CN219404281U

CN219404281U - Mechanism for eliminating hard connection defect

Info

Publication number: CN219404281U
Application number: CN202320149461.XU
Authority: CN
Inventors: 郭其昌; 梅劲松; 李宁; 袁泉; 董智源; 张兆贵
Original assignee: Nanjing Tycho Information Technology Co ltd
Current assignee: Nanjing Tycho Information Technology Co ltd
Priority date: 2023-02-08
Filing date: 2023-02-08
Publication date: 2023-07-25
Anticipated expiration: 2033-02-08

Abstract

The utility model discloses a mechanism for eliminating hard connection defects, which comprises a connecting table, a taper sleeve pair, a positioning pin shaft, a table connecting plate, a limiting plate and a taper positioning sleeve, wherein the connecting table is connected with the taper sleeve pair; a taper sleeve pair is sleeved below the connecting table, and a gourd hole is formed in the side wall of the taper sleeve pair; a conical locating sleeve is arranged in the conical sleeve pair and is embedded with the connecting table, and the conical locating sleeve is fixedly connected with the connecting table through a limiting plate; a gap is arranged between the conical locating sleeve and the conical sleeve pair, the outer conical surface of the conical locating sleeve and the inner conical surface of the conical sleeve pair are matched and can be overlapped, and the gap disappears when the conical locating sleeve and the conical sleeve pair are overlapped, so that conical locating is formed; the positioning pin shafts are fixedly connected with the conical positioning sleeve, and the positioning pin shafts are radially arranged to enable the positioning pin shafts to be positioned in the gourd holes; the platform connecting plate is positioned at the bottom of the connecting platform, and the upper part of the platform connecting plate is fixedly connected with the taper sleeve pair. The utility model avoids hard contact caused by the connection of the tail end of the robot and the tool end module and the direct contact of the tool end module and the operation object, and avoids damage to equipment.

Description

Mechanism for eliminating hard connection defect

Technical Field

The utility model belongs to the technical field of rail transit, relates to a mechanism for eliminating hard connection defects, and particularly relates to a floating mechanism for eliminating hard connection defects.

Background

With the continuous development of track construction in China, the market demand for various types of tools is increasing.

In the process of assembling or disassembling the truck core disc bolt, manual operation is still mainly carried out, and meanwhile, auxiliary operation is carried out by matching with an electric or pneumatic tool.

To the automatic equipment of assembling or disassembling of freight train heart dish bolt, can robot end connection instrument end module carry out the automatic equipment of heart dish bolt or disassemble, but use in this process can have some problems:

(1) The robot end is connected with the tool end module, and the tool end module is in direct contact with an operating object, so that hard contact is easy to generate, and damage is generated to equipment.

(2) When the equipment is debugged, higher requirements are made on the contact state between the control end tool (tool end module) and the product, including avoiding behaviors such as size, space and the like.

(3) In actual production, hard contact collision is obvious due to product variability and errors in various aspects of equipment, and customer acceptance is low.

In addition, in other industries, the end of the robot is directly connected with the end tool, or corresponding contact space is reserved in operation, so that the influence of equipment caused by hard connection is avoided, or a buffer mechanism is added to the tool terminal, and the like, is mainly realized.

Thus, there is a need for a floating mechanism that eliminates the presence of hard-wired defects between the robot tip and the tip tooling.

Disclosure of Invention

In view of the drawbacks and shortcomings of the prior art, an object of the present utility model is to provide a mechanism for eliminating hard-wired defects.

The mechanism is a mechanism for connecting the end of a robot with a tool end module in automatic assembling or disassembling equipment, is applicable to other industries in the market, and has different modes and different installed end connecting tool ends.

In order to solve the technical problems, the utility model adopts the following technical scheme:

the mechanism for eliminating the hard connection defect comprises a connecting table, a taper sleeve pair, a positioning pin shaft, a table connecting plate, a limiting plate and a taper positioning sleeve; a taper sleeve pair is sleeved below the connecting table, and a gourd hole is formed in the side wall of the taper sleeve pair; a conical locating sleeve is arranged in the conical sleeve pair and is embedded with the connecting table, and the conical locating sleeve is fixedly connected with the connecting table through a limiting plate; a gap is arranged between the conical locating sleeve and the conical sleeve pair, the outer conical surface of the conical locating sleeve and the inner conical surface of the conical sleeve pair are matched and can be overlapped, and the gap disappears when the conical locating sleeve and the conical sleeve pair are overlapped, so that conical locating is formed; the positioning pin shafts are fixedly connected with the conical positioning sleeve, and the positioning pin shafts are radially arranged to enable the positioning pin shafts to be positioned in the gourd holes; the platform connecting plate is positioned at the bottom of the connecting platform, and the upper part of the platform connecting plate is fixedly connected with the taper sleeve pair.

Furthermore, a plurality of gourd holes are uniformly arranged on the side wall of the taper sleeve pair.

Furthermore, the side wall of the conical locating sleeve is uniformly provided with a plurality of locating pins which are distributed in the radial direction, and the locating pins correspond to the gourd holes.

Further, the limiting plate is used for fixedly connecting the tail end of the table with the conical locating sleeve, and the limiting plate is located in the fixing groove of the conical locating sleeve.

Further, the lower part of the table connecting plate is connected and fixed with the tool end.

Further, the upper part of the connecting table is connected with a robot tail end flange, and the section of the connecting table is T-shaped.

Furthermore, the conical locating sleeve is of a hollow conical structure, and the top surface of the conical structure is a plane.

The mechanism is suitable for tool ends with the weight of 100kg-1000kg and is designed according to application requirements.

Compared with the prior art, the utility model has the advantages that:

(1) The utility model avoids hard contact caused by connection between the tail end of the robot and the tool end and direct contact between the tool end and the operation object, thereby avoiding damage to equipment;

(2) By utilizing the utility model, the contact state between the tool end and the product can be reduced when the equipment is debugged, so that the debugging requirement can be reduced, and the debugging efficiency and effect can be improved;

(3) By utilizing the utility model, the operation effect is better, the collision is avoided automatically, and the customer acceptance is increased;

(4) The utility model has simple and effective structure and lower cost.

(5) By utilizing the utility model, the deviation or included angle between the tool end and the bogie caused by inaccurate positions or poor precision of the gripping angle of the robot or other devices can be avoided, the enough redundancy and self-adaptive alignment of the sleeve in the automatic centering process can be realized, and the sleeve is not limited by the mechanical arm of the robot or other devices;

drawings

FIG. 1 is a schematic view of a robot tip attached to a tool tip by the mechanism (float mechanism) of the present utility model;

FIG. 2 is a schematic structural view of the mechanism of the present utility model;

FIG. 3 is an exploded view of the structure of the mechanism of the present utility model;

FIG. 4 is a cross-sectional view of the mechanism of the present utility model;

the reference numerals in the drawings denote: 1. a connection station; 2. a taper sleeve pair; 3. positioning pin shafts; 4. a first locking screw; 5. a conical positioning sleeve; 6. a limiting plate; 7. a second locking screw; 8. a table connecting plate; 9. a third locking screw; 10. a gap.

Detailed Description

The utility model will be described in further detail with reference to the drawings and the specific examples.

In the mechanism (floating mechanism) for eliminating hard connection defects in the embodiment, the load is 200kg, and the material is a metal material, so that the requirements of certain connection strength, fatigue resistance, toughness, wear resistance and the like are met, and the mechanism can be flexibly adjusted according to actual load requirements, for example, alternative materials such as nylon, racing steel and other materials are adopted.

As shown in fig. 1, the mechanism (floating mechanism) for eliminating the hard connection defect of the present embodiment is provided between the robot tip and the tool tip.

As shown in fig. 1 to 4, the mechanism for eliminating hard connection defect of the present embodiment includes a connection table 1, a taper sleeve pair 2, a positioning pin 3, a first locking screw 4, a taper positioning sleeve 5, a limiting plate 6, a second locking screw 7, a table connection plate 8, and a third locking screw 9;

wherein, the end flange of the robot is connected with the connecting table 1, and the section of the connecting table 1 is arranged in a T shape (as shown in figures 3 and 4).

A circle of taper sleeve pair 2 is sleeved below the connecting table 1, and a gourd hole is arranged on the side wall of the taper sleeve pair 2.

The conical locating sleeve 5 is arranged in the conical sleeve pair 2 and located below the connecting table 1, the connecting table 1 is embedded with the conical locating sleeve 5 (as shown in fig. 3 and 4), the conical locating sleeve 5 is of a hollow conical-like structure, and the top of the conical-like structure is a plane.

The conical surface (outer conical surface) of the conical positioning sleeve 5 is matched with the conical surface (inner conical surface) of the conical sleeve pair 2, and the two conical surfaces can be overlapped to form conical positioning; a certain gap 10 is arranged between the conical locating sleeve 5 and the conical sleeve pair 2, when the two conical surfaces are overlapped, the conical locating is realized, and when the gap 10 is arranged between the two conical surfaces, the locating is not realized.

The positioning pin shaft 3 is fixedly connected with the conical positioning sleeve 5, and the positioning pin shaft 3 is radially arranged, so that the positioning pin shaft 3 is positioned in a gourd hole of the conical sleeve pair 2 (shown in fig. 3 and 4).

The limiting plate 6 is connected with the conical locating sleeve 5 (as shown in fig. 3 and 4), and the limiting plate 6 is used for fixedly connecting the tail end of the table 1 with the conical locating sleeve 5 and is positioned in a fixing groove of the conical locating sleeve 5.

The table connecting plate 8 is positioned at the bottom of the connecting table 1; the upper part of the table connecting plate 8 is connected and fixed with the taper sleeve pair 2 into a whole, and the lower part of the table connecting plate 8 is connected and fixed with the tool end module.

The specific operation procedure of the mechanism for eliminating hard connection defect in this embodiment is as follows:

(1) When the robot or other devices normally run, the tool end moves along with the arm of the robot or other devices, the conical surfaces of the taper sleeve pair 2 and the taper locating sleeve 5 are overlapped to form taper locating, meanwhile, the locating pin shaft 3 is positioned at the top in a gourd hole of the taper sleeve pair 2 and is in a horizontal limiting state, the taper sleeve pair 2 and the taper locating sleeve 6 form gravity stretching locating in the axial direction, all degrees of freedom are limited, and stable connection is formed;

(2) As shown in fig. 3 and 4, when the tool end is placed on the working surface of the bogie, the supporting force makes the taper sleeve pair 2 and the tapered locating sleeve 6 separate, and meanwhile the locating pin shaft 3 is positioned at the lower part in the hoist hole of the locating taper sleeve pair 2, so that the taper sleeve pair 2 and the tapered locating sleeve 6 are in a complete separation and free state in a certain stroke in the up-down and horizontal directions, and complete separation of the mechanism is realized. The robot arm, the tool end and the product to be processed are prevented from being rigidly connected and contacted, so that the robot is blocked.

(3) After the operation is completed, the tool end is withdrawn, and the taper sleeve pair 2 is attached to the taper locating sleeve 5 again, so that the locating pin shaft 3 returns to the top of the gourd opening again and is in a horizontal limiting state, the taper surface realizes an automatic locating center, each degree of freedom is automatically limited, and the tool end is locked again.

The foregoing is merely a preferred embodiment of the present utility model and is not intended to limit the scope of the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included in the scope of the claims of the present utility model.

Claims

1. The mechanism for eliminating the hard connection defect is characterized by comprising a connecting table, a taper sleeve pair, a positioning pin shaft, a table connecting plate, a limiting plate and a taper positioning sleeve;

a taper sleeve pair is sleeved below the connecting table, and a gourd hole is formed in the side wall of the taper sleeve pair;

a conical locating sleeve is arranged in the conical sleeve pair and is embedded with the connecting table, and the conical locating sleeve is fixedly connected with the connecting table through a limiting plate;

a gap is arranged between the conical locating sleeve and the conical sleeve pair, the outer conical surface of the conical locating sleeve and the inner conical surface of the conical sleeve pair are matched and can be overlapped, and the gap disappears when the conical locating sleeve and the conical sleeve pair are overlapped, so that conical locating is formed;

the positioning pin shafts are fixedly connected with the conical positioning sleeve, and the positioning pin shafts are radially arranged to enable the positioning pin shafts to be positioned in the gourd holes;

the platform connecting plate is positioned at the bottom of the connecting platform, and the upper part of the platform connecting plate is fixedly connected with the taper sleeve pair.

2. The mechanism for eliminating hard-wired defects as defined in claim 1, wherein said plurality of gourd holes are uniformly disposed in said side wall of said cone sleeve pair.

3. The mechanism for eliminating hard connection defect according to claim 2, wherein a plurality of positioning pins are uniformly arranged on the side wall of the conical positioning sleeve, and the positioning pins correspond to the gourd holes.

4. A mechanism for eliminating a hard-joint defect as defined in any one of claims 1-3, wherein said limiting plate is used for fixedly connecting the end of the table with the tapered locating sleeve, and the limiting plate is located in a fixing groove of the tapered locating sleeve.

5. A mechanism for eliminating hard-joint defects according to any one of claims 1-3, wherein the lower portion of said table connecting plate is fixedly connected to the tool end.

6. A mechanism for eliminating hard-joint defects according to any one of claims 1-3, wherein the upper part of the connecting table is connected with a robot end flange, and the cross section of the connecting table is arranged in a T shape.

7. A mechanism for eliminating a hard-wired defect as defined in any one of claims 1-3 wherein said tapered locating sleeve is provided as a hollow tapered structure having a planar top surface.