linear sliding rail (15) is fixedly connected with the top of the third connecting plate (43), the output end of the Y-axis linear sliding rail (15) is fixedly connected with the bottom of the second connecting plate (42), and the Y-axis return limiting mechanism (41) is arranged at the bottom of the second connecting plate (42);

The X-axis return limiting mechanism (14) comprises: the step-type pushing piece (20), the buffer sleeve (21), the piston block (26), the buffer block (29) and the limit sleeve (38), the buffer sleeve (21) is fixedly arranged at the top of the supporting plate III (43), one end of the step-type pushing piece (20) is movably arranged in the buffer sleeve (21), the buffer sleeve (21) is extended from the other end of the step-type pushing piece (20), the limit sleeve (38) is movably embedded in the step-type pushing piece (20), one end of the T-type return push rod (19) far away from the T-type head movably penetrates through the step-type pushing piece (20) and extends into the limit sleeve (38), one end of the rubber rod I (22) is movably connected with the inner wall of the limit sleeve (38), the other end of the rubber rod I (22) is hinged with one end of the rubber rod II (24), the other end of the rubber rod II (24) is abutted with the inner wall of the limit sleeve (38), two ends of the buffer spring I (23) are fixedly connected with the rubber rod I (22) and the rubber rod II (24) respectively, the buffer sleeve (25) is fixedly connected with the inner wall of the limit sleeve (38), one end of the piston block (26) is slidably connected with the inner wall of the buffer sleeve (21), one end of the piston block (26) is close to the center of the piston block (26) and is provided with a spherical limit groove (27), one end of the limit sleeve (38) extending into the buffer sleeve (21) is in a spherical head shape and is matched with the spherical positioning groove (27).

2. The one or more degree-of-freedom floating jaw of claim 1 wherein:

U-shaped notch I (45) are arranged on the outer wall of the support plate II (42), the fixed end of the telescopic cylinder I (8) is fixedly arranged in the U-shaped notch I (45), a plurality of groups of U-shaped notch II (46) are arranged on the outer wall of the support plate I (17), and the fixed end of the lifting cylinder (7) is fixedly arranged in the U-shaped notch II (46).

3. The one or more degree-of-freedom floating jaw of claim 1 wherein:

The four vertex angles of the second supporting plate (42) are fixedly provided with floating rings (16), the outer wall of the fixed end of the second telescopic cylinder (18) is fixedly sleeved with a fixed block (39), the fixed block (39) is detachably connected with the first supporting plate (17) through bolts, and the output end of the second telescopic cylinder (18) passes through the floating rings (16) and is fixedly connected with the second supporting plate (42).

4. The one or more degree-of-freedom floating jaw of claim 1 wherein:

The positioning guide (2) comprises: the connecting device comprises a connecting plate II (47), a connecting arm (48) and a double-hole positioning piece (49), wherein one end of the connecting plate II (47) is fixedly connected with the connecting plate I (44), and the other end of the connecting plate II (47) is connected with the double-hole positioning piece (49) through the connecting arm (48);

the device docking end (1) comprises: the device comprises an L-shaped connecting seat (50) and guide pins (51), wherein two groups of guide pins (51) are fixedly arranged on the vertical section of the L-shaped connecting seat (50), and the two groups of guide pins (51) are matched with a double-hole positioning piece (49).

5. The one or more degree-of-freedom floating jaw of claim 1 wherein:

The first supporting plate (17), the second supporting plate (42) and the third supporting plate (43) are connected through a universal joint (40).

6. The one or more degree-of-freedom floating jaw of claim 1 wherein:

The buffer sleeve (21) inner wall has seted up spacing groove (28), in spacing groove (28) of locating buffer sleeve (21) is fixed to buffer block (29), install second (37) and two sets of mounting groove (36) in buffer block (29), in mounting groove second (37) are located to pressure sensor (30), one side that buffer block (29) is close to piston block (26) is equipped with buffer gasbag (32), and be equipped with pressure cushion ball (31) in buffer gasbag (32), in buffer spring second (35) locates mounting groove first (36), first connecting rod (34) one end activity extends to in mounting groove first (36) and with buffer spring second (35) fixed connection, first connecting rod (34) other end is fixed and is equipped with ejector pad (33), and ejector pad (33) and buffer gasbag (32) fixed connection.

7. The one or more degree-of-freedom floating jaw of claim 1 wherein:

the universal locking assembly (12) comprises: the device comprises a mounting chassis (52), wherein the mounting chassis (52) is connected with a tail end connecting plate (3) of the manipulator through bolts, a circle of annular sliding grooves (53) are formed in the mounting chassis (52), a plurality of groups of locking blocks (54) are movably arranged in the annular sliding grooves (53) to form an annular ring, and the annular ring walls formed by the plurality of groups of annular sliding grooves (53) are provided with identical auxiliary locking pieces (55);

the outer walls of the two groups of locking blocks (54) are fixedly arranged on the fixed supports (57), the two groups of screw sleeves (56) are respectively and movably connected with the two groups of fixed supports (57), the first threaded rod (58) and the second threaded rod (60) are respectively and spirally connected with the two groups of screw sleeves (56), one end, close to the second threaded rod (60), of the first threaded rod (58) is provided with a spherical head (59), one end, close to the first threaded rod (58), of the second threaded rod (60) is provided with a spherical sleeve (61), and the spherical head (59) is movably arranged in the spherical sleeve (61);

The remaining sets of locking blocks (54) are connected in pairs by the same adjusting unit, the adjusting unit comprises: the first hinge seat (62) and the hinge head (63) are respectively and movably connected with one side, close to the two groups of locking blocks (54), of the first hinge seat (62) and the hinge head (63) are mutually hinged, the second hinge seat (67) is respectively and movably connected with one side, close to the two groups of locking blocks (54), of the second hinge seat (67), one end of the second hinge rod (66) is respectively hinged with the second hinge seat (67), the other ends of the second hinge rods (66) are hinged with the second threaded sleeve (65), one end of the third threaded rod (64) movably penetrates through the hinge centers of the first hinge seat (62) and the hinge head (63), and the other end of the third threaded rod (64) movably extends into the second threaded sleeve (65) and is connected with the second threaded sleeve (65) through threads;

The auxiliary pressing and locking piece (55) comprises: the second connecting rod (68), second connecting rod (68) one end and locking piece (54) fixed connection, second connecting rod (68) other end swing joint has flexible arc support (73), second connecting rod (68) internal activity is equipped with direction slider (69), and direction slider (69) activity extends second connecting rod (68) and fixedly connected with connecting block one (70), connecting block two (72) and flexible arc support (73) fixed connection, third connecting rod (71) one end and connecting block one (70) swing joint, third connecting rod (71) other end and connecting block two (72) swing joint, be cavity (75) structure in flexible arc support (73), arc rubber pad (76) are connected with flexible arc support (73) inner wall through buffer spring three (74), connecting block three (79) and flexible arc support (73) inner wall fixed connection, and fourth connecting rod (78) one end is through rotating head (77) and arc rubber pad (76) swing joint, the fourth connecting rod (78) other end is through dead lever (81) and pressure head (80) fixed connection, fourth connecting rod (78) middle part and three (79) swing joint.