CN217620677U

CN217620677U - Mechanical gripper with XY plane floating mechanism

Info

Publication number: CN217620677U
Application number: CN202221199491.3U
Authority: CN
Inventors: 陈景峰; 崔振锐; 鲍佳捷
Original assignee: Master Lightweight Technology Tianjin Co ltd
Current assignee: Master Lightweight Technology Tianjin Co ltd
Priority date: 2022-05-11
Filing date: 2022-05-11
Publication date: 2022-10-21
Anticipated expiration: 2032-05-11

Abstract

The utility model relates to a mechanical tongs with XY plane relocation mechanism, include: the connection pad, unable adjustment base, first subassembly that floats, the subassembly is floated to the second, actuating mechanism, clamping component, the connection pad is connected with unable adjustment base, unable adjustment base carries out flexonics with first subassembly that floats, the subassembly setting that floats of second is in the below of first subassembly and is the right angle with the contained angle of first subassembly that floats, the subassembly that floats of second is used for realizing mechanical tongs two axial removal XY with first subassembly that float, actuating mechanism and the subassembly that floats carry out mechanical connection, clamping component and actuating mechanism carry out the drive connection and are used for realizing the action that clamping component presss from both sides tightly and unclamp the work piece. The utility model relates to a rationally, simple structure has solved the self-adaptation problem of mechanical tongs snatching or assembling the work piece in-process through two subassembly that float, has avoided the rigid deformation of mechanical tongs, has improved the adaptability of mechanical tongs.

Description

Mechanical gripper with XY plane floating mechanism

Technical Field

The utility model belongs to the technical field of the intelligence is made, a mechanical tongs with XY plane relocation mechanism is related to.

Background

Along with the development of the current intelligent manufacturing technology, in the field of manufacturing industries such as automobiles, ships, aerospace and large-scale machinery, the automation and intelligence level is higher and higher, industrial robots are more and more used, when the existing robot gripper grips and places workpieces, under the condition that the workpiece placement accuracy is not high, the mechanical gripper is stressed and is rigidly deformed due to the placement accuracy error or the assembly accuracy error of the workpieces, even the mechanical gripper is damaged in serious cases, and the existing flexible mechanical gripper is not strong in adaptability and cannot adapt to workpieces of various specifications, so that for some specific workpieces, a flexible mechanical gripper is needed to solve the self-adaptation problem of the mechanical gripper.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a mechanical tongs with XY plane relocation mechanism to solve the self-adaptation problem of the mechanical tongs of robot, solved the position self-adaptation adjustment problem of mechanical tongs in X plane, Y plane through adopting two unsteady subassemblies, adaptability is good, has prevented the rigid deformation of mechanical tongs.

In order to achieve the above object, an embodiment of the present invention provides a mechanical gripper with an XY plane floating mechanism, including: connection pad, unable adjustment base, first subassembly, the second subassembly that floats, actuating mechanism, clamping components, the connection pad with unable adjustment base connects, unable adjustment base with first subassembly that floats carries out flexonics, the subassembly setting that floats of second is in the below of first subassembly that floats and with the contained angle of first subassembly that floats is the right angle, the subassembly that floats of second with first subassembly that floats carries out flexonics and is used for realizing that mechanical tongs is at two axial movements of XY, actuating mechanism with the subassembly that floats of second carries out mechanical connection, clamping components with actuating mechanism carries out the drive connection and is used for realizing clamping components presss from both sides the action of tightly and unclamping the work piece.

Further, the first floating assembly comprises a first flexible base, two first fixed blocks, a first slide rail, a first slide block and a first elastic pin, the two first fixed blocks are respectively arranged at two ends of the first flexible base and are mechanically connected with the first flexible base, the first slide rail is mechanically fixed on the first flexible base, the first slide block is mechanically fixed on the fixed base, the first slide block is connected with the first slide rail in a sliding fit manner, and the first elastic pin is arranged on the first fixed block and is in elastic contact connection with the fixed base; the second subassembly that floats includes two, second slide rail, second slider, the second elastic pin of second flexible base, second fixed block, two the second fixed block sets up respectively the both ends of second flexible base and rather than carrying out mechanical connection, second slide rail machinery is fixed on the second flexible base, second slider machinery is fixed on the first flexible base, the second slider with the second slide rail carries out sliding fit and connects, the second elastic pin sets up on the second fixed block and with first flexible base carries out elastic contact and connects.

Furthermore, the first floating assembly further comprises a first positioning pin, and the first positioning pin is arranged on the first fixing block and is in positioning contact connection with the fixing base; the second floating assembly further comprises a second positioning pin, and the second positioning pin is arranged on the second fixing block and is in positioning contact connection with the first flexible base.

Further, the first sliding block is adaptive to the cross section shape of the first sliding rail; the second sliding block is adaptive to the cross section shape of the second sliding rail.

Optionally, the driving mechanism is one of a cylinder drive and a motor drive.

The utility model relates to a mechanical tongs with XY plane relocation mechanism, beneficial effect is: the utility model relates to a rationally, simple structure, the self-adaptation problem of the mechanical tongs of having solved the robot through first unsteady subassembly, the unsteady subassembly of second snatchs or assemble the work piece in-process, has avoided the rigid deformation of mechanical tongs, has improved the adaptability of mechanical tongs.

Drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the drawings of the embodiments will be briefly described below, and it is obvious that the drawings in the following description only relate to some embodiments of the present invention, and are not intended to limit the present invention.

Fig. 1 is a schematic view of a three-dimensional structure of a mechanical gripper with an XY plane floating mechanism according to an embodiment of the present invention;

fig. 2 is a schematic view of another perspective three-dimensional structure of a mechanical gripper with an XY plane floating mechanism according to an embodiment of the present invention;

fig. 3 is an exploded schematic view of a first floating assembly and a second floating assembly according to an embodiment of the present invention;

fig. 4 is a schematic view illustrating the first slide rail and the first slide block according to an embodiment of the present invention;

fig. 5 is a schematic view of a working state of the mechanical gripper with the XY plane floating mechanism according to the embodiment of the present invention.

In the figure:

1. connecting the disc; 2. a connecting rod; 3. a fixed base; 4. a first floating assembly; 41. a first flexible mount; 42. a first fixed block; 43. a first slide rail; 44. a first slider; 45. a first locating pin; 46. a first elastic pin; 5. a second floating assembly; 51. a second flexible mount; 52. a second fixed block; 53. a second slide rail; 54. a second slider; 55. a second positioning pin; 56. a second elastic pin; 6. connecting blocks; 7. a drive mechanism; 8. and (4) clamping the assembly.

Detailed Description

In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention will be combined below to clearly and completely describe the technical solution of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," 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 otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the utility model can be understood in specific cases to those of ordinary skill in the art.

The mechanical gripper with the XY plane floating mechanism according to the embodiment of the present invention is described in detail below with reference to the accompanying drawings.

Example one

Fig. 1 is a schematic diagram illustrating a three-dimensional structure of a mechanical gripper with an XY plane floating mechanism according to an embodiment of the present invention; fig. 2 is a schematic view of another perspective three-dimensional structure of a mechanical gripper with an XY plane floating mechanism according to an embodiment of the present invention; fig. 3 is an exploded view of a first floating assembly and a second floating assembly provided by the embodiment of the present invention; fig. 4 is a schematic view illustrating the first slide rail and the first slide block provided by the embodiment of the present invention; fig. 5 is a schematic view illustrating an operating state of the mechanical gripper with the XY plane floating mechanism according to the embodiment of the present invention. As shown in fig. 1 to 5, the embodiment of the utility model provides a mechanical tongs with XY plane relocation mechanism, mainly used carry out the centering to the work piece and place or the condition such as assembly, the embodiment of the utility model provides a mechanical tongs includes: connection pad 1, unable adjustment base 3, first unsteady subassembly 4, the unsteady subassembly 5 of second, actuating mechanism 7, clamping component 8, wherein, connection pad 1 is connected with unable adjustment base 3, can be direct mechanical connection, also can be indirect mechanical connection, the embodiment of the utility model provides an, connection pad 1 is connected through four connecting rods 2 with unable adjustment base 3, of course, connecting rod 2 also can adopt other structural style, does not specifically prescribe a limit to connecting rod 2 structural style here. When the mechanical gripper is used, the connecting disc 1 needs to be connected to a mechanical arm of the intelligent robot to move the mechanical gripper to a set position, the fixed base 3 is flexibly connected with the first floating assembly 4, the second floating assembly 5 is arranged below the first floating assembly 4 and is in a right angle with an included angle of the first floating assembly 4, and a cross-shaped arrangement is formed, if: the moving direction of the first floating assembly 4 can be defined as an X-axis, and the moving direction of the second floating assembly 5 can be defined as a Y-axis; therefore, the second floating assembly 5 is flexibly connected with the first floating assembly 4 to realize the movement of the mechanical hand grip in the X and Y axial directions, so that the position self-adaptive adjustment and self-recovery of the mechanical hand grip are realized under the action of the first floating assembly 4 and the second floating assembly 5. The driving mechanism 7 is mechanically connected with the second floating assembly 5 through the connecting block 6, and the clamping assembly 8 is in driving connection with the driving mechanism 7 to realize the actions of clamping and loosening the workpiece by the clamping assembly 8; in fig. 5, the clamping assembly 8 can clamp an upper workpiece and place the upper workpiece on a pin on another workpiece, so that the hole on the upper workpiece and the pin on the lower workpiece are subjected to adaptive centering, and in the workpiece placing process, the mechanical gripper can correspondingly and adaptively move and adjust along with the movement of the upper workpiece in the assembling process, so that rigid deformation or damage of the mechanical gripper due to the influence of external force is avoided.

The utility model discloses in a mechanical tongs with XY plane relocation mechanism of embodiment, more specifically, first unsteady subassembly 4 includes first flexible base 41, first fixed block 42 is two, first slide rail 43, first slider 44, first elastic pin 46, two first fixed blocks 42 set up respectively at the both ends of first flexible base 41 and rather than carrying out mechanical connection and realize the mechanical fastening of two first fixed blocks 42 respectively, first slide rail 43 mechanical fastening is on first flexible base 41, first slider 44 mechanical fastening is on unable adjustment base 3, first slider 44 carries out sliding fit with first slide rail 43 and is connected, first slider 44 suits with the cross-sectional shape of first slide rail 43, the cross-sectional shape of first slider 44 or first slide rail 43 here can be one of I-shaped, swallow tail shape, including but not limited to above-mentioned shape, as long as can realize first slider 44 and to the slip to in first slide rail 43 direction, can only make the single axial displacement of first slider 44 like this. The first elastic pin 46 is arranged on the first fixing block 42 and is in elastic contact connection with the fixing base 3, so that the first flexible base 41 can realize self-adjustment and self-restoration of the position under the action of the first elastic pin 46 on the first fixing blocks 42 on two sides of the first flexible base under the condition that the fixing base 3 is not moved, and the self-adjustment and self-restoration of the position of the whole first floating assembly 4 can be realized. It should be noted that, here, the first slide rail 43 and the first slider 44 may also be mounted in a manner that the first slide rail 43 is also mechanically fixed on the fixed base 3, the first slider 44 is mechanically fixed on the first flexible base 41, and the first flexible base 41 can also be moved in a single axial direction.

Similarly, the second floating assembly 5 includes a second flexible base 51, two second fixed blocks 52, a second sliding rail 53, a second sliding block 54, and a second elastic pin 56, where the two second fixed blocks 52 are respectively disposed at two ends of the second flexible base 51 and mechanically connected thereto, the second sliding rail 53 is mechanically fixed on the second flexible base 51, the second sliding block 54 is mechanically fixed on the first flexible base 41, the second sliding block 54 is connected with the second sliding rail 53 in a sliding fit, and the second sliding block 54 is adapted to the cross-sectional shape of the second sliding rail 53, where the cross-sectional shape of the second sliding block 54 or the second sliding rail 53 may be one of an i-shape and a dovetail shape, including but not limited to the above-mentioned shapes, as long as the second sliding block 54 can slide along a single axial direction of the second sliding rail 53, so that only the second sliding block 54 can move in a single axial direction, and the second elastic pin 56 is disposed on the second flexible base 52 and connected with the first flexible base 41 in an elastic contact manner, so that the self-adjustment of the position of the second fixed block 51 and the second floating assembly 5 can be restored from the self-adjusting position under the first flexible base 41, thereby achieving self-adjusting function of the second floating assembly 5. It should be noted that, here, the second slide rail 53 and the second slider 54 may also be mounted in such a way that the second slide rail 53 may also be mechanically fixed to the first flexible base 41, the second slider 54 may also be mechanically fixed to the second flexible base 51, and the dog may also realize the single axial movement of the second flexible base 51.

The utility model discloses in a mechanical tongs with XY plane relocation mechanism, actuating mechanism 7 carries out mechanical connection through the flexible base 51 of second in connecting block 6 and the second unsteady subassembly 5, like this, when first unsteady subassembly 4 or the second unsteady subassembly 5 carries out the position and removes, the work piece that drives in step on the clamping component 8 removes for two upper and lower work pieces carry out accurate centering or assembly, have avoided the rigidity atress deformation of mechanical tongs.

In the mechanical gripper with the XY plane floating mechanism provided by the embodiment of the present invention, further, the first floating assembly 4 further comprises a first positioning pin 45, the first positioning pin 45 is disposed on the first fixing block 42 and is connected with the fixing base 3 in a positioning contact manner; the first positioning pin 45 can limit the moving stroke of the first flexible base 41, and meanwhile, the moving stroke of the first flexible base 41 can be adjusted by adjusting the installation position of the first positioning pin 45 according to the specific situation of the workpiece. Similarly, the second floating assembly 5 further includes a second positioning pin 55, and the second positioning pin 55 is disposed on the second fixing block 52 and is connected to the first flexible base 41 in a positioning contact manner. The moving stroke of the second flexible base 51 can be limited by the second positioning pin 55, and at the same time, the moving stroke of the second flexible base 51 can be adjusted by adjusting the installation position of the second positioning pin 55 according to the specific situation of the workpiece.

It should be noted that the driving mechanism 7 is one of a cylinder drive and a motor drive, and in any way, as long as the clamping assembly 8 can clamp and release the corresponding workpiece. Preferably, the driving mechanism 7 is driven by a cylinder, and the characteristics of quick response and good economical efficiency of the cylinder can be fully utilized.

Compared with the prior art, the embodiment of the utility model provides a pair of mechanical tongs with XY plane relocation mechanism reasonable in design, simple structure, the self-adaptation problem of the mechanical tongs of robot in snatching or assembling the work piece in-process has been solved through first subassembly 4 that floats, the unsteady subassembly of second 5, has avoided the rigid deformation of mechanical tongs, has improved the adaptability of mechanical tongs.

The following points need to be explained:

(1) In the embodiments of the present invention and the drawings, the same reference numerals denote the same meanings unless otherwise defined.

(2) The embodiment of the utility model provides a drawing only involves with the structure that the embodiment of the utility model relates to, other structures can refer to common design.

(3) In the drawings, which are used to describe embodiments of the present invention, for purposes of clarity, partial structures in the drawings may be exaggerated or minimized, i.e., the drawings are not drawn on a true scale.

(4) Without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other to arrive at new embodiments.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A mechanical gripper with an XY plane floating mechanism is characterized by comprising: connection pad (1), unable adjustment base (3), first subassembly (4), the second that floats, actuating mechanism (7), clamping component (8), connection pad (1) with unable adjustment base (3) are connected, unable adjustment base (3) with first subassembly (4) that floats carry out flexonics, the subassembly (5) that floats of second set up the below of first subassembly (4) that floats and with the contained angle of first subassembly (4) is the right angle, the subassembly (5) that floats of second with first subassembly (4) that floats carry out flexonics and are used for realizing that mechanical tongs carries out two axial movements in XY, actuating mechanism (7) with second subassembly (5) that floats carry out mechanical connection, clamping component (8) with actuating mechanism (7) carry out the drive connection and are used for realizing clamping component (8) press from both sides the action of tightly and the work piece unclamp.

2. The mechanical gripper with XY plane floating mechanism according to claim 1, characterized in that the first floating assembly (4) comprises a first flexible base (41), two first fixed blocks (42), a first sliding rail (43), a first sliding block (44) and a first elastic pin (46), the two first fixed blocks (42) are respectively arranged at two ends of the first flexible base (41) and mechanically connected therewith, the first sliding rail (43) is mechanically fixed on the first flexible base (41), the first sliding block (44) is mechanically fixed on the fixed base (3), the first sliding block (44) is connected with the first sliding rail (43) in sliding fit, and the first elastic pin (46) is arranged on the first fixed block (42) and elastically contacted with the fixed base (3);

the second floating assembly (5) comprises two second flexible bases (51), two second fixed blocks (52), a second sliding rail (53), a second sliding block (54) and a second elastic pin (56), wherein the two second fixed blocks (52) are respectively arranged at two ends of the second flexible bases (51) and are mechanically connected with the second flexible bases, the second sliding rail (53) is mechanically fixed on the second flexible bases (51), the second sliding block (54) is mechanically fixed on the first flexible bases (41), the second sliding block (54) is connected with the second sliding rail (53) in a sliding fit manner, and the second elastic pin (56) is arranged on the second fixed blocks (52) and is in elastic contact with the first flexible bases (41) to be connected.

3. The mechanical gripper with XY-plane floating mechanism according to claim 2, characterized in that said first floating assembly (4) further comprises a first positioning pin (45), said first positioning pin (45) being arranged on said first fixed block (42) and being in positioning contact connection with said fixed base (3); the second floating assembly (5) further comprises a second positioning pin (55), and the second positioning pin (55) is arranged on the second fixing block (52) and is in positioning contact connection with the first flexible base (41).

4. The mechanical gripper with XY-plane floating mechanism according to any one of claims 2 to 3, characterized in that said first slider (44) is adapted to the cross-sectional shape of said first slide (43); the second sliding block (54) is adaptive to the cross-sectional shape of the second sliding rail (53).

5. The mechanical gripper with XY plane floating mechanism as claimed in claim 1, characterized in that said driving mechanism (7) is one of a cylinder drive, a motor drive.