CN212071979U - Floating gripper structure of robot - Google Patents
Floating gripper structure of robot Download PDFInfo
- Publication number
- CN212071979U CN212071979U CN202020448046.0U CN202020448046U CN212071979U CN 212071979 U CN212071979 U CN 212071979U CN 202020448046 U CN202020448046 U CN 202020448046U CN 212071979 U CN212071979 U CN 212071979U
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- linear bearing
- floating
- horizontal
- robot
- seat
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Abstract
The utility model relates to the technical field of robots, in particular to a floating gripper structure of a robot, which can automatically perform fine adjustment to accurately grab shaft parts and comprises a robot end connecting flange, a gripper mounting seat is installed on the robot end connecting flange, and is characterized in that end baffles are installed at two ends of the bottom of the gripper mounting seat, a horizontal cylindrical shaft is installed between the two end baffles, a horizontal linear bearing is sleeved on the horizontal cylindrical shaft, one end of the horizontal linear bearing props against the end baffle at one end, a horizontal spring is arranged between the other end of the horizontal linear bearing and the end baffle at the other end, a moving seat is installed on the horizontal linear bearing, a vertical linear bearing is installed on the moving seat, a vertical cylindrical shaft is installed in the vertical linear bearing, and a floating seat is connected at the bottom of the vertical cylindrical shaft; and a vertical spring is sleeved on the vertical cylindrical shaft between the vertical linear bearing and the floating seat, and a clamping jaw cylinder is installed at the bottom of the floating seat.
Description
Technical Field
The utility model relates to the technical field of robots, specifically be a robot floating paw structure.
Background
Along with the continuous development of automation technology, the application of robot in the production frame is more and more frequent, and a robot can generally replace two three workman operations, the effectual cost of labor that has practiced thrift, in the processing of axle type work piece, need remove axle type work piece, traditional robot operation all is a fixed clamping jaw of direct design, move and pick after target in place, in actual production, because assembly or other reasons, the robot moves and has little error with axle type part after target in place, leads to the clamping jaw can't accurately snatch.
Disclosure of Invention
In order to solve the problem that current axle type part snatchs the difficulty because of positional deviation, the utility model provides a robot hand claw structure that floats, it can finely tune automatically and realize accurately snatching axle type part.
The technical scheme is as follows: a robot floating paw structure comprises a robot end connecting flange, wherein a paw mounting seat is mounted on the robot end connecting flange, and the robot floating paw structure is characterized in that end baffles are mounted at two ends of the bottom of the paw mounting seat, a horizontal cylindrical shaft is mounted between the two end baffles, a horizontal linear bearing is sleeved on the horizontal cylindrical shaft, one end of the horizontal linear bearing abuts against the end baffle at one end, a horizontal spring is arranged between the other end of the horizontal linear bearing and the end baffle at the other end, a moving seat is mounted on the horizontal linear bearing, a vertical linear bearing is mounted on the moving seat, a vertical cylindrical shaft is mounted in the vertical linear bearing, and a floating seat is connected to the bottom of the vertical cylindrical shaft; the clamping jaw air cylinder is arranged at the bottom of the floating seat.
The X-axis sensor is mounted at the end part of the movable seat, and the Y-axis sensor is mounted on the floating seat;
and a V-shaped groove is formed in the inner side surface of the end part of the clamping jaw cylinder.
Adopt the utility model discloses afterwards, when the robot removes to snatch the position after, even there are some positional deviation, when the clamping jaw of clamping jaw cylinder bottom runs into axle type part, the clamping jaw cylinder can be automatic to be micro-floating adjustment, makes the clamping jaw can accurately snatch the part, has satisfied the production demand.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a side view of the present invention;
fig. 3 is a sectional view taken along line a-a in fig. 2 in fig. 3.
Detailed Description
Referring to fig. 1, 2 and 3, a robot floating paw structure comprises a robot end connecting flange 1, a paw mounting seat 2 is mounted on the robot end connecting flange 1, end baffles 3 are mounted at two ends of the bottom of the paw mounting seat 2, two horizontal cylindrical shafts 4 are mounted between the two end baffles 3, a horizontal linear bearing 5 is sleeved on each horizontal cylindrical shaft 4, one end of each horizontal linear bearing 5 abuts against one end baffle 3 at one end, a horizontal spring 6 is arranged between the other end of each horizontal linear bearing 5 and the end baffle 3 at the other end, a moving seat 7 is mounted on each horizontal linear bearing 5, vertical linear bearings 8 are mounted on two sides of each moving seat 7, vertical cylindrical shafts 9 are mounted in the vertical linear bearings 8, and the bottoms of the vertical cylindrical shafts 9 are connected with floating seats 10; the clamping jaw cylinder 12 is arranged at the bottom of the floating seat 7, and a V-shaped groove is formed in the inner side surface of the end part of a clamping jaw 13 of the clamping jaw cylinder 12, so that the shaft part 16 can be conveniently fixed.
An X-axis sensor 14 is installed at the end part of the movable seat 7, and a Y-axis sensor 15 is installed on the floating seat 10 and can be used for detecting floating displacement in the X-axis direction and the Y-axis direction, so that damage to the device under certain limit conditions is avoided.
The floating in the Y-axis direction and the X-axis direction can be realized by the vertical linear bearing 8 and the horizontal linear bearing 5, and when some position deviation occurs, the clamping jaw air cylinder 12 can be finely adjusted in two directions so as to meet the grabbing requirement.
Claims (3)
1. A robot floating paw structure comprises a robot end connecting flange, wherein a paw mounting seat is mounted on the robot end connecting flange, and the robot floating paw structure is characterized in that end baffles are mounted at two ends of the bottom of the paw mounting seat, a horizontal cylindrical shaft is mounted between the two end baffles, a horizontal linear bearing is sleeved on the horizontal cylindrical shaft, one end of the horizontal linear bearing abuts against the end baffle at one end, a horizontal spring is arranged between the other end of the horizontal linear bearing and the end baffle at the other end, a moving seat is mounted on the horizontal linear bearing, a vertical linear bearing is mounted on the moving seat, a vertical cylindrical shaft is mounted in the vertical linear bearing, and a floating seat is connected to the bottom of the vertical cylindrical shaft; the clamping jaw air cylinder is arranged at the bottom of the floating seat.
2. The floating gripper assembly of claim 1, wherein an X-axis sensor is mounted on an end of the movable base, and a Y-axis sensor is mounted on the floating base.
3. The floating gripper structure of claim 1, wherein the gripper cylinder has V-shaped grooves on the inner side of the gripper end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020448046.0U CN212071979U (en) | 2020-03-31 | 2020-03-31 | Floating gripper structure of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020448046.0U CN212071979U (en) | 2020-03-31 | 2020-03-31 | Floating gripper structure of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212071979U true CN212071979U (en) | 2020-12-04 |
Family
ID=73564315
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020448046.0U Active CN212071979U (en) | 2020-03-31 | 2020-03-31 | Floating gripper structure of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212071979U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113118324A (en) * | 2021-04-15 | 2021-07-16 | 太仓威格玛机械设备有限公司 | Feeding and discharging robot with double manipulators |
-
2020
- 2020-03-31 CN CN202020448046.0U patent/CN212071979U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113118324A (en) * | 2021-04-15 | 2021-07-16 | 太仓威格玛机械设备有限公司 | Feeding and discharging robot with double manipulators |
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