CN218614107U - Unordered flexible fixture of robot that snatchs - Google Patents
Unordered flexible fixture of robot that snatchs Download PDFInfo
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- CN218614107U CN218614107U CN202222799425.6U CN202222799425U CN218614107U CN 218614107 U CN218614107 U CN 218614107U CN 202222799425 U CN202222799425 U CN 202222799425U CN 218614107 U CN218614107 U CN 218614107U
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Abstract
The utility model relates to a flexible anchor clamps of unordered robot that snatchs, it includes mount pad, clamping device and sucking disc device, and clamping device includes first clamping jaw and the second clamping jaw of first actuating mechanism and relative setting, and first clamping jaw is connected with the mount pad, second clamping jaw and mount pad sliding connection, and first actuating mechanism is connected with the second clamping jaw. The sucking disc device comprises a magnetic suction assembly and a second driving mechanism, the magnetic suction assembly is connected with the second driving mechanism, and the second driving mechanism can drive the magnetic suction assembly to switch between a first state and a second state. When the workpiece is uneven, the workpiece can be grabbed by the clamping device, the magnetic suction assembly is in the first state, and the magnetic suction assembly is prevented from adsorbing the workpiece to interfere with the normal work of the clamping device. When clamping device stretched out inadequately when space around, switch over the subassembly to the second state with magnetism, magnetism is inhaled the subassembly and is connected with the work piece absorption, can directly carry the work piece, can adjust the locating place of work piece again, and the clamping device's of being convenient for clamp is got.
Description
Technical Field
The utility model relates to a mechanical tongs technical field especially relates to an unordered flexible fixture of robot that snatchs.
Background
The high flexibility of the industrial robot can meet various special requirements in modern green casting production, the robot can save labor force, and the production efficiency, the manufacturing precision and the quality of castings can be improved. With the development of various workpieces in small batches, a high-flexibility transfer robot capable of meeting the requirements of casting production operation is urgently needed, and the transfer operation of the robot is usually completed by means of an end effector, namely various clamping devices.
At present, a small casting adopts a crawler turnover type shot blasting machine, a workpiece falls into a chain plate line after shot blasting, the posture of the workpiece falling on the chain plate line is random, and the difference of the overall dimension and the shape of the small casting is large. The existing industrial robot can clamp small castings with different sizes and shapes only by replacing different clamps. The flexible clamp cannot adjust the posture of the small casting, so that the flexible clamp cannot clamp the small casting with random posture.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
In view of the above-mentioned shortcoming and the not enough of prior art, the utility model provides an unordered flexible fixture of robot that snatchs, it has solved flexible fixture can't press from both sides the technical problem of getting the random little foundry goods of gesture.
(II) technical scheme
In order to achieve the above object, the utility model discloses an unordered flexible fixture of robot that snatchs includes:
the device comprises a mounting seat, a clamping device and a sucker device;
the clamping device comprises a first driving mechanism, a first clamping jaw and a second clamping jaw, wherein the first clamping jaw and the second clamping jaw are oppositely arranged; the first driving mechanism is arranged on the mounting seat and connected with the second clamping jaw;
the sucker device comprises a magnetic suction assembly and a second driving mechanism arranged on the mounting seat, the magnetic suction assembly is connected with the second driving mechanism, and the second driving mechanism can drive the magnetic suction assembly to rotate so as to enable the magnetic suction assembly to be switched between a first state and a second state;
the first state is that the magnetic suction component is stored on the mounting seat;
the second state does the subassembly is followed to magnetism is inhaled the play on the mount pad, just the face of inhaling of magnetism of subassembly is inhaled towards the extending direction of second clamping jaw.
Optionally, the second drive mechanism comprises a first power unit and a mounting;
the mounting frame is rotatably arranged on the mounting seat through a rotating shaft, the first power unit is arranged on the mounting seat, and the first power unit is connected with the mounting frame;
the magnetic suction component is connected with the mounting rack.
Optionally, the first power unit comprises a first cylinder and a connecting arm;
the cylinder body of first cylinder with the mount pad is articulated, the piston rod of first cylinder with the first end of linking arm passes through the fisheye articulate, the second end of linking arm with the mounting bracket is connected.
Optionally, the second driving mechanism further comprises a locking unit disposed on the mounting seat;
when the magnetic suction assembly is in the second state, the locking unit can be clamped with the mounting frame.
Optionally, the locking unit includes a second cylinder, an arc-shaped swing arm, and a limit block;
the cylinder body of the second cylinder and the first end of the arc-shaped swing arm are hinged with the mounting seat, and the piston rod of the second cylinder is hinged with the first end of the arc-shaped swing arm;
the stopper set up in on the mounting bracket, the stopper is close to the pivot of mounting bracket, the first end of arc swing arm is provided with spacing arch, during the second state, the arc swing arm with spacing arch all with the stopper butt.
Optionally, the magnetic suction assembly comprises a first permanent magnetic suction cup and a second permanent magnetic suction cup, and the first permanent magnetic suction cup and the second permanent magnetic suction cup are arranged oppositely;
the first permanent magnetic chuck and the second permanent magnetic chuck are both connected with the second driving mechanism;
and in the second state, the magnetic attraction surfaces of the first permanent magnetic chuck and the second permanent magnetic chuck face to the extending direction of the second clamping jaw.
Optionally, the magnetic attraction assembly further includes a first floating joint and a second floating joint, and the first floating joint and the second floating joint each include a first connecting portion, an elastic portion, and a second connecting portion;
the elastic part comprises a connecting rod and a plurality of guide rods, and the first connecting part is provided with a connecting hole and a plurality of guide holes;
the first end of the connecting rod is slidably sleeved in the connecting hole, and the second end of the connecting rod is connected with the second connecting part;
the guide rods are respectively in one-to-one corresponding sliding connection with the guide holes, the second ends of the guide rods are all connected with the second connecting part, each guide rod is sleeved with a spring, and the two ends of each spring are respectively abutted to the first connecting part and the second connecting part;
the first connecting portion that first unsteady joint and the second floated joint all with second actuating mechanism connects, first unsteady joint the second connecting portion with first permanent magnetic chuck is connected, the second floated joint the second connecting portion with the second permanent magnetic chuck is connected.
Optionally, the first drive mechanism comprises a guide rail, a slide, and a second power unit;
the guide rail and the second power unit are arranged on the mounting seat, and the sliding seat is arranged on the guide rail in a sliding manner;
the second power unit is connected with the sliding seat to drive the sliding seat to move on the guide rail, and the second clamping jaw is connected with the sliding seat.
Optionally, the second power unit is an oil cylinder, a cylinder barrel of the oil cylinder is hinged to the mounting seat, and a piston rod of the oil cylinder is hinged to the sliding seat.
Optionally, a hydraulic lock is arranged on a loop of the oil cylinder, a displacement sensor is arranged on the second clamping jaw, and the displacement sensor is electrically connected with the hydraulic lock.
(III) advantageous effects
The in-process of flexible anchor clamps clamp work piece of robot is got to unordered snatching adopts clamping device just can snatch the work piece when the work piece uneven face up, and magnetism inhales the subassembly and is in the first state, and the first state is for magnetism to inhale the subassembly and accomodate on the mount pad, can avoid magnetism to inhale the subassembly effectively and adsorb the work piece and disturb clamping device's normal work. When the work piece overlap joint, when the clamping device stretches into inadequately in surrounding space, switch over the subassembly to the second state with magnetism, the second state is that magnetism inhales the subassembly and passes through the drive rotation of second actuating mechanism, magnetism inhales the subassembly and swings out from the mount pad, and the magnetism of inhaling the subassembly is inhaled the extending direction of face orientation second clamping jaw, guarantee that magnetism of inhaling the subassembly is inhaled the face and is towards the work piece, magnetism is inhaled the subassembly and is connected with the work piece absorption, the motion through magnetism subassembly is inhaled to the motion drive work piece motion, can directly carry the work piece, can adjust the locating place of work piece again, clamping device's the clamp of being convenient for is got. The clamping device is matched with the sucker device, so that workpieces in various postures can be effectively grabbed and transported, and the working efficiency is effectively improved.
Drawings
Fig. 1 is a schematic front view of the flexible fixture of the disordered gripping robot of the present invention;
fig. 2 is a schematic top view of the flexible fixture of the disordered gripping robot according to the present invention;
fig. 3 is a schematic bottom view of the flexible fixture of the out-of-order gripping robot of the present invention;
fig. 4 is a schematic side view of the flexible fixture of the disordered gripping robot according to the present invention;
fig. 5 is the structural schematic diagram of the first floating joint of the flexible fixture of the disordered grabbing robot of the utility model.
[ description of reference ]
1: a mounting seat; 10: a connecting seat;
21: a first jaw; 22: a second jaw; 23: a guide rail; 24: a slide base;
31: the magnetic component; 32: a second drive mechanism; 33: a mounting frame; 34: a first cylinder; 35: a connecting arm; 36: a second cylinder; 37: an arc-shaped swing arm; 38: a limiting block; 39: a limiting bulge;
41: a first permanent magnetic chuck; 42: a second permanent magnetic chuck;
51: a first floating joint; 52: a second floating joint; 511: a first connection portion; 512: a second connecting portion; 513: a connecting rod; 514: a guide bar; 515: a spring.
Detailed Description
For a better understanding of the present invention, reference will now be made in detail to the present invention, examples of which are illustrated in the accompanying drawings. In which the terms "upper", "lower", etc. are used herein with reference to the orientation of fig. 1.
While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1 and 2, the utility model provides a flexible fixture of robot snatchs in disorder, it connects the arm through setting up connecting seat 10, drives its motion through the arm. The flexible clamp of the disordered grabbing robot comprises a mounting seat 1, a clamping device and a sucker device. The clamping device comprises a first driving mechanism, a first clamping jaw 21 and a second clamping jaw 22, wherein the first clamping jaw 21 and the second clamping jaw 22 are arranged oppositely, the first clamping jaw 21 is fixedly installed on the installation base 1, the second clamping jaw 22 is connected with the installation base 1 in a sliding mode, the first driving mechanism is arranged on the installation base 1 and is connected with the second clamping jaw 22, the first driving mechanism is used for driving the second clamping jaw 22 to move, and the distance between the first clamping jaw 21 and the second clamping jaw 22 is adjusted, so that castings of different sizes and shapes can be matched. The sucking disc device includes magnetism subassembly 31 and sets up the second actuating mechanism 32 on mount pad 1 of inhaling, and magnetism subassembly 31 is connected with second actuating mechanism 32, and second actuating mechanism 32 can drive magnetism subassembly 31 rotation, makes magnetism subassembly 31 of inhaling switch between first state and second state. When the work piece is uneven to the face up, adopt clamping device just can snatch the work piece, magnetism is inhaled subassembly 31 and is in the first state, and the first state is inhaled subassembly 31 for magnetism and is accomodate on mount pad 1, can avoid magnetism to inhale subassembly 31 effectively and adsorb the work piece and disturb clamping device's normal work. When the work piece overlap joint, when the clamping device stretches into inadequately in surrounding space, switch over subassembly 31 to the second state with magnetism, the second state is magnetism for inhaling subassembly 31 rotatory through the drive of second actuating mechanism 32, it swings out from mount pad 1 to inhale subassembly 31 to inhale, and the magnetic face of inhaling of subassembly 31 is inhaled towards the extending direction of second clamping jaw 22, guarantee magnetism and inhale the face of inhaling of subassembly 31 towards the work piece, it is connected with the work piece absorption to inhale subassembly 31 to inhale the magnetism, the motion through magnetism inhales subassembly 31 drives the work piece motion, can directly carry the work piece, can adjust the locating place of work piece again, be convenient for clamping device's clamp to get. The clamping device is matched with the sucker device, so that workpieces in various postures can be effectively grabbed and transported, and the working efficiency is effectively improved.
As shown in fig. 1 to 4, the second driving mechanism 32 includes a first power unit and a mounting bracket 33, and the mounting bracket 33 is rotatably disposed on the mounting base 1 through a rotating shaft. The mounting base 1 is provided with a mounting through hole, the rotating shaft is rotatably sleeved in the mounting through hole through a bearing, and the mounting frame 33 is connected with the part of the rotating shaft extending out of the mounting base 1. First power unit sets up on mount pad 1, and first power unit is connected with mounting bracket 33, and it is rotatory to drive mounting bracket 33 through first power unit, and magnetism subassembly 31 is connected with mounting bracket 33, rotates along with mounting bracket 33. Specifically, the first power unit comprises a first air cylinder 34 and a connecting arm 35, the cylinder body of the first air cylinder 34 is hinged to the mounting base 1, the piston rod of the first air cylinder 34 is connected with the first end of the connecting arm 35 through a fisheye joint, and the second end of the connecting arm 35 is connected with the mounting frame 33. During the piston rod motion of first cylinder 34, piston rod drive linking arm 35 is rotatory round the axis of pivot to the rotatory synchronous rotation of drive mounting bracket 33, the utility model discloses only need drive mounting bracket 33 at certain angle (preferred 90 °) within range swing can, refer to figure 1 for inhale the vertical state of subassembly 31 swing to the second state from the horizontality of first state with magnetism.
As shown in fig. 1, the second driving mechanism 32 further includes a locking unit, the locking unit is disposed on the mounting base 1, and when the magnetic attraction component 31 is in the second state, the locking unit can be clamped with the mounting frame 33, so as to prevent the mounting frame 33 from swinging. Specifically, the locking unit includes second cylinder 36, arc swing arm 37 and stopper 38, and wherein, the cylinder body of second cylinder 36 is articulated with mount pad 1, and arc swing arm 37's first end is articulated with mount pad 1, and second cylinder 36's piston rod is articulated with arc swing arm 37's first end, drives arc swing arm 37 rotary motion through second cylinder 36, the utility model discloses only need drive arc swing arm 37 and swing certain angle. The limiting block 38 is disposed on the mounting frame 33, the limiting block 38 is close to the rotating shaft of the mounting frame 33, the shape of the limiting block 38 is matched with the shape of the arc-shaped swing arm 37, and a limiting bump 39 is disposed at a first end of the arc-shaped swing arm 37. After mounting bracket 33 moved to the second state, the piston rod was parallel with the linking arm, thereby the connecting rod that makes piston rod and linking arm constitute is in the dead point position, 36 drive arc swing arm 37 of second cylinder swings, make arc swing arm 37 and spacing lug 39 all butt on stopper 38, only need less effort just can restrict mounting bracket 33's rotation between arc swing arm 37 and the spacing lug 39 this moment, consequently second cylinder 36 can adopt little cylinder just can avoid magnetism to inhale subassembly 31 and take place the swing and cause the unstable condition of absorption at absorbent in-process, the absorbent stability has been improved.
As shown in fig. 3 and 4, the magnetic attraction assembly 31 includes a first permanent magnetic chuck 41 and a second permanent magnetic chuck 42, the first permanent magnetic chuck 41 and the second permanent magnetic chuck 42 are disposed oppositely, the magnetic attraction surfaces of the first permanent magnetic chuck 41 and the second permanent magnetic chuck 42 are on the same plane, and the two permanent magnetic chucks can ensure the stability of workpiece adsorption. First permanent magnetic chuck 41 and second permanent magnetic chuck 42 all with install on mounting bracket 33, drive first permanent magnetic chuck 41 and second permanent magnetic chuck 42 rotation through mounting bracket 33, realize the switching of first state and second state. In the second state, the magnetic attraction surfaces of the first permanent magnetic chuck 41 and the second permanent magnetic chuck 42 face the extending direction of the second clamping jaw 22, and are used for attracting the surface of the workpiece.
As shown in fig. 4, the magnetic attraction assembly 31 further includes a first floating joint 51 and a second floating joint 52, and each of the first floating joint 51 and the second floating joint 52 includes a first connection portion 511, an elastic portion, and a second connection portion 512. Wherein, the elastic part includes connecting rod 513 and a plurality of guide bars 514, has seted up connecting hole and a plurality of guiding hole on the first connecting portion 511, and the connecting hole is seted up in the symmetric center of first connecting portion 511, and a plurality of guiding holes surround connecting hole evenly distributed. The first end of the connecting rod 513 is slidably sleeved in the connecting hole, and the second end of the connecting rod 513 is in threaded connection with the second connecting portion 512. The first end of the connection rod 513 protrudes from the upper surface of the first connection portion 511, and a shoulder is provided at the first end of the connection rod 513 to prevent the connection rod 513 from slipping out of the connection hole. The connecting rod 513 has a diameter smaller than the inner diameter of the connecting hole, and the connecting rod 513 can swing in the connecting hole. The plurality of guide rods 514 are respectively in one-to-one corresponding sliding connection with the plurality of guide holes, and the second ends of the plurality of guide rods 514 are in threaded connection with the second connecting portion 512. Also, a first end of the guide bar 514 protrudes from the upper surface of the first connection portion 511, and a shoulder is provided at the first end of the guide bar 514 to prevent the guide bar 514 from slipping out of the guide hole. The guide rod 514 has a diameter smaller than the inner diameter of the guide hole in which the guide rod 514 can swing. Each guide rod 514 is sleeved with a spring 515, the spring 515 is compressed between the first connection portion 511 and the second connection portion 512, and two ends of the spring 515 are respectively abutted against the first connection portion 511 and the second connection portion 512. The first connecting parts 511 of the first floating joint 51 and the second floating joint 52 are connected with the mounting frame 33, the second connecting part 512 of the first floating joint 51 is connected with the first permanent magnetic chuck 41, and the second connecting part 512 of the second floating joint 52 is connected with the second permanent magnetic chuck 42. The permanent magnetic chuck can swing and stretch by the contraction and stretching of the spring 515 and swing by the guide rod 514 and the connecting rod 513 to a certain extent, the two permanent magnetic chucks are designed to float, the height difference of the surface of a workpiece can be compensated, and the permanent magnetic chucks can be stably attached to the surface of the workpiece.
As shown in fig. 1, the first driving mechanism includes a guide rail 23, a carriage 24, and a second power unit. Wherein, the guide rail 23 and the second power unit are both arranged on the mounting base 1, and the sliding base 24 is arranged on the guide rail 23 in a sliding manner. The second power unit is connected to the carriage 24 to drive the carriage 24 on the rail 23. The second clamping jaw 22 is connected with a sliding seat 24, and the sliding seat 24 moves to drive the second clamping jaw 22 to move, so that the two clamping jaws move close to or away from each other. In a preferred embodiment, the second power unit is an oil cylinder, a cylinder barrel of the oil cylinder is hinged to the mounting base 1, and a piston rod of the oil cylinder is hinged to the sliding base 24. When the piston rod is extended, the second jaw 22 is moved away from the first jaw 21, and when the piston rod is retracted, the second jaw 22 is moved closer to the first jaw 21. The hydraulic lock is arranged on the loop of the oil cylinder, the hydraulic lock is an electric control hydraulic lock, and the loop oil is not allowed to flow by locking the loop, so that the first oil cylinder can still keep the position of the first oil cylinder still even under the condition that a certain load is arranged outside, the first clamping jaw 21 and the second clamping jaw 22 can stably clamp the casting, and meanwhile, the current clamping state can be kept even if the oil cylinder loses power, and the casting is prevented from falling and being damaged. A displacement sensor is arranged on the second clamping jaw 22, and the displacement sensor is electrically connected with the hydraulic lock (including wire connection and signal connection) and is electrically connected with the control unit. The displacement sensor is conventional equipment and is used for detecting the displacement distance of the second clamping jaw 22 and further acquiring the opening degree between the two clamping jaws, the distance between the two clamping jaws is adjusted according to the size of a workpiece through matching with an external vision detection system, a loop is locked through hydraulic pressure after the set distance is reached, the second clamping jaw 22 is prevented from being opened in a transition mode, and the clamping efficiency is improved.
The in-process of the flexible anchor clamps clamp work piece of robot is grabbed to unordered snatching, when the work piece uneven face up, adopts clamping device just can grab the work piece, and magnetism is inhaled subassembly 31 and is in the first state, and the first state is inhaled subassembly 31 for magnetism and is accomodate on mount pad 1, can avoid magnetism to inhale subassembly 31 effectively and adsorb the work piece and disturb clamping device's normal work. When the work piece overlap joint, when the clamping device stretches into inadequately in surrounding space, switch over subassembly 31 to the second state with magnetism, the second state is magnetism for inhaling subassembly 31 rotatory through the drive of second actuating mechanism 32, it swings out from mount pad 1 to inhale subassembly 31 to inhale, and the magnetic face of inhaling of subassembly 31 is inhaled towards the extending direction of second clamping jaw 22, guarantee magnetism and inhale the face of inhaling of subassembly 31 towards the work piece, it is connected with the work piece absorption to inhale subassembly 31 to inhale the magnetism, the motion through magnetism inhales subassembly 31 drives the work piece motion, can directly carry the work piece, can adjust the locating place of work piece again, be convenient for clamping device's clamp to get. The clamping device is matched with the sucker device, so that workpieces in various postures can be effectively grabbed and transported, and the working efficiency is effectively improved.
In the description of the present invention, it is to be understood that the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; either internal to the two elements or in an interactive relationship of the two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless otherwise expressly stated or limited, a first feature may be "on" or "under" a second feature, and the first and second features may be in direct contact, or the first and second features may be in indirect contact via an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lower level than the second feature.
In the description herein, the description of the terms "one embodiment," "some embodiments," "an embodiment," "an example," "a specific example" or "some examples" or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
While embodiments of the present invention have been shown and described, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that modifications, alterations, substitutions and variations may be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (10)
1. The flexible clamp for the disordered grabbing robot is characterized by comprising a mounting seat (1), a clamping device and a sucker device;
the clamping device comprises a first driving mechanism, a first clamping jaw (21) and a second clamping jaw (22) which are arranged oppositely, the first clamping jaw (21) is connected with the mounting seat (1), and the second clamping jaw (22) is connected with the mounting seat (1) in a sliding manner; the first driving mechanism is arranged on the mounting base (1) and connected with the second clamping jaw (22);
the sucker device comprises a magnetic suction assembly (31) and a second driving mechanism (32) arranged on the mounting base (1), the magnetic suction assembly (31) is connected with the second driving mechanism (32), and the second driving mechanism (32) can drive the magnetic suction assembly (31) to rotate so that the magnetic suction assembly (31) is switched between a first state and a second state;
the first state is that the magnetic attraction component (31) is stored on the mounting seat (1);
the second state is subassembly (31) are inhaled to magnetism is followed swing out on mount pad (1), just the face orientation second clamping jaw (22) extension direction is inhaled to magnetism of inhaling subassembly (31).
2. The disordered grip robot flexible fixture of claim 1, wherein the second drive mechanism (32) includes a first power unit and a mounting bracket (33);
the mounting frame (33) is rotatably arranged on the mounting base (1) through a rotating shaft, the first power unit is arranged on the mounting base (1), and the first power unit is connected with the mounting frame (33);
subassembly (31) are inhaled to magnetism with mounting bracket (33) are connected.
3. The disordered grasping robot flexible clamp of claim 2, characterized in that the first power unit includes a first cylinder (34) and a connecting arm (35);
the cylinder body of first cylinder (34) with mount pad (1) is articulated, the piston rod of first cylinder (34) with the first end of connecting arm (35) passes through fisheye articulate, the second end of connecting arm (35) with mounting bracket (33) are connected.
4. The disordered grasping robot flexible clamp according to claim 2, characterized in that the second drive mechanism (32) further includes a locking unit provided on the mount (1);
when the magnetic attraction component (31) is in the second state, the locking unit can be clamped with the mounting frame (33).
5. The flexible clamp of the disordered grabbing robot as claimed in claim 4 wherein said locking unit includes a second cylinder (36), an arc swing arm (37) and a stopper (38);
the cylinder body of the second cylinder (36) and the first end of the arc-shaped swing arm (37) are hinged with the mounting base (1), and the piston rod of the second cylinder (36) is hinged with the first end of the arc-shaped swing arm (37);
stopper (38) set up in on mounting bracket (33), stopper (38) are close to the pivot of mounting bracket (33), the first end of arc swing arm (37) is provided with spacing lug (39), during the second state, arc swing arm (37) with spacing lug (39) all with stopper (38) butt.
6. The disordered grasping robot flexible fixture according to any one of claims 1 to 5, characterized in that the magnetically attracting assembly (31) includes a first permanent magnet chuck (41) and a second permanent magnet chuck (42), the first permanent magnet chuck (41) and the second permanent magnet chuck (42) being disposed opposite to each other;
the first permanent magnetic chuck (41) and the second permanent magnetic chuck (42) are both connected with the second driving mechanism (32);
and in the second state, the magnetic suction surfaces of the first permanent magnetic suction cup (41) and the second permanent magnetic suction cup (42) face the extension direction of the second clamping jaw (22).
7. The disordered grabbing robot flexible fixture of claim 6, wherein said magnetically attracted assembly (31) further comprises a first floating joint (51) and a second floating joint (52), said first floating joint (51) and said second floating joint (52) each comprising a first connection portion (511), an elastic portion, and a second connection portion (512);
the elastic part comprises a connecting arm (35) and a plurality of guide rods (514), and a connecting hole and a plurality of guide holes are formed in the first connecting part (511);
the first end of the connecting arm (35) is slidably sleeved in the connecting hole, and the second end of the connecting arm (35) is connected with the second connecting part (512);
the guide rods (514) are respectively in one-to-one corresponding sliding connection with the guide holes, the second ends of the guide rods (514) are all connected with the second connecting part (512), each guide rod (514) is sleeved with a spring (515), and two ends of each spring (515) are respectively abutted to the first connecting part (511) and the second connecting part (512);
the first connecting portion (511) of the first floating joint (51) and the second floating joint (52) are connected with the second driving mechanism (32), the second connecting portion (512) of the first floating joint (51) is connected with the first permanent magnetic chuck (41), and the second connecting portion (512) of the second floating joint (52) is connected with the second permanent magnetic chuck (42).
8. The flexible gripper of a disordered grasping robot according to any one of claims 1 to 5, characterized in that the first drive mechanism comprises a guide rail (23), a slide (24), and a second power unit;
the guide rail (23) and the second power unit are arranged on the mounting base (1), and the sliding base (24) is arranged on the guide rail (23) in a sliding manner;
the second power unit is connected with the sliding seat (24) to drive the sliding seat (24) to move on the guide rail (23), and the second clamping jaw (22) is connected with the sliding seat (24).
9. The disordered grabbing robot flexible fixture of claim 8, characterized in that the second power unit is an oil cylinder, the cylinder of the oil cylinder is hinged on the mounting base (1), and the piston rod of the oil cylinder is hinged with the sliding base (24).
10. The disordered grasping robot flexible clamp according to claim 9, characterized in that a hydraulic lock is provided on the loop of the cylinder and a displacement sensor is provided on the second jaw (22), the displacement sensor being electrically connected to the hydraulic lock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222799425.6U CN218614107U (en) | 2022-10-24 | 2022-10-24 | Unordered flexible fixture of robot that snatchs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222799425.6U CN218614107U (en) | 2022-10-24 | 2022-10-24 | Unordered flexible fixture of robot that snatchs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218614107U true CN218614107U (en) | 2023-03-14 |
Family
ID=85471652
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222799425.6U Active CN218614107U (en) | 2022-10-24 | 2022-10-24 | Unordered flexible fixture of robot that snatchs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218614107U (en) |
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2022
- 2022-10-24 CN CN202222799425.6U patent/CN218614107U/en active Active
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