CN218138135U

CN218138135U - Flexible compensation arrangement of robot

Info

Publication number: CN218138135U
Application number: CN202222141842.1U
Authority: CN
Inventors: 何岚岚; 徐庆富
Original assignee: Higgs Precision Machinery Suzhou Co ltd
Current assignee: Shanghai Haile Industrial Co.,Ltd.
Priority date: 2022-08-15
Filing date: 2022-08-15
Publication date: 2022-12-27
Anticipated expiration: 2032-08-15

Abstract

The utility model discloses a flexible compensation arrangement of robot, relate to the robotechnology field, the utility model discloses a fixed frame, on fixed frame installation and the robot organism, be provided with flexible compensation assembly on the fixed frame, flexible compensation assembly includes the regulating block, clamping screw, the buffer block, compensation spring, centre gripping arm and adapting unit, the regulating block passes through clamping screw and fixed frame internal connection, the compensation groove with buffer block looks adaptation is seted up to the side of regulating block, compensation spring's one end and the inner wall fixed connection in compensation groove, compensation spring's the other end and buffer block side fixed connection, the centre gripping arm passes through adapting unit and is connected with the buffer block, the centre gripping arm passes through pneumatic connection and uses, adapting unit includes the spring of contradicting, the fixture block, the push rod, straining spring, connecting rod and push pedal. The utility model relates to a flexible compensation arrangement of robot through setting up flexible compensation assembly, can provide flexible compensation when the centre gripping work piece, avoids the work piece to damage.

Description

Flexible compensation arrangement of robot

Technical Field

The utility model relates to the technical field of robots, in particular to flexible compensation arrangement of robot.

Background

A robot is an intelligent machine that can work semi-autonomously or fully autonomously. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.

In the existing market, the centre gripping to the work piece can be accomplished to the anchor clamps robot usually on some industrial production, the anchor clamps structure that current anchor clamps robot used is comparatively fixed, drive the centre gripping arm through pneumatics mostly and carry out centre gripping work, however, because the connected mode of centre gripping arm is comparatively fixed, make the kinematic error of centre gripping arm big, and the shape and the size of work piece have the difference, make the inconvenient this kind of the change of adaptation of anchor clamps and the strain capacity who continues to use, and because the work piece shape of production is not of uniform size, the inconvenient centre gripping arm of changing different shapes, use and get up and have certain limitation, for this reason, a flexible compensation arrangement of robot now is provided.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at provides a flexible compensation arrangement of robot, the anchor clamps structure that can effectively solve current anchor clamps robot among the background art and use is comparatively fixed, it carries out centre gripping work mostly to drive the centre gripping arm through pneumatics, however, because the connected mode of centre gripping arm is comparatively fixed, make the kinematic error of centre gripping arm big, and there is the difference in the shape and the size of work piece, make the inconvenient adaptability this kind of change of adaptation of anchor clamps and the strain capacity who continues to use, and because the work piece shape of production is not of uniform size, inconvenient centre gripping arm of changing different shapes, the problem that has certain limitation is got up in the use.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a robot flexible compensation device comprises a fixed frame, wherein the fixed frame is arranged on a robot body, and a flexible compensation assembly is arranged on the fixed frame;

the flexible compensation assembly comprises an adjusting block, a fixing screw, a buffer block, a compensation spring, a clamping arm and a connecting component, wherein the adjusting block is connected with the inside of the fixing frame through the fixing screw, a compensation groove matched with the buffer block is formed in the side surface of the adjusting block, one end of the compensation spring is fixedly connected with the inner wall of the compensation groove, the other end of the compensation spring is fixedly connected with the side surface of the buffer block, the clamping arm is connected with the buffer block through the connecting component, and the clamping arm is pneumatically connected for use, so that when a workpiece is clamped, flexible compensation is performed on the clamping arm, and the workpiece is clamped more stably;

adapting unit includes conflict spring, fixture block, push rod, taut spring, connecting rod and push pedal, the recess with centre gripping arm looks adaptation is seted up to the side of buffer block, the mounting groove has been seted up to the side of centre gripping arm, the one end of conflict spring and the inner wall fixed connection of mounting groove, the other end and the fixture block fixed connection of conflict spring, the draw-in groove with fixture block looks adaptation is seted up to the recess inner wall, the cavity has been seted up to the inside of buffer block, the push pedal activity sets up in the cavity, the one end and the push pedal side fixed connection of connecting rod, the other end of connecting rod extends to in the cavity, and with push rod fixed connection, taut spring housing is established in the push rod outer loop side, just the one end and the cavity inner wall fixed connection of taut spring, the other end and the connecting rod fixed connection of taut spring are convenient for changing the centre gripping arm.

Preferably, the side face of the buffer block is fixedly connected with a guide block, and the inner wall of the compensation groove is provided with a guide groove matched with the guide block.

Preferably, the number of the guide blocks is two, and the two guide blocks are symmetrically distributed along the vertical central axis of the buffer block.

Preferably, the integral structure that fixed screw, buffer block, compensation spring and centre gripping arm formed has two sets, and is the symmetric distribution along the vertical axis of fixed frame.

Preferably, the inner wall of the groove is provided with a sliding groove matched with the clamping block, and the sliding groove is communicated with the inside of the clamping groove.

Preferably, one side of the push plate close to the clamping block is matched with the end part of the clamping block, an elastic rod is arranged inside the compensation spring, one end of the elastic rod is fixedly connected with the inner wall of the compensation groove, and the other end of the elastic rod is fixedly connected with the side face of the buffer block.

Preferably, the through-hole with clamping screw looks adaptation is all seted up to the inside of fixed frame and regulating block, threaded connection has lock nut on the clamping screw, there is a plurality of fixed frame inside through-hole quantity, and is evenly distributed inside fixed frame.

Compared with the prior art, the utility model discloses following beneficial effect has:

the utility model discloses in, through setting up flexible compensation assembly, according to the size of work piece, through removing the regulating block, make the regulating block remove to required position, it is fixed with fixed frame to be connected the regulating block through set screw, accomplish the regulation compensation to distance between the centre gripping arm, error when reducing the work piece centre gripping, when the centre gripping arm is when the centre gripping, the centre gripping arm receives the work piece pressurization and can drive the buffer block and remove at the dashpot, thereby can be through compensation spring's compression, cushion and compensate to the centre gripping arm, avoid the centre gripping arm to cause the damage to the workpiece surface when using, when needs are changed the centre gripping arm, through promoting the push rod, make the push rod drive connecting rod and push pedal carry out synchronous movement, thereby can make the push rod promote the fixture block, move to the spout position until the fixture block tip, through pulling the centre gripping arm, can accomplish to change the centre gripping arm, carry out the centre gripping with the work piece that satisfies different shapes and size, the application scope of anchor clamps robot is improved.

Drawings

Fig. 1 is a perspective view of the overall structure of a robot flexible compensation device of the present invention;

fig. 2 is a perspective view of a flexible compensation assembly structure of a flexible compensation device for a robot according to the present invention;

fig. 3 is a sectional view of a buffer block and a connection structure thereof of a robot flexible compensation device of the present invention;

fig. 4 is an enlarged view of the structure at a in fig. 3 of the flexible compensation device for a robot of the present invention;

fig. 5 is an enlarged view of the structure at B in fig. 3 of the flexible compensation device for robot of the present invention.

In the figure: 1. a fixing frame; 2. an adjusting block; 3. fixing the screw rod; 4. a buffer block; 5. a compensation spring; 6. a clamp arm; 7. against the spring; 8. a clamping block; 9. a push rod; 10. tensioning the spring; 11. a connecting rod; 12. pushing the plate; 13. a compensation groove; 14. a guide block; 15. a chute; 16. an elastic rod; 17. and a through hole.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" 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 to which the reference is made 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 for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; 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 present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-5, the utility model relates to a robot flexible compensation device, which comprises a fixed frame 1, wherein the fixed frame 1 is arranged on a robot body, and a flexible compensation component is arranged on the fixed frame 1;

the flexible compensation assembly comprises an adjusting block 2, a fixing screw 3, a buffer block 4, a compensation spring 5, a clamping arm 6 and a connecting component, wherein the adjusting block 2 is connected with the inside of a fixing frame 1 through the fixing screw 3, a compensation groove 13 matched with the buffer block 4 is formed in the side surface of the adjusting block 2, one end of the compensation spring 5 is fixedly connected with the inner wall of the compensation groove 13, the other end of the compensation spring 5 is fixedly connected with the side surface of the buffer block 4, the clamping arm 6 is connected with the buffer block 4 through the connecting component, and the clamping arm 6 is pneumatically connected for use, so that when a workpiece is clamped, the clamping arm 6 is flexibly compensated, and the workpiece is clamped more stably;

adapting unit includes conflict spring 7, fixture block 8, push rod 9, straining spring 10, connecting rod 11 and push pedal 12, the recess with 6 looks adaptations of centre gripping arm is seted up to the side of buffer block 4, the mounting groove has been seted up to the side of centre gripping arm 6, the one end of conflict spring 7 and the inner wall fixed connection of mounting groove, the other end and the fixture block 8 fixed connection of conflict spring 7, the draw-in groove with 8 looks adaptations of fixture block is seted up to the recess inner wall, the cavity has been seted up to the inside of buffer block 4, push pedal 12 activity sets up in the cavity, the one end and the push pedal 12 side fixed connection of connecting rod 11, the other end of connecting rod 11 extends to in the cavity, and with push rod 9 fixed connection, straining spring 10 cover is established in push rod 9 outer loop side, and straining spring 10's one end and cavity inner wall fixed connection, straining spring 10's the other end and connecting rod 11 fixed connection, be convenient for changing centre gripping arm 6.

The side of buffer block 4 is fixedly connected with guide block 14, and the inner wall of compensating groove 13 is seted up the guide way with guide block 14 looks adaptation.

The number of guide blocks 14 is two, and two guide blocks 14 are symmetrically distributed along the vertical central axis of the buffer block 4.

The overall structure that set screw 3, buffer block 4, compensating spring 5 and centre gripping arm 6 formed has two sets ofly, and is the symmetric distribution along the vertical axis of fixed frame 1.

The inner wall of the groove is provided with a sliding groove 15 matched with the clamping block 8, and the sliding groove 15 is communicated with the inside of the clamping groove.

One side of the push plate 12 close to the fixture block 8 is matched with the end of the fixture block 8, an elastic rod 16 is arranged inside the compensation spring 5, one end of the elastic rod 16 is fixedly connected with the inner wall of the compensation groove 13, and the other end of the elastic rod 16 is fixedly connected with the side face of the buffer block 4.

Through-hole 17 with 3 looks adaptations of clamping screw is all seted up to the inside of fixed frame 1 and regulating block 2, and threaded connection has lock nut on the clamping screw 3, and there is a plurality of fixed frame 1 inside through-hole 17 quantity, and is evenly distributed at fixed frame 1 inside.

The utility model discloses a theory of operation does: when the clamping device is used, according to the size of a workpiece, the adjusting block 2 is moved by moving the adjusting block 2, the adjusting block 2 is connected and fixed with the fixed frame 1 through the fixing screw 3, the adjustment compensation of the distance between the clamping arms 6 is completed, when the clamping arms 6 are clamped, the clamping arms 6 are pressurized by the workpiece to drive the buffer blocks 4 to move in the buffer grooves, the clamping arms 6 can be buffered and compensated through the compression of the compensating springs 5, and the damage to the surface of the workpiece caused by the clamping arms 6 when in use is avoided, and the content which is not described in detail in the specification belongs to the prior art which is known by professional technicians in the field.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A flexible compensation arrangement of robot which characterized in that: the device comprises a fixed frame (1), wherein a flexible compensation assembly is arranged on the fixed frame (1);

the flexible compensation assembly comprises an adjusting block (2), a fixing screw (3), a buffer block (4), a compensation spring (5), a clamping arm (6) and a connecting component, wherein the adjusting block (2) is connected with the inside of the fixing frame (1) through the fixing screw (3), a compensation groove (13) matched with the buffer block (4) is formed in the side face of the adjusting block (2), one end of the compensation spring (5) is fixedly connected with the inner wall of the compensation groove (13), the other end of the compensation spring (5) is fixedly connected with the side face of the buffer block (4), and the clamping arm (6) is connected with the buffer block (4) through the connecting component;

adapting unit includes conflict spring (7), fixture block (8), push rod (9), taut spring (10), connecting rod (11) and push pedal (12), the recess with centre gripping arm (6) looks adaptation is seted up to the side of buffer block (4), the mounting groove has been seted up to the side of centre gripping arm (6), the one end of conflict spring (7) and the inner wall fixed connection of mounting groove, the other end and fixture block (8) fixed connection of conflict spring (7), the draw-in groove with fixture block (8) looks adaptation is seted up to the recess inner wall, the cavity has been seted up to the inside of buffer block (4), push pedal (12) activity sets up in the cavity, the one end and push pedal (12) side fixed connection of connecting rod (11), the other end of connecting rod (11) extends to in the cavity, and with push rod (9) fixed connection, taut spring (10) cover is established in push rod (9) outer ring side, just the one end and the cavity inner wall fixed connection of taut spring (10), the other end and connecting rod (11) fixed connection of taut spring (10).

2. A robotic flexibility compensating device as claimed in claim 1, wherein: the side fixedly connected with guide block (14) of buffer block (4), the guide way with guide block (14) looks adaptation is seted up to the inner wall in compensation groove (13).

3. A robotic flexibility compensating device as claimed in claim 2, wherein: the number of guide blocks (14) has two, and two guide blocks (14) are the symmetric distribution along the vertical axis of buffer block (4).

4. A robotic flexibility compensating device as claimed in claim 1, wherein: the integral structure that clamping screw (3), buffer block (4), compensating spring (5) and centre gripping arm (6) formed has two sets ofly, and is the symmetric distribution along the vertical axis of fixed frame (1).

5. A robot flexibility compensating apparatus according to claim 1, wherein: the inner wall of the groove is provided with a sliding groove (15) matched with the clamping block (8), and the sliding groove (15) is communicated with the inside of the clamping groove.

6. A robotic flexibility compensating device as claimed in claim 1, wherein: the novel buffer structure is characterized in that an elastic rod (16) is arranged inside the compensation spring (5), one end of the elastic rod (16) is fixedly connected with the inner wall of the compensation groove (13), and the other end of the elastic rod (16) is fixedly connected with the side face of the buffer block (4).

7. A robot flexibility compensating apparatus according to claim 1, wherein: through-hole (17) with clamping screw (3) looks adaptation are all seted up to the inside of fixed frame (1) and regulating block (2), there is a plurality of fixed frame (1) inside through-hole (17) quantity, and is evenly distributed in fixed frame (1) inside.