CN216180602U

CN216180602U - Self-adaptive flexible compensation mechanism

Info

Publication number: CN216180602U
Application number: CN202122637166.2U
Authority: CN
Inventors: 刘讨中; 周金炜
Original assignee: Shenzhen Tianyi Intelligent Technology Co ltd
Current assignee: Shenzhen Tianyi Intelligent Technology Co ltd
Priority date: 2021-10-29
Filing date: 2021-10-29
Publication date: 2022-04-05
Anticipated expiration: 2031-10-29

Abstract

The utility model provides a self-adaptive flexible compensation mechanism, which comprises: the device comprises a cover plate, a connecting plate, a buffer connecting plate, a triangular plate, a cylinder barrel, a piston and a base; the buffer connecting plate is positioned between the cover plate and the connecting plate, the diameter of the buffer connecting plate is larger than that of a first round hole formed in the connecting plate, the buffer connecting plate penetrates through the first round hole and is fixedly connected to the base, and the buffer connecting plate is provided with three second round holes; a cylinder barrel is arranged in the middle of the base, a piston is arranged in the cylinder barrel, a triangular plate is arranged on the piston, a V-shaped pin is arranged at each corner of the triangular plate, and the V-shaped pin penetrates through the second round hole. The utility model realizes the accurate positioning by pushing three V-shaped pins by air pressure and placing accurate steel balls in the three V-shaped pins; under the state that air pressure is removed, the three V-shaped pins are opened through the springs, and the springs have centripetal force, so that the springs can generate relative displacement to perform self-adaptive flexible compensation.

Description

Self-adaptive flexible compensation mechanism

Technical Field

The utility model relates to the technical field of industrial manipulator tail end clamping and industrial automation equipment feeding and discharging clamping, in particular to a self-adaptive flexible compensation mechanism.

Background

In the automation field of industrial automation equipment, industrial automation assembly lines and the like, a rectangular coordinate manipulator and an industrial robot are often needed to move a workpiece from a station A to a station B, or from the station A to stations B, C, D.

At the moment, the manipulator and the automation equipment need to be accurately positioned and debugged again, so that the use efficiency of the equipment is seriously influenced by multiple times of debugging. Therefore, in practical application, in the situation where the materials need to be accurately positioned for taking and placing, a flexible compensation function is expected to be provided when the materials are placed, the requirement on alignment precision is reduced, and the alignment debugging time of equipment is reduced. The flexible compensation method has the advantages that a product with light weight, convenience in installation and maintenance and high repeated positioning precision is urgently needed to be developed to meet the requirement of flexible compensation of the tail end of the manipulator of the light industrial equipment.

SUMMERY OF THE UTILITY MODEL

Aiming at the problems in the prior art, the utility model provides a self-adaptive flexibility compensation mechanism.

In order to achieve the purpose, the utility model adopts the following specific scheme:

the utility model provides a self-adaptive flexible compensation mechanism, which comprises: the device comprises a cover plate, a connecting plate, a buffer connecting plate, a triangular plate, a cylinder barrel, a piston and a base;

the cover plate is fixedly connected with the connecting plate, a first round hole is formed in the connecting plate, the buffering connecting plate is located between the cover plate and the connecting plate, the diameter of the buffering connecting plate is larger than that of the first round hole formed in the connecting plate, the buffering connecting plate penetrates through the first round hole and is fixedly connected to the base, and three second round holes are uniformly distributed in the range smaller than the diameter of the first round hole in the buffering connecting plate;

the improved structure of the hydraulic cylinder is characterized in that a cylinder barrel is arranged in the middle of the base, a piston is arranged in the cylinder barrel, a triangular plate is arranged on the piston towards the outer side of the cylinder barrel, a V-shaped pin is arranged at each corner of the triangular plate, and the V-shaped pin penetrates through the second round hole.

Preferably, a third round hole is formed in the middle of the triangular plate, and a spring is installed in the third round hole.

Preferably, the V-shaped pin comprises a V-shaped pin upper cover, a V-shaped pin lower cover and a steel ball; the V-shaped pin lower cover is fixedly connected with the triangular plate, the V-shaped pin upper cover and the V-shaped pin lower cover are mutually covered, and the steel ball is positioned between the V-shaped pin upper cover and the V-shaped pin lower cover.

Preferably, a plurality of first positioning pins are arranged between the cover plate and the connecting plate.

Preferably, a plurality of second positioning pins are arranged between the cover plate and the buffer connecting plate.

Preferably, an O-ring seal is disposed between the piston and the inner wall of the cylinder.

Preferably, the cover plate is fixedly connected with the connecting plate through an inner hexagon screw.

Preferably, the buffer connecting plate is fixedly connected with the base through an inner hexagon screw.

Preferably, the set square is integrally formed with the piston.

By adopting the technical scheme of the utility model, the utility model has the following beneficial effects:

the three V-shaped pins are pushed by air pressure, the precise steel balls are placed in the three V-shaped pins to achieve precise positioning, the three V-shaped pins are opened by the springs in the state that the air pressure is removed, and the springs have centripetal force, so that the springs can generate relative displacement to perform self-adaptive flexible compensation.

Drawings

FIG. 1 is a cross-sectional view from perspective A-A of an embodiment of the present invention;

FIG. 2 is a perspective view of an embodiment of the present invention;

FIG. 3 is a bottom view of an embodiment of the present invention;

FIG. 4 is a schematic view of the embodiment of the present invention with the cover and base removed;

FIG. 5 is a detail view of the piston and the upper parts of the set square in accordance with an embodiment of the present invention;

fig. 6 is a schematic view of a base according to an embodiment of the present invention.

Reference is made to the accompanying drawings in which:

1-cover plate, 2-connecting plate, 3-buffer connecting plate, 4-triangle, 401-V type upper cover, 402-V type lower cover, 403-steel ball, 404-spring, 501-cylinder, 502-piston, 503-O type sealing ring, 504-air hole, 6-base, 701-first positioning pin and 702-second positioning pin.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "front", "rear", "left", "right", and the like are used in the orientations and positional relationships shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

Referring to fig. 1 to 6, the present invention provides an adaptive compliance compensation mechanism, including: the device comprises a cover plate 1, a connecting plate 2, a buffer connecting plate 3, a triangular plate 4, a cylinder 501, a piston 502 and a base 6;

the cover plate 1 is fixedly connected with the connecting plate 2, a first round hole is formed in the connecting plate 2, the buffer connecting plate 3 is located between the cover plate 1 and the connecting plate 2, the diameter of the buffer connecting plate 3 is larger than that of the first round hole formed in the connecting plate 2, the buffer connecting plate 3 penetrates through the first round hole and is fixedly connected to the base 6, and three second round holes are uniformly distributed in the range smaller than the diameter of the first round hole in the buffer connecting plate 3;

a cylinder barrel 501 is arranged in the middle of the base 6, the cylinder barrel 501 and the base 6 are integrally formed, a piston 502 is arranged in the cylinder barrel 501, a triangular plate 4 is arranged on the piston 502 in the direction towards the outer side of the cylinder barrel 501, a V-shaped pin is arranged at each corner of the triangular plate 4, and the V-shaped pin penetrates through the second round hole.

A third round hole is formed in the middle of the triangular plate 4, and a spring 404 is installed in the third round hole; three corners of the triangular plate 4 are provided with chamfers; the V-shaped pin comprises a V-shaped pin upper cover 401, a V-shaped pin lower cover 402 and a steel ball 403; the V-shaped pin lower cover 402 is fixedly connected with the triangular plate 4, the V-shaped pin upper cover 401 and the V-shaped pin lower cover 402 are mutually covered, and the steel ball 403 is positioned between the V-shaped pin upper cover 401 and the V-shaped pin lower cover 402; a plurality of first positioning pins are arranged between the cover plate 1 and the connecting plate 2; a plurality of second positioning pins are arranged between the cover plate 1 and the buffer connecting plate 3; an O-shaped sealing ring 503 is arranged between the piston 502 and the inner wall of the cylinder 501; the cover plate 1 is fixedly connected with the connecting plate 2 through an inner hexagon screw; the buffer connecting plate 3 is fixedly connected with the base 6 through a hexagon socket head cap screw, and the triangular plate 4 and the piston 502 are integrally formed.

Compared with the prior art, the technical scheme of the application has the following beneficial effects:

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the technical scope of the present invention, which are directly or indirectly applicable to other related technical fields within the spirit of the present invention are included in the scope of the present invention.

Claims

1. An adaptive compliance compensation mechanism, comprising: the device comprises a cover plate, a connecting plate, a buffer connecting plate, a triangular plate, a cylinder barrel, a piston and a base;

2. The adaptive compliance compensating mechanism of claim 1, wherein a third circular hole is formed in the middle of the triangular plate, and a spring is installed in the third circular hole.

3. The adaptive compliance compensation mechanism of claim 2, wherein the V-pin comprises a V-pin upper cover, a V-pin lower cover, a steel ball; the V-shaped pin lower cover is fixedly connected with the triangular plate, the V-shaped pin upper cover and the V-shaped pin lower cover are mutually covered, and the steel ball is positioned between the V-shaped pin upper cover and the V-shaped pin lower cover.

4. The adaptive compliance compensation mechanism of claim 1, wherein a plurality of first alignment pins are disposed between the cover plate and the connection plate.

5. The adaptive flexibility compensation mechanism of claim 1, wherein a plurality of second alignment pins are disposed between the cover plate and the buffer connection plate.

6. The adaptive compliance compensation mechanism of claim 1, wherein an O-ring seal is disposed between the piston and the inner wall of the cylinder.

7. The adaptive flexibility compensation mechanism of claim 1, wherein the cover plate is fixedly connected to the connection plate by socket head cap screws.

8. The adaptive flexibility compensation mechanism of claim 1, wherein the buffer connection plate is fixedly connected with the base through a socket head cap screw.

9. The adaptive compliance compensation mechanism of claim 1, wherein the set square is integrally formed with the piston.