CN207874225U - Flexible self-positioning mechanism and manipulator - Google Patents
Flexible self-positioning mechanism and manipulator Download PDFInfo
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- CN207874225U CN207874225U CN201820175470.5U CN201820175470U CN207874225U CN 207874225 U CN207874225 U CN 207874225U CN 201820175470 U CN201820175470 U CN 201820175470U CN 207874225 U CN207874225 U CN 207874225U
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Abstract
The flexible self-positioning mechanism of the utility model, including floating positioning components and swing positioning components, floating positioning components can be moved back and forth along A axis, and swinging positioning components can swing with respect to A axis, and floating positioning components are connect with positioning components are swung；Flexible self-positioning mechanism is fixed by floating positioning components floating ground, or, swingingly being fixed by swinging positioning components.A kind of manipulator is also provided.Flexible self-positioning mechanism has the micro-adjustment of multi-faceted position, to carry out the adjustment as adaptability to positional precision station devious, workpiece, when flexible self-positioning mechanism is on manipulator, it can solve the problems, such as that manipulator aligning accuracy is poor, reduce the requirement of the aligning accuracy of manipulator.
Description
Technical field
The utility model is related to bindiny mechanism fields, in particular to flexible self-positioning mechanism and manipulator.
Background technology
Manipulator is a kind of certain holding functions that can imitate human hand and arm, to press fixed routine crawl, carry object
Or the automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.Can be under the work of high intensity, continue working meets increasing production
Process rhythm.
It on many automatic production lines, is often placed with manipulator or grabbing workpiece, the placement of some workpiece or is grabbed
Take the positional repeatability requirement to manipulator very high, difference will be in 0.01mm hereinafter, and four most at present shaft mechanicals
Hand position precision is all in 0.02~0.1mm, and six axis robot positional precision is in 0.04~0.15mm, these manipulators are in many feelings
It cannot be satisfied processing demand under condition, influence and limit the application of the manipulator in some producing lines.
Utility model content
For deficiency in the prior art, the utility model provides a kind of flexible self-positioning mechanism and manipulator, has solved
Certainly manipulator is placed or when grabbing workpiece in the prior art, and positional precision is poor, the problem of influencing production and processing progress.
For this purpose, the utility model provides the following technical solutions：A kind of flexibility self-positioning mechanism, including floating positioning components and
Swing positioning components, wherein the floating positioning components can be moved back and forth along A axis, and the swing positioning components can be with respect to A
Axis is swung, and the floating positioning components are connect with the swing positioning components.
In addition, the flexibility self-positioning mechanism is fixed by the floating positioning components floating ground, or, passing through the swing
Positioning components are swingingly fixed.
As the further alternative of head dummy self-positioning mechanism, the flexibility self-positioning mechanism further includes fixing
Plate, the floating positioning components floating ground are connected in the fixed plate.
As the further alternative of head dummy self-positioning mechanism, the floating positioning components include floating axle, lining
Set and elastic component are sheathed on to the casing slip on the floating axle and in the fixed plate；The floating axle tool
There are positive stop lug boss, the elastic component to be sheathed on outside the floating axle, is set to the end face of the bushing and the positive stop lug boss end face
Between, the elastic component provides the contractility parallel with the floating axle.
As the further alternative of head dummy self-positioning mechanism, the bushing is rotatably mounted at the fixed plate
On.
As the further alternative of head dummy self-positioning mechanism, the bushing is equipped with terminal pad, the fixation
Plate includes upper cover plate and lower cover, and the terminal pad is set between the upper cover plate and the lower cover；It is the upper cover plate, described
Lower cover is respectively equipped with several support balls in the disk termination contacting surface of the terminal pad.
As the further alternative of head dummy self-positioning mechanism, the radial direction of the terminal pad and the upper cover plate it
Between be equipped with elastic adhesive tape.
As the further alternative of head dummy self-positioning mechanism, the swing positioning components include swinging axle and
The end of ball joint lower cover, the floating axle is equipped with ball joint upper cover；The swinging axle has ball joint, the ball-type
Joint upper cover and the ball joint lower cover enclose and the matched ball-type chamber of the ball joint.
As the further alternative of head dummy self-positioning mechanism, the ball joint lower cover, which has, allows the pendulum
Moving axis matched axis hole has gap, is set between the axis hole and the swinging axle between the axis hole and the swinging axle
Flexible cushion rubber.
As the further extension to above-mentioned technical proposal：A kind of manipulator is also provided, including ventilating joint, suction nozzle and
Above-mentioned flexible self-positioning mechanism, an end for being connected to the floating positioning components in the ventilating joint and the suction nozzle
Portion, another is connected to the end for swinging positioning components, and the floating positioning components and the swing positioning components are set
Have so that the structure that the ventilating joint is connected to the suction nozzle.
As the further alternative of head dummy self-positioning mechanism, the suction nozzle is integrally formed transposes in the floating
Component is integrally formed on the swing positioning components.
The utility model has the advantages that：
Flexible self-positioning mechanism includes floating positioning components and swings positioning components, and floating positioning components make flexible self-regulated
Position mechanism has the degree of freedom along the floating direction of A axis, by the variation of floating position, carries out axial position correction, compensation.
The degree of freedom that positioning components so that there is opposite A axis to swing for flexible self-positioning mechanism is swung to carry out by the variation of swing position
Amendment, the compensation of radial position.Flexible self-positioning mechanism has the micro-adjustment of comprehensive position as a result, with to position essence
Spend station devious, the adjustment that workpiece is carried out as adaptability can solve when flexible self-positioning mechanism is on manipulator
The problem of manipulator aligning accuracy difference, reduces the requirement of the aligning accuracy of manipulator.
For enable the above objects, features, and advantages of the utility model become apparent from understandable, preferred embodiment cited below particularly,
And coordinate appended attached drawing, it is described below in detail.
Description of the drawings
It, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 shows the front view for the flexible self-positioning mechanism that the utility model embodiment provides；
Fig. 2 shows the flexible self-positioning mechanism cross-sectional views that the utility model embodiment provides；
Fig. 3 shows the axial movement of flexible self-positioning mechanism and swing schematic diagram that the utility model embodiment provides；
Fig. 4 shows that the flexible self-positioning mechanism that the utility model embodiment provides moves radially schematic diagram.
Icon：100- flexibility self-positionings mechanism；110- floating positioning components；111- floating axles；112- bushings；1121- connects
Connect disk；113- elastic components；114- postive stop baffles；120- swings positioning components；121- swinging axles；122- spherical joint upper covers；
123- ball joint lower covers；124- flexible rubber rings；125- annular end caps；130- fixed plates；131- upper cover plates；132- lower covers；
133- supports ball；134- elastic adhesive tapes.
Specific implementation mode
Hereinafter, the various embodiments of the utility model will be described more fully in conjunction with attached drawing.The utility model can have
There are various embodiments, and can adjust and change wherein.Therefore, specific embodiment reference being shown in the accompanying drawings is more
Describe the utility model in detail.It should be understood, however, that：It is practical new herein there is no the various embodiments of the utility model are limited to
The intention of the specific embodiment of type, but the utility model should be interpreted as covering the various embodiments for falling into the utility model
All adjustment, equivalent and/or alternative in spirit and scope.Description taken together with the accompanying drawings, same reference numerals
Same element.
Hereinafter, the term " comprising " that can be used in the various embodiments of the utility model or " may include " indicate institute
Function, operation or the presence of element of utility model, and the increase of one or more functions, operation or element is not limited.
In addition, as used in the various embodiments of the utility model, term " comprising ", " having " and its cognate are meant only to indicate
Special characteristic, number, step, operation, the combination of element, component or aforementioned item, and be understood not to exclude one first
Or more other feature, number, step, operation, the combination of element, component or aforementioned item presence or increase it is one or more
A feature, number, step, the possibility of operation, the combination of element, component or aforementioned item.
In the various embodiments of the utility model, states "or" or " at least one of A or/and B " includes while arranging
Any combinations of the word gone out or all combinations.For example, statement " A or B " or " at least one of A or/and B " may include A, can
Including B or it may include A and B both.
The statement (" first ", " second " etc.) used in the various embodiments of the utility model can be modified various
Various constituent element in embodiment, but respective sets can not be limited into element.For example, presented above be not intended to limit the element
Sequence and/or importance.The purpose presented above for being only used for differentiating an element and other elements.For example, first uses
Family device and second user device indicate different user device, although the two is all user apparatus.For example, not departing from this practicality
In the case of the range of novel various embodiments, first element is referred to alternatively as second element, and similarly, second element also can quilt
Referred to as first element.
It should be noted that：It, can be by the first composition member if a constituent element ' attach ' to another constituent element by description
Part is directly connected to the second constituent element, and " connection " third can be formed between the first constituent element and the second constituent element
Element.On the contrary, when a constituent element " being directly connected to " is arrived another constituent element, it will be appreciated that in the first constituent element
And second third constituent element is not present between constituent element.
The term used in the various embodiments of the utility model is used only for the purpose of describing specific embodiments and simultaneously
It is not intended to the various embodiments of limitation the utility model.As used herein, singulative is intended to also include plural form, unless
Context is expressly otherwise indicated.Unless otherwise defined, otherwise all terms used herein (including technical term and science
Term) there is contain identical with the various normally understood meanings of embodiment one skilled in the art of the utility model
Justice.The term (term such as limited in the dictionary generally used) be to be interpreted as have in the related technical field
The identical meaning of situational meaning and the meaning of Utopian meaning or too formal will be interpreted as having, unless at this
It is clearly defined in the various embodiments of utility model.
Embodiment 1
Fig. 1 shows the front view of flexible self-positioning mechanism 100.
The present embodiment provides a kind of flexible self-positioning mechanisms 100, it includes floating positioning components 110 and swing positioning components
120.Floating positioning components 110 can be moved back and forth along A axis, and swinging positioning components 120 can swing with respect to A axis, positioning of floating
Component 110 is connect with positioning components 120 are swung.Flexible self-positioning mechanism 100 is fixed by 110 floating ground of floating positioning components,
Or, swingingly being fixed by swinging positioning components 120.
Above-mentioned, floating positioning components 110 make flexible self-positioning mechanism 100 have the degree of freedom along the floating direction of A axis,
By the variation of floating position, axial position correction, compensation are carried out.Positioning components 120 are swung so that flexible self-positioning mechanism
100 have the degree of freedom that opposite A axis is swung, and by the variation of swing position, carry out amendment, the compensation of radial position.As a result,
Flexible self-positioning mechanism 100 has the micro-adjustment of comprehensive position, to make to positional precision station devious, workpiece
For the adjustment of adaptability, solve the problems, such as that positional precision is poor.
In the present embodiment, flexible self-positioning mechanism 100 further includes fixed plate 130, the connection of 110 floating ground of floating positioning components
In fixed plate 130.Fixed plate 130 is the mounting parts of flexible self-positioning mechanism 100, passes through the positioning components that will float
110 are connected in fixed plate 130, so that the position of flexible self-positioning mechanism 100 is fixed.Swing oneself of positioning components 120
By end it is the free end of flexible self-positioning mechanism 100, the free end for swinging positioning components 120 has moved along A axis simultaneously
The degree of freedom that degree of freedom and opposite A axis are swung.
In another embodiment, swinging positioning components 120 can also swingingly be connected in fixed plate 130, swing positioning
The other end of component 120 is connect with floating positioning components 110, and the free end of flexible self-positioning mechanism 100 is floating positioning components
110 free end.
Usually, flexible self-positioning mechanism 100 connects driving part with execution unit, specially fixed plate 130 with
Driving part connects, and the free end for swinging positioning components 120 is connect with execution unit.It is held passing to the power of driving part
While the power of row component, the position deviation of execution unit is compensated and adjusted so that the position of execution unit exports
More precisely.
Floating positioning components 110 can be dynamic along A shaft rotations with fixed plate 130.Floating positioning components 110 are relative to fixed plate
130 have the degree of freedom of the degree of freedom and rotation that are moved along A axis simultaneously, swing the free end of positioning components 120 at this time, have edge
The degree of freedom of axial movement, the rotation of A axis, and the degree of freedom with respect to A axis swings.Further improve flexible self-positioning machine
The position adaptability of the free end of structure 100 preferably can carry out comprehensive, multi-angle compensation to the deviation of position.
Fig. 2 shows flexible 100 cross-sectional view of self-positioning mechanism, Fig. 3 shows flexible 100 axis of self-positioning mechanism
Show that flexible self-positioning mechanism 100 moves radially schematic diagram to mobile and swing schematic diagram, Fig. 4.
In the present embodiment, floating positioning components 110 include floating axle 111, bushing 112, elastic component 113 and postive stop baffle
114.Floating axle 111 is in jack-post shape, and one end has positive stop lug boss structure.Bushing 112 is in sleeve-shaped, is sheathed on floating axle 111
Outside, and floating axle 111 can slide in bushing 112.The internal diameter of bushing 112 and the axle journal of floating axle 111 match, lining
Hole in outer diameter and the fixed plate 130 of set 112 is to matching.
Elastic component 113 is sheathed on outside floating axle 111, is set between the end face and positive stop lug boss end face of bushing 112, elastic component
113 provide the contractility parallel with the floating axle 111.Postive stop baffle 114 is set to the end of floating axle 111, specifically, floating
One end of axis 111 is equipped with positive stop lug boss, and the other end is equipped with postive stop baffle 114, and positive stop lug boss makes elastic component 113 be located in bushing
Between 112 and floating axle 111, postive stop baffle 114 is for preventing floating axle 111 from being detached with bushing 112.By the way that bushing 112 is connected
It is connected in fixed plate 130, so that floating axle 111 can be moved along bushing 112, A axis at this time is the axis of floating axle 111
Line.
By the way that elastic component 113 is arranged between bushing 112 and floating axle 111, there are one precompressed for elastic component 113 under normal conditions
Contracting pushes floating axle 111 to be moved to the side detached with bushing 112, is supported by postive stop baffle 114 and the end face of floating axle 111
It connects, to limit the separation of bushing 112 and floating axle 111, to floating axle 111, there are one pretightning forces simultaneously.Axial position not
When matching, floating axle 111 floats is adjusted compensation to position, and 113 forced compression of elastic component, floating axle 111 is with respect to bushing 112
Sliding, the effect to generate floating carry out axial position compensation.When external force releases, 113 elastic reset of elastic component, driving is floated
Moving axis 111 resets.
In the present embodiment, elastic component 113 is compressed spring, and compressed spring is a kind of standard component, has preferable elasticity special
Property and there are million rank fatigue lives, while the elastic force of direction stabilization can also be provided, compressed spring coaxially covers
Outside floating axle 111, one end is abutted with the end face of the positive stop lug boss of floating axle 111, and the end face of the other end and bushing 112 is supported
It connects.The rigidity of compressed spring determines that the floating power of floating axle 111, the compression travel of compressed spring determine floating axle 111
Floating stroke, if the compression travel of compressed spring is 7mm, floating axle 111 can float up and down 7mm.
Further, the positive stop lug boss on floating axle 111 can be integrally formed on floating axle 111, the axis of floating axle 111
Line in the vertical direction, will put on compressed spring outside floating axle 111, then be inserted into bushing 112, float from bottom to top
The top of axis 111 connects postive stop baffle 114, and postive stop baffle 114 can be connected by screw on the end face of floating axle 111, also
Can internal thread be set on postive stop baffle 114, matched external screw thread is set on floating axle 111, thus by limiting block
Plate 114 is connected on floating axle 111.
In the present embodiment, bushing 112 is rotatably mounted in fixed plate 130, and bushing 112 is equipped with terminal pad 1121, Gu
Fixed board 130 includes upper cover plate 131 and lower cover 132, and terminal pad 1121 is set between upper cover plate 131 and lower cover 132, upper cover plate
131, lower cover 132 is respectively equipped with several support balls 133 in the disk termination contacting surface of terminal pad 1121.
Bushing 112 is rotationally connected in fixed plate 130 as a result, and forms rolling friction between fixed plate 130.From
And make bushing 112 that there is smaller rotary resistance, by the rotation of 112 opposing fixed plate 130 of bushing so that floating axle 111
It being capable of the rotation of opposing fixed plate 130.
Specifically, upper cover plate 131 and lower cover 132 are equipped with circular through hole, upper cover plate 131 is equipped with for accommodating connection
The bottom surface of the deep gouge of disk 1121, deep gouge is equipped with several hole slots for placing support ball 133, the upper surface of lower cover 132
Several hole slots for placing support ball 133 are equipped with, and the depth of the hole slot should be slightly less than the diameter of support ball 133,
Thus while fixed support ball 133, and connecting plate is contacted with support ball 133.Connecting plate and upper cover plate 131,
It is equivalent between lower cover 132 and constitutes plane rolling bearing arrangement.So that terminal pad 1121 is being fixed on upper cover plate 131
When between lower cover 132, rolling friction can be formed between upper cover plate 131 and lower cover 132, rolling friction becomes terminal pad
It is point contact that face between 1121 and upper cover plate 131, lower cover 132, which contacts, reduces friction area, then reduces friction resistance
Power.Pass through the upper and lower surface setting support ball 133 in terminal pad 1121 simultaneously so that upper cover plate 131 and lower cover 132 will even
While connecing the clamping of disk 1121, and the degree of freedom without limitation on terminal pad 1121 in rotation direction.
It should be noted that make floating axle 111 rotate in stress, it should make floating axle 111 not easily
It rotates, i.e., so that floating axle 111 just rotates when by certain power.It should be deposited between floating axle 111 and bushing 112
In certain frictional force, that is, should ensure that the axial play between floating axle 111 and bushing 112 is reasonable, the frictional force be more than bushing 112 with
Frictional force between fixed plate 130, so that floating axle 111 drives 130 turns of opposing fixed plate together of bushing 112 in rotation
It is dynamic.
Elastic adhesive tape 134 is equipped between the radial direction and upper cover plate 131 of terminal pad 1121.Counterbore on upper cover plate 131 it is straight
Diameter is more than the diameter of terminal pad 1121, i.e. upper cover plate 131 and the radial direction of terminal pad 1121 has a gap, the elastic adhesive tape 134
By the gap filling of the two.The setting of the elastic adhesive tape 134 increases the cylinder of terminal pad 1121 and rubbing for fixed plate 130 simultaneously
Power is wiped, so that bushing 112, after by certain rotatory force, ability opposing fixed plate 130 rotates, the position rotated is mended
It repays, and after external force disappearance, 134 elastic reset of elastic adhesive tape, the rotation of driving lining 112 resets.Bushing 112 and fixed plate simultaneously
Gap between 130 so that floating axle 111 has the surplus that moves radially, and in the present embodiment, floating axle 111 has radially
Finely tune the amount trimmed of 0.5mm.
In the present embodiment, upper cover plate 131 is equipped with several arc grooves, and the bullet of an arc is embedded in each arc groove
Property adhesive tape 134, i.e. 131 1 sections of the radial direction of terminal pad 1121 and upper cover plate have gap, and one section is contacted by elastic adhesive tape 134,
So that have larger elastic allowance between upper cover plate 131 and terminal pad 1121, while in rotation with elastic deformation force's
Meanwhile it and can opposite reduction frictional force.
It includes swinging axle 121, ball joint upper cover 122 and ball joint lower cover 123 to swing positioning components 120.Swinging axle
121 have ball joint, and ball joint upper cover 122 is connected on floating axle 111, under ball joint upper cover 122 and ball joint
Lid 123 encloses and the matched ball-type chamber of ball joint.
Above-mentioned, ball joint upper cover 122 is integrally formed with floating axle 111, and ball joint upper cover 122, which is served as, does above-mentioned float
Positive stop lug boss on moving axis 111 is abutted with one end of compressed spring.Have downward opening bowl-type empty in ball joint upper cover 122
Chamber, ball joint upper cover 122 has opening up bowl-type cavity, when 123 phase of ball joint upper cover 122 and ball joint lower cover
When fastening, ball joint is pressed on therebetween.Ball joint upper cover 122 is equipped with ring flange with ball joint lower cover 123,
The two is connected by flange plate structure, to by ball joint fixation and wherein.
Further, swinging axle 121 is in cylinder shaft-like, and end is equipped with ball joint, which can be complete
Ball, or form sphere-contact with the spherical cavity that ball joint upper cover 122 and ball joint lower cover 123 are enclosed
Part be equipped with spherical structure end.The cross section of ball joint is more than the cross section of 121 shaft of swinging axle, to swing
Axis 121 limits between ball joint upper cover 122 and ball joint lower cover 123, while enabling swinging axle 121 with respect to ball-type
Joint upper cover 122 is swung with ball joint lower cover 123, and the axis of swinging axle 121 is overlapped with the axis of floating axle 111.
Ball joint lower cover 123, which has, allows 121 matched axis hole of swinging axle, has between axis hole and swinging axle 121
Gap is equipped with flexible rubber ring 124 between axis hole and swinging axle 121.The end face of ball joint lower cover 123 is equipped with annular groove,
Flexible rubber ring 124 is embedded at wherein.Annulus end cap 125 is connected by screw on the end face of ball joint lower cover 123, thus will
Flexible rubber ring 124 is fixed on ball joint lower cover 123.Gap between axis hole and swinging axle 121 is with swing week in axis hole
Length determine 121 swing angle of swinging axle, the swing angle of swinging axle 121 is 2 ° in the present embodiment.
It is formed and is rigidly connected by flange plate structure between ball joint lower cover 123 and ball joint upper cover 122, swinging axle
121 are swung by opposite ball joint lower cover 123, to which Relative Floating axis 111 is swung, by will be on ball joint lower cover 123
The aperture of axis hole be set greater than the diameter of axle of swinging axle 121 so that swinging axle 121 can be swung.Simultaneously swinging axle 121 with
Flexible rubber ring 124 is set between ball joint lower cover 123, so that swinging axle 121 is fixed under normal conditions, when receiving oscillatory forces
It swings, when external force releases, drives swinging axle 121 to swing by flexible rubber ring 124 and reset.
Embodiment 2
The present embodiment provides a kind of manipulators, it includes ventilation interface and suction nozzle, further includes the flexible self-regulated in embodiment 1
Position mechanism 100.An end for being connected to floating positioning components 110 in ventilation interface and suction nozzle, another is connected to swing
The end of positioning components 120, and floating positioning components 110 and swing positioning components 120 are equipped with so that ventilate interface and the suction
The structure of head connection.
Manipulator is a kind of manipulator of sucked type as a result, and by ventilating, interface is passed through negative pressure, is passed negative pressure by suction nozzle
It is delivered on workpiece, forms the effect of absorption to workpiece, suction-operated is actually when generating negative pressure on suction nozzle, and atmospheric pressure is by work
Part is pressed on suction nozzle, and to form clamping to workpiece, in the negative pressure on disconnecting suction nozzle, suction nozzle detaches with workpiece and releases workpiece
It puts.Suction nozzle by flexible self-positioning mechanism 100 connect on the driving part, to along suction nozzle axial direction one-movement-freedom-degree with
Rotational freedom, and with the degree of freedom swung, it is right to be enough axial heights for adapting to workpiece on station, radial position
The position of workpiece carries out the adjustment of adaptability, to realize to workpiece grabbing and the accurate contraposition prevented.
Suction nozzle is integrally formed in floating positioning components 110 or is integrally formed on swinging positioning components 120.Suction nozzle is actually
For a kind of gas port, suction nozzle is integrally formed in floating axle 111 or is integrally formed on swinging axle 121, suction nozzle can be increased and floated
Air-tightness between moving axis 111 or swinging axle 121 so that the adsorption capacity of suction nozzle is more powerful, and the structure of suction nozzle is simpler.
In the present embodiment, ventilation interface is connected on floating axle 111, and suction nozzle is connected on swinging axle 121, i.e. suction nozzle one
It is molded on swinging axle 121, floating axle 111 and swinging axle 121 are equipped with ventilation through-hole, so that ventilation interface was passed through
Negative pressure (pumping) can be transmitted on suction nozzle.
Above-mentioned, the flexible self-positioning mechanism 100 and manipulator of the utility model at least have the following advantages that：
1. by floating positioning components 110 and swinging positioning components 120 so that flexible self-positioning mechanism 100 has axial move
Degree of freedom that is dynamic and swinging to axial, while by the way that flexible self-positioning mechanism 100 to be rotationally connected in fixed plate 130,
So that flexible self-positioning mechanism 100 has the degree of freedom axially rotated, while making head dummy self-positioning mechanism and fixed plate 130
Between certain gap is set so that flexible self-positioning mechanism 100 has the degree of freedom that moves radially.Flexible self-positioning as a result,
There is multi-faceted, full angle adaptability to adjust surplus for mechanism 100, can be used on manipulator, solves the contraposition deviation of manipulator
Problem carries out contraposition deviation the automatic amendment of adaptability.
2. by the floating of flexible self-positioning mechanism 100, swing, rotation, movement degree of freedom on elastic component is set
113, elastic adhesive tape 134 or bar shaped cushion rubber, so that flexible positioner can reset in time after shift-corrected, it is next
Secondary clamping is prepared.
In all examples being illustrated and described herein, any occurrence should be construed as merely illustrative, without
It is as limitation, therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But therefore it can not be interpreted as the limitation to the scope of the utility model.It should be pointed out that for the ordinary skill of this field
For personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these belong to this
The protection domain of utility model.
Claims (10)
1. flexible self-positioning mechanism, which is characterized in that including floating positioning components and positioning components are swung,
The floating positioning components can be moved back and forth along A axis, and the swing positioning components can be swung with respect to A axis, described floating
Dynamic positioning components are connect with the swing positioning components；
The flexibility self-positioning mechanism is fixed by the floating positioning components floating ground, or, passing through the swing positioning components
Swingingly fix.
2. flexibility self-positioning mechanism according to claim 1, which is characterized in that the flexibility self-positioning mechanism further includes solid
Fixed board, the floating positioning components floating ground are connected in the fixed plate.
3. flexibility self-positioning mechanism according to claim 2, which is characterized in that the floating positioning components and the fixation
Plate can be dynamic along A shaft rotations.
4. flexibility self-positioning mechanism according to claim 3, which is characterized in that the floating positioning components include floating
Axis, bushing and elastic component are sheathed on to the casing slip on the floating axle and in the fixed plate；
The floating axle has positive stop lug boss, and the elastic component is sheathed on outside the floating axle, be set to the end face of the bushing with
Between the positive stop lug boss end face, the elastic component provides the contractility parallel with the floating axle.
5. flexibility self-positioning mechanism according to claim 4, which is characterized in that the bushing is rotatably mounted at described solid
On fixed board, the bushing is equipped with terminal pad, and the fixed plate includes upper cover plate and lower cover, and the terminal pad is set on described
Between cover board and the lower cover；
The upper cover plate, the lower cover are respectively equipped with several support balls in the disk termination contacting surface of the terminal pad.
6. flexibility self-positioning mechanism according to claim 5, which is characterized in that the radial direction of the terminal pad and the upper cover
Elastic adhesive tape is equipped between plate.
7. flexibility self-positioning mechanism according to claim 3, which is characterized in that the swing positioning components include swinging
Axis, ball joint upper cover and ball joint lower cover；
The swinging axle has ball joint, and the ball joint upper cover is connected on the floating axle, on the ball joint
Lid and the ball joint lower cover enclose and the matched ball-type chamber of the ball joint.
8. flexibility self-positioning mechanism according to claim 7, which is characterized in that the ball joint lower cover, which has, allows institute
State the matched axis hole of swinging axle, have gap between the axis hole and the swinging axle, the axis hole and the swinging axle it
Between be equipped with flexible rubber ring.
9. manipulator, including ventilating joint and suction nozzle, which is characterized in that the manipulator further includes as appointed in claim 1-8
One flexible self-positioning mechanism, one in the ventilating joint and the suction nozzle is connected to the floating positioning components
End, another is connected to the end for swinging positioning components, and the floating positioning components and the swing positioning components
Equipped with the structure for so that the ventilating joint is connected to the suction nozzle.
10. manipulator according to claim 9, which is characterized in that the suction nozzle is integrally formed in the floating positioning group
Part is integrally formed on the swing positioning components.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820175470.5U CN207874225U (en) | 2018-02-01 | 2018-02-01 | Flexible self-positioning mechanism and manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820175470.5U CN207874225U (en) | 2018-02-01 | 2018-02-01 | Flexible self-positioning mechanism and manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207874225U true CN207874225U (en) | 2018-09-18 |
Family
ID=63510567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820175470.5U Active CN207874225U (en) | 2018-02-01 | 2018-02-01 | Flexible self-positioning mechanism and manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098757A (en) * | 2018-02-01 | 2018-06-01 | 深圳市兆威机电股份有限公司 | Flexible self-positioning mechanism and manipulator |
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2018
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098757A (en) * | 2018-02-01 | 2018-06-01 | 深圳市兆威机电股份有限公司 | Flexible self-positioning mechanism and manipulator |
| CN108098757B (en) * | 2018-02-01 | 2024-04-02 | 深圳市兆威机电股份有限公司 | Flexible self-positioning mechanism and manipulator |
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