CN221115896U - Flexible connecting mechanism and grabbing equipment - Google Patents

Abstract

The application relates to the technical field of industrial robots, and particularly discloses a flexible connecting mechanism and grabbing equipment. The flexible connecting mechanism comprises a connecting piece, a transverse floating module, a longitudinal floating module and a rotary floating module. The connecting piece is used for connecting the mechanical arm. The transverse floating module comprises a transverse moving part and a transverse adjusting part, and the transverse moving part can slide along a first direction relative to the transverse adjusting part. The longitudinal floating module comprises a longitudinal moving part and a longitudinal adjusting part, and the longitudinal moving part can slide along a second direction relative to the longitudinal adjusting part. The rotary floating module comprises a guide piece, an elastic piece and a base plate, wherein the base plate rotates around a first direction relative to the transverse moving piece or rotates around a second direction relative to the longitudinal moving piece through the elastic piece. According to the application, through the arrangement of the flexible connecting mechanism, the position of the paw can be conveniently adjusted, so that the paw can accurately grasp materials.

Description

Flexible connecting mechanism and grabbing equipment

Technical Field

The application relates to the technical field of industrial robots, in particular to a flexible connecting mechanism and grabbing equipment.

Background

When the robot related automation equipment is applied, the hand claw and the material debugging action, namely the point position adapting action, is required to be completed, so that the hand claw and the material are conveniently and accurately butted. The gripper is repeatedly moved and then has displacement, so that deviation exists between the gripper positioning device and the material jig positioning device, and the gripper has hard or forced grabbing conditions when grabbing materials, so that the risk of clamping the materials is likely to exist.

In the related art, when calibrating the paw and the material jig, an operator checks the pin on the paw to insert into the pin hole of the material jig through eyes, so that smooth matching is realized, the precision requirement is met, and the debugging action is completed. If the point position difference exists after the debugging is finished, the debugging needs to be started again. The debugging mode is long in time consumption, high in difficulty and inconvenient for butt joint of the paw and the material.

Disclosure of utility model

In view of the above, the application provides a flexible connection mechanism and a grabbing device, which can be used for conveniently adjusting the position of a paw so that the paw can accurately grab materials.

The embodiment of the application provides a flexible connecting mechanism for connecting a mechanical arm and a paw, which comprises a connecting piece, a transverse floating module, a longitudinal floating module and a rotary floating module. The connecting piece is used for connecting the mechanical arm. The transverse floating module comprises a transverse moving part and a transverse adjusting part, wherein the transverse moving part is arranged on one side of the connecting part, and the transverse moving part is connected with the connecting part; the transverse moving member is provided with a first sliding hole which is used for accommodating the transverse adjusting member and allowing the transverse moving member to slide along a first direction relative to the transverse adjusting member. The longitudinal floating module comprises a longitudinal moving part and a longitudinal adjusting part, the longitudinal moving part is arranged on one side of the transverse moving part, which is opposite to the connecting part, and the longitudinal adjusting part is connected with the transverse moving part; the longitudinal moving member is provided with a second sliding hole, and the second sliding hole is used for accommodating the longitudinal adjusting member and allowing the longitudinal moving member to slide along a second direction relative to the longitudinal adjusting member, wherein the second direction is perpendicular to the first direction. The rotary floating module comprises a guide piece, an elastic piece and a base plate, wherein the elastic piece is connected with the guide piece and the longitudinal moving piece. The base plate is used for connecting the claws and is connected with the guide piece. The base plate can rotate around a first direction relative to the transverse moving member or around a second direction relative to the longitudinal moving member through the elastic member.

According to the flexible connecting mechanism, when the paw is close to the material and is acted by the acting force of the material, the paw can drive the substrate to deflect to an angle at which the paw can be aligned with the material under the action of the guide piece and the elastic piece; the longitudinal moving member is acted by the base plate to move along the extending direction of the longitudinal adjusting member, and the transverse moving member is acted by the longitudinal moving member to move along the extending direction of the transverse adjusting member, so that the paw can move to a position and an angle which can be aligned with the material. After the paw is separated from the material, the paw can recover to the initial angle under the elastic recovery action of the elastic piece and the guiding action of the guide piece, so that the paw can perform grabbing action again. In the scheme, the gripper can smoothly finish the action of grabbing materials under the flexible connection action of the flexible connection mechanism; in addition, the situation that the gripper is hard or forcibly grabs when grabbing due to the fact that the gripper and the material are deviated in position can be reduced, and therefore the risk of clamping the material is reduced.

In at least one embodiment, the transverse floating module further comprises a first air suspension member, wherein the first air suspension member is arranged in the first sliding hole and can move along with the transverse moving member, the first air suspension member is provided with a first mounting cavity, and the transverse adjusting member penetrates through the first mounting cavity. The transverse moving part is provided with a first air hole which is communicated with the first installation cavity and used for guiding air flow, and the transverse adjusting part is suspended in the first installation cavity.

In the above embodiment, the air flow is led into the first installation cavity, so that the transverse adjusting member is suspended in the first installation cavity, and therefore friction between the transverse adjusting member and the first air suspension member is reduced, the transverse moving member is easy to move along the transverse adjusting member, and flexibility of the flexible connecting mechanism is improved.

In at least one embodiment, the outer wall of the first air suspension member is provided with a first diversion trench and a second diversion trench, the first diversion trench extends along the first direction, the second diversion trench extends along the circumferential direction of the first air suspension member, the first diversion trench is communicated with the second diversion trench and the first air hole, and the first diversion trench and the second diversion trench are respectively communicated with the first installation cavity.

In the above embodiment, after the air flow enters the first air hole, the air flow can flow along the extending direction of the first diversion trench and enter the first installation cavity or the second diversion trench, and also can flow along the extending direction of the second diversion trench, that is, along the circumferential direction of the first air suspension member, and enter the first installation cavity, so as to improve the uniformity of the air flow distribution in the first installation cavity, and further improve the stability of the relative sliding of the transverse adjusting member and the first air suspension member.

In at least one embodiment, the connecting member includes a connecting body and two sets of first fixing blocks disposed on opposite sides of the connecting body along a first direction. The transverse adjusting piece penetrates through the transverse moving piece along the first direction, one end of the transverse adjusting piece penetrates through one side of the transverse moving piece, and the other end of the transverse adjusting piece penetrates through the other side of the transverse moving piece; one end of the transverse adjusting piece is connected with the first fixed block on one side of the connecting main body, and the other end of the transverse adjusting piece is connected with the first fixed block on the other side of the connecting main body. The transverse floating module further comprises two groups of second fixed blocks, and the two groups of second fixed blocks are arranged on two opposite sides of the transverse moving piece along the second direction. The longitudinal adjusting piece penetrates through the longitudinal moving piece along the second direction, one end of the longitudinal adjusting piece penetrates through one side of the longitudinal moving piece, and the other end of the longitudinal adjusting piece penetrates through the other side of the longitudinal moving piece; one end of the longitudinal adjusting piece is connected with the second fixed block on one side of the transverse moving piece, and the other end of the longitudinal adjusting piece is connected with the second fixed block on the other side of the transverse moving piece.

In the above embodiment, the lateral adjustment member is connected to the connecting body through the first fixing block. When the position deviation exists between the paw and the material in the first direction, the flexible connecting mechanism receives the acting force of the material towards the first direction in the process of clamping the material by the paw, so that the transverse moving part can move along the first direction, namely the transverse moving part moves along the first direction on the transverse adjusting part relative to the connecting main body; when the position deviation exists between the paw and the material in the second direction, the flexible connecting mechanism is acted by the force of the material towards the second direction in the process of clamping the material by the paw, so that the longitudinal moving part can move along the second direction on the longitudinal adjusting part relative to the transverse moving part, and the position of the paw is adapted to the position of the material.

In at least one embodiment, the longitudinal floating module further comprises a second air suspension member, wherein the second air suspension member is arranged in the longitudinal moving member and can move along with the longitudinal moving member, the second air suspension member is provided with a second mounting cavity, and the longitudinal adjusting member penetrates through the second mounting cavity. The longitudinal moving part is provided with a second air hole which is communicated with the second installation cavity and used for guiding air flow, and the longitudinal adjusting part is suspended in the second installation cavity.

In the above embodiment, the air flow is introduced into the second installation cavity, so that the longitudinal adjusting member is suspended in the second installation cavity, thereby reducing the friction between the longitudinal adjusting member and the second air suspension member, enabling the longitudinal moving member to easily move along the longitudinal adjusting member, and improving the floating flexibility of the flexible connecting mechanism.

In at least one embodiment, the outer wall of the second air suspension member is provided with a third diversion trench and a fourth diversion trench, the third diversion trench extends along the second direction, the fourth diversion trench extends along the circumferential direction of the second air suspension member, the third diversion trench is communicated with the fourth diversion trench and the second air hole, and the third diversion trench and the fourth diversion trench are respectively communicated with the second installation cavity.

In the above embodiment, after the air flow enters the second air hole, the air flow can flow along the extending direction of the third diversion trench and enter the second installation cavity or the fourth diversion trench, and also can flow along the extending direction of the fourth diversion trench, that is, along the circumferential direction of the second air suspension member, and enter the second installation cavity, so as to improve the uniformity of the air flow distributed in the second installation cavity, and further improve the stability of the relative sliding of the longitudinal adjusting member and the second air suspension member.

In at least one embodiment, the lateral moving member has a first air passage, the connecting member has a first limiting groove, the first air passage is in communication with the first limiting groove, and the first air passage is for air flow therethrough. The transverse floating module further comprises a first locking piece, and the first locking piece is movably arranged in the first air passage; when the first air passage guides air flow, the first locking piece can suspend in the first air passage and is partially positioned in the first limiting groove.

In the above embodiment, the lateral moving member is capable of moving relative to the connecting member when the first locking member is completely located in the first air passage. When the first air passage is used for guiding air flow, the first locking piece can be suspended in the first air passage under the action of the air flow, and part of the first locking piece is positioned in the first limiting groove to limit the relative movement of the transverse moving piece and the connecting piece, so that after the paw grabs materials, the first locking piece moves to the first limiting groove through the part of the first locking piece, the transverse moving piece can be kept stable, and the shaking of the paw is reduced. The first locking piece has a guiding function and can guide the transverse moving piece to reset.

In at least one embodiment, the connecting piece is provided with a second air passage, the second air passage is communicated with the first limit groove, and the second air passage is used for allowing air to pass through. The first locking piece can move to the first air passage and is completely positioned in the first air passage.

In the above embodiment, the air flow introduced by the second air passage can apply a force to the first locking member to move the first locking member toward the first air passage and be completely located in the first air passage, so that the locking of the first locking member on the connecting member and the lateral moving member is conveniently released, and the lateral moving member can move relative to the connecting member.

In at least one embodiment, the longitudinal moving member has a third air passage, the transverse moving member has a second limiting groove, the third air passage is communicated with the second limiting groove, and the third air passage is used for air flow passing through. The longitudinal floating module further comprises a second locking piece, and the second locking piece is movably arranged in the third air passage; the second locking piece can suspend in the third air passage and is partially positioned in the second limiting groove. The transverse moving piece is provided with a fourth air passage which is communicated with the second limiting groove and used for air flow. When the fourth air passage introduces air flow, the second locking piece can move towards the third air passage and is completely positioned in the third air passage.

In the above embodiment, when the second locking member is completely located in the third air passage, the longitudinally movable member is movable relative to the laterally movable member. When the third air passage is used for guiding air flow, the second locking piece can be suspended in the third air passage under the action of the air flow, and part of the second locking piece is positioned in the second limiting groove to limit the relative movement of the transverse moving piece and the longitudinal moving piece, so that after the paw grabs materials, the second locking piece moves to the second limiting groove through part of the second locking piece, the longitudinal moving piece can be kept stable relative to the transverse moving piece, and shaking of the paw is reduced. The second locking piece has a guiding function and can guide the longitudinal moving piece to reset. The air flow led in by the fourth air passage can apply an acting force to the second locking piece so as to enable the second locking piece to move towards the third air passage and be completely positioned in the third air passage, so that the locking of the second locking piece on the longitudinal moving piece and the transverse moving piece is released, and the longitudinal moving piece can move relative to the transverse moving piece.

The embodiment of the application also provides a grabbing device so that the claws can grab materials more accurately.

The embodiment of the application provides grabbing equipment which comprises a mechanical arm, a paw and a flexible connecting mechanism in any embodiment, wherein the paw is connected with a substrate, and the mechanical arm is connected with a connecting piece and drives the flexible connecting mechanism and the paw to move.

In the mechanical arm, the paw can adapt to the position and the angle of the material through the flexible action of the flexible connecting mechanism so as to grasp the material more accurately. The grabbing device has the advantages that the position and the angle of the material can be self-adapted when the paw grabs the material, so that the debugging requirements of the paw and the material can be reduced, the input of manpower is reduced, and the debugging efficiency is improved.

Drawings

Fig. 1 is a schematic structural view of a gripping apparatus in one embodiment of the present application.

Fig. 2 is a perspective view of a flexible connection mechanism in one embodiment of the application.

Fig. 3 is an exploded view of a flexible connection mechanism in one embodiment of the application.

FIG. 4 is a cross-sectional view taken along the direction IV-IV of FIG. 2.

Fig. 5 is an exploded view showing a lateral shifting member and a lateral adjustment member according to an embodiment of the present application.

FIG. 6 is an exploded view showing a longitudinal floating module and a rotational floating module according to one embodiment of the present application.

Description of the main reference signs

Flexible connection mechanism 100

Connector 10

Connecting body 11

First limit groove 111

Second air passage 112

First fixed block 12

Transverse floating module 20

Lateral movement member 21

First slide hole 211

First air hole 212

First air passage 213

Second limit groove 214

Fourth airway 215

Lateral adjustment member 22

First air suspension 23

First mounting cavity 231

First diversion trench 232

Second diversion trench 233

First communication groove 234

Through holes a, b

First locking member 24

Second fixed block 25

Longitudinal floating module 30

Longitudinal moving member 31

Second slide hole 311

Second air hole 312

Third air passage 313

Guide groove 314

Longitudinal adjustment member 32

Second air suspension 33

Second mounting cavity 331

Third diversion trench 332

Fourth diversion trench 333

Second communicating groove 334

Second locking member 34

Rotary floating module 40

Elastic member 41

Guide 42

Substrate 43

Gripping device 200

Mechanical arm 201

Paw 202

Pin 203

First direction X

Second direction Y

The application will be further described in the following detailed description in conjunction with the above-described figures.

Detailed Description

The following description of the technical solutions according to the embodiments of the present application will be given with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

In the description of embodiments of the present application, the technical terms "first," "second," "third," "fourth," etc. are used merely to distinguish between different objects and should not be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. In the description of the embodiments of the present application, the meaning of "plurality" is two or more unless explicitly defined otherwise.

It should be noted that, the dimensions of thickness, length, width, etc. of the various components and the dimensions of the overall thickness, length, width, etc. of the integrated device in the embodiments of the present application shown in the drawings are only illustrative, and should not be construed as limiting the present application.

When the robot related automation equipment is applied, the hand claw and the material debugging action, namely the point position adapting action, is required to be completed, so that the hand claw and the material are conveniently and accurately butted. The gripper is repeatedly moved and then has displacement, so that deviation exists between the gripper positioning device and the material jig positioning device, and the gripper has hard or forced grabbing conditions when grabbing materials, so that the risk of clamping the materials is likely to exist.

In the related art, when calibrating the paw and the material jig, an operator checks the pin on the paw to insert into the pin hole of the material jig through eyes, so that smooth matching is realized, the precision requirement is met, and the debugging action is completed. If the point position difference exists after the debugging is finished, the debugging needs to be started again. The debugging mode is long in time consumption, high in difficulty and inconvenient for butt joint of the paw and the material.

In view of the foregoing, an embodiment of the present application provides a flexible connection mechanism for connecting a mechanical arm and a gripper, the flexible connection mechanism including a connecting member, a lateral floating module, a longitudinal floating module, and a rotational floating module. The connecting piece is used for connecting the mechanical arm. The transverse floating module comprises a transverse moving part and a transverse adjusting part, wherein the transverse moving part is arranged on one side of the connecting part, and the transverse moving part is connected with the connecting part; the transverse moving member is provided with a first sliding hole which is used for accommodating the transverse adjusting member and allowing the transverse moving member to slide along a first direction relative to the transverse adjusting member. The longitudinal floating module comprises a longitudinal moving part and a longitudinal adjusting part, the longitudinal moving part is arranged on one side of the transverse moving part, which is opposite to the connecting part, and the longitudinal adjusting part is connected with the transverse moving part; the longitudinal moving member is provided with a second sliding hole, and the second sliding hole is used for accommodating the longitudinal adjusting member and allowing the longitudinal moving member to slide along a second direction relative to the longitudinal adjusting member, wherein the second direction is perpendicular to the first direction. The rotary floating module comprises a guide piece, an elastic piece and a base plate, wherein the elastic piece is connected with the guide piece and the longitudinal moving piece. The base plate is used for connecting the claws and is connected with the guide piece. The base plate can rotate around a first direction relative to the transverse moving member or around a second direction relative to the longitudinal moving member through the elastic member.

According to the flexible connecting mechanism, when the paw is close to the material and is acted by the acting force of the material, the paw can drive the substrate to deflect to an angle at which the paw can be aligned with the material under the action of the guide piece and the elastic piece; the longitudinal moving member is acted by the base plate to move along the extending direction of the longitudinal adjusting member, and the transverse moving member is acted by the longitudinal moving member to move along the extending direction of the transverse adjusting member, so that the paw can move to a position and an angle which can be aligned with the material. After the paw is separated from the material, the paw can recover to the initial angle under the elastic recovery action of the elastic piece and the guiding action of the guide piece, so that the paw can perform grabbing action again. In the scheme, the gripper can smoothly finish the action of grabbing materials under the flexible connection action of the flexible connection mechanism; in addition, the situation that the gripper is hard or forcibly grabs when grabbing due to the fact that the gripper and the material are deviated in position can be reduced, and therefore the risk of clamping the material is reduced.

Embodiments of the present application will be further described below with reference to the accompanying drawings.

As shown in fig. 1, an embodiment of the present application provides a gripping apparatus 200, where the gripping apparatus 200 includes a mechanical arm 201, a gripper 202, and a flexible connection mechanism 100, the flexible connection mechanism 100 is connected between the mechanical arm 201 and the gripper 202, the mechanical arm 201 drives the gripper 202 to move through the flexible connection mechanism 100, and the gripper 202 is used for gripping a material, where the gripper 202 may directly grip the material, or may grip the material by gripping a tool carrying the material, and in this embodiment, a manner that the gripper 202 grips the tool is taken as an example for illustration. The gripper 202 has a pin 203, and the jig has a pin hole, and when the pin 203 on the gripper 202 is aligned with the pin hole of the jig, the gripper 202 can smoothly complete the connection with the jig under the flexible connection action of the flexible connection mechanism 100.

As shown in fig. 1 and 2, the flexible connection mechanism 100 includes a connection member 10, a lateral floating module 20, a longitudinal floating module 30, and a rotational floating module 40. The transverse floating module 20, the longitudinal floating module 30 and the rotary floating module 40 are sequentially connected to one side of the connecting piece 10, the gripper 202 is connected to the rotary floating module 40, and the mechanical arm 201 is connected to the connecting piece 10 and drives the flexible connecting mechanism 100 and the gripper 202 to move.

The connector 10 is used to connect the robot 201 and the lateral floating module 20. Referring to fig. 2 and 3, in some embodiments, the connector 10 includes a connector body 11 and two sets of first fixing blocks 12. The connecting body 11 is connected to the mechanical arm 201, two sets of first fixing blocks 12 are respectively disposed on two opposite sides of the connecting body 11 along a first direction X shown in fig. 3, and the two sets of first fixing blocks 12 are used for connecting the connecting body 11 to the transverse floating module 20.

The lateral float module 20 is used to move the gripper 202 in a first direction X. The transverse floating module 20 is arranged on the side of the connecting body 11 facing away from the mechanical arm 201.

Referring to fig. 2, 3 and 4, in some embodiments, the lateral floating module 20 includes a lateral moving member 21 and a lateral adjusting member 22, the lateral moving member 21 is disposed on a side of the connecting member 10 facing away from the mechanical arm 201, and the lateral moving member 21 extends along the first direction X and is connected to the connecting member 10. The lateral movement member 21 is provided with a first slide hole 211, the first slide hole 211 being adapted to receive the lateral adjustment member 22 and to allow the lateral movement member 21 to slide in the first direction X relative to the lateral adjustment member 22.

After the lateral moving member 21 receives the force along the first direction X, the lateral moving member 21 can move along the first direction X relative to the connecting member 10, so that the lateral moving member 21 drives the longitudinal floating module 30 and the rotational floating module 40 to move along the first direction X, and the rotational floating module 40 drives the gripper to move, thereby realizing floating adjustment of the gripper 202 in the first direction X, so that the gripper 202 overcomes the positional deviation formed by the gripper and the jig in the first direction X.

Referring to fig. 2 to 4, in some embodiments, the lateral adjustment member 22 is disposed through the lateral movement member 21 along the first direction X, and one end of the lateral adjustment member 22 is disposed through one side of the lateral movement member 21, and the other end of the lateral adjustment member 22 is disposed through the other side of the lateral movement member 21. One end of the lateral adjustment member 22 is connected to the first fixing block 12 on one side of the connection body 11, and the other end of the lateral adjustment member 22 is connected to the first fixing block 12 on the other side of the connection body 11, i.e., the lateral adjustment member 22 is connected to the connection body 11 through the first fixing block 12.

When the position deviation exists between the gripper 202 and the jig in the first direction X, the flexible connection mechanism 100 is acted by the force of the jig towards the first direction X in the process of gripping the jig by the gripper 202, so that the transverse moving member 21 can move along the first direction X, that is, the transverse moving member 21 moves along the first direction X on the transverse adjusting member 22 relative to the connection main body 11, so that the position of the gripper 202 is adapted to the position of the jig, and the gripper 202 can grip the jig accurately.

Referring to fig. 2-4, in some embodiments, the lateral adjustment member 22 is provided in plurality, and the plurality of lateral adjustment members 22 are arranged in parallel along a second direction Y, which is perpendicular to the first direction X. Each set of first fixing blocks 12 is provided with a plurality of lateral adjustment members 22, one end of which is correspondingly connected to one set of first fixing blocks 12. The lateral movement member 21 can move along the plurality of lateral adjustment members 22 to improve the connection stability of the lateral movement member 21 with the connection body 11.

Referring to fig. 2 to 5, in some embodiments, the lateral floating module 20 further includes a first air suspension 23, where the first air suspension 23 is disposed in the first sliding hole 211 and can move along with the lateral moving member 21, the first air suspension 23 has a first mounting cavity 231, and the lateral adjusting member 22 is disposed through the first mounting cavity 231. The lateral moving member 21 is provided with a first air hole 212, and the first air hole 212 is communicated with the first installation cavity 231 and is used for guiding air flow. When the first air hole 212 introduces the air flow, the lateral adjustment member 22 is suspended in the first mounting chamber 231.

By introducing an air flow into the first installation cavity 231, the lateral adjustment member 22 can be suspended in the first installation cavity 231, so that friction between the lateral adjustment member 22 and the first air suspension member 23 is reduced, the lateral movement member 21 is easy to move along the lateral adjustment member 22, and flexibility of the flexible connection mechanism 100 is improved.

Referring to fig. 4 and 5, in some embodiments, the first air suspension member 23 is cylindrical, and has a first guiding groove 232 and a second guiding groove 233 on an outer wall thereof, where the first guiding groove 232 extends along an axial direction of the first air suspension member 23, and the axial direction of the first air suspension member 23 is a first direction X shown in fig. 5. The second diversion trench 233 extends along the circumferential direction of the first air suspension 23, the first diversion trench 232 communicates the second diversion trench 233 with the first air hole 212, and the first diversion trench 232 and the second diversion trench 233 communicate with the first installation cavity 231 respectively.

After the air flow enters the first air hole 212, the air flow can flow along the extending direction of the first diversion trench 232 and enter the first installation cavity 231 or the second diversion trench 233, and can also flow along the extending direction of the second diversion trench 233, namely along the circumferential direction of the first air suspension 23, and enter the first installation cavity 231, so that the uniformity of the air flow distributed in the first installation cavity 231 is improved, and the stability of the relative sliding of the transverse adjusting piece 22 and the first air suspension 23 is improved.

Referring to fig. 4 and 5, in some embodiments, the outer wall of the first air suspension member 23 is further provided with a first communication groove 234 in communication with the first diversion trench 232, the first communication groove 234 is disposed along the circumferential direction of the first air suspension member 23, and the first communication groove 234 communicates the first diversion trench 232 with the first air hole 212. The bottom wall of the second guide groove 233 is provided with at least one through hole a communicating with the first installation cavity 231. The air flow enters from the first air hole 212, sequentially flows to the first communication groove 234, the first diversion trench 232 and the second diversion trench 233, and then enters the first installation cavity 231 through the through hole a of the second diversion trench 233.

Referring to fig. 4 and 5, in some embodiments, the first diversion trenches 232 are provided in plurality, the first air suspension 23 has a central axis, and the plurality of first diversion trenches 232 are distributed around the central axis of the first air suspension 23 and are spaced apart. The second diversion trenches 233 are provided in plurality, and the second diversion trenches 233 are arranged at intervals. The first and second flow guiding grooves 232 and 233 can guide the flow direction of the air flow, thereby improving the uniformity of the air flow distribution in the axial and circumferential directions of the first air suspension 23.

Referring to fig. 2 to 5, in some embodiments, the lateral moving member 21 has a first air passage 213, the connecting member 10 has a first limiting groove 111, the first air passage 213 is in communication with the first limiting groove 111, and the first air passage 213 is for air to pass through. The lateral floating module 20 further includes a first locking member 24, where the first locking member 24 is movably disposed in the first air channel 213. When the first air passage 213 guides an air flow, the first locking member 24 is suspended in the first air passage 213 and partially located in the first limiting groove 111.

In some embodiments, the first limiting groove 111 is provided on the connecting body 11.

The lateral movement member 21 is movable relative to the connector 10 when the first locking member 24 is fully positioned in the first air passage 213. When the first air channel 213 guides air flow, the first locking member 24 is suspended in the first air channel 213 under the action of the air flow, and is partially located in the first limiting groove 111 to limit the relative movement between the lateral moving member 21 and the connecting member 10, so that after the gripper 202 grabs the jig, the lateral moving member 21 can be kept stable and the shake of the gripper 202 can be reduced by partially moving the first locking member 24 to the first limiting groove 111. The first locking piece 24 has a guiding function and can guide the traverse 21 to return.

Referring to fig. 2-5, in some embodiments, the first locking member 24 is a first locking bead, which is a sphere. The first limiting groove 111 is disposed on a side of the connecting body 11 facing the lateral moving member 21, and the first limiting groove 111 can accommodate half of the first locking bead. When half of the first locking bead is located in the first limiting groove 111 and half is located in the first air passage 213, the lateral movement member 21 is in the initial position, i.e., the lateral movement member 21 is not offset with respect to the connection body 11.

When the first air passage 213 is filled with air, the air can push the first locking bead to move toward the first guide groove 314, so that half of the first locking bead is located in the first guide groove 314 and half of the first locking bead is located in the first air passage 213, thereby restricting the relative movement of the lateral moving member 21 and the connecting body 11, and facilitating the maintenance of the lateral moving member 21 in the initial position.

In other embodiments, the first locking member 24 may have other shapes.

Referring to fig. 2 to 5, in some embodiments, an inner wall surface of the first limiting groove 111 is a tapered surface, and a larger end of the first limiting groove 111 faces the first air channel 213. The tapered surface has a guiding function capable of guiding the first locking member 24 into the first guiding groove 314 and driving the traverse 21 to return to the initial position during the process of the first locking member 24 into the first guiding groove 314.

Referring to fig. 2 to 5, in some embodiments, the connector 10 has a second air passage 112, the second air passage 112 is in communication with the first limiting groove 111, and the second air passage 112 is used for air flow. When the second air passage 112 introduces the air flow, the first locking member 24 can move toward the first air passage 213.

In some embodiments, the second air passage 112 is provided in the connection body 11.

During operation of the grasping apparatus 200, the first air passage 213 and the second air passage 112 alternatively introduce an air flow. When the second air passage 112 introduces the air flow, the air flow introduced by the second air passage 112 can apply a force to the first locking member 24 to move the first locking member 24 toward the first air passage 213. When the first locking member 24 is completely located in the first air passage 213, the first locking member 24 locks the connection body 11 with the lateral movement member 21 so that the lateral movement member 21 can move relative to the connection body 11.

Referring to fig. 1 and 4, in some embodiments, the gripping device 200 is positioned in a vertical direction when in use, i.e., the gripper 202 is positioned below the flexible linkage 100 and the lateral movement 21 is positioned below the connecting body 11. The arrangement is such that when the first air passage 213 stops introducing air flow, the first locking member 24 can move to the first air passage 213 by gravity, thereby facilitating the first locking member 24 to release the restriction of the lateral movement member 21.

Referring to fig. 2 and 3, in some embodiments, the lateral floating module 20 further includes two sets of second fixing blocks 25, and the two sets of second fixing blocks 25 are disposed on opposite sides of the lateral moving member 21 along the second direction Y shown in fig. 3. The longitudinal floating module 30 is connected to the lateral moving member 21 through two sets of second fixed blocks 25.

The longitudinal float module 30 is configured to move the gripper 202 in the second direction Y. Referring to fig. 2, 3, 4 and 6, in some embodiments, the longitudinal floating module 30 includes a longitudinal moving member 31 and a longitudinal adjusting member 32, the longitudinal moving member 31 is disposed on a side of the lateral moving member 21 facing away from the connecting member 10, and the longitudinal adjusting member 32 extends along the second direction Y and is connected to the lateral moving member 21; the longitudinal moving member 31 is provided with a second sliding hole 311, and the second sliding hole 311 is used for accommodating the longitudinal adjusting member 32 and allowing the longitudinal moving member 31 to slide along a second direction Y relative to the longitudinal adjusting member 32, wherein the second direction Y is perpendicular to the first direction X.

Referring to fig. 1 to 4 and fig. 6, in some embodiments, after the longitudinal moving member 31 receives a force along the second direction Y, the longitudinal moving member 31 can move along the second direction Y relative to the transverse moving member 21, so that the longitudinal moving member 31 drives the rotating floating module 40 to move along the second direction Y, and the rotating floating module 40 drives the gripper to move, thereby realizing floating adjustment of the gripper 202 in the second direction Y, so that the gripper 202 overcomes a positional deviation with the jig in the second direction Y.

Referring to fig. 2, 3, 4 and 6, in some embodiments, the longitudinal adjustment member 32 is disposed through the longitudinal moving member 31 along the second direction Y, one end of the longitudinal adjustment member 32 is disposed through one side of the longitudinal moving member 31, and the other end of the longitudinal adjustment member 32 is disposed through the other side of the longitudinal moving member 31. One end of the longitudinal adjustment member 32 is connected to the second fixed block 25 on one side of the lateral movement member 21, and the other end of the longitudinal adjustment member 32 is connected to the second fixed block 25 on the other side of the lateral movement member 21.

When the position deviation exists between the gripper 202 and the jig in the second direction Y, the flexible connection mechanism 100 is acted by the force of the jig towards the second direction Y during the gripper 202 clamping the jig, so that the longitudinal moving member 31 can move along the second direction Y on the longitudinal adjusting member 32 relative to the transverse moving member 21, and the position of the gripper 202 is adapted to the position of the jig.

Referring to fig. 2-6, in some embodiments, the longitudinal adjustment member 32 is provided in plurality, and the plurality of lateral adjustment members 22 are arranged in parallel along the first direction X. Each set of second fixing blocks 25 is provided with a plurality of longitudinal adjustment members 32, one end of which is correspondingly connected to one set of second fixing blocks 25. The longitudinal moving member 31 can move along the plurality of longitudinal adjustment members 32 to improve the connection stability of the longitudinal moving member 31 and the lateral moving member 21.

Referring to fig. 2, 3, 4 and 6, in some embodiments, the longitudinal floating module 30 further includes a second air suspension member 33, the second air suspension member 33 is disposed in the longitudinal moving member 31 and can move along with the longitudinal moving member 31, the second air suspension member 33 has a second mounting cavity 331, and the longitudinal adjusting member 32 is disposed through the second mounting cavity 331. The longitudinal moving member 31 is provided with a second air hole 312, and the second air hole 312 is communicated with the second installation cavity 331 and is used for guiding air flow. When the second air holes 312 introduce air flow, the longitudinal adjustment member 32 is suspended in the second installation cavity 331.

By introducing air flow into the second installation cavity 331, the longitudinal adjustment member 32 can be suspended in the second installation cavity 331, so that friction between the longitudinal adjustment member 32 and the second air suspension member 33 is reduced, the longitudinal movement member 31 is easy to move along the longitudinal adjustment member 32, and flexibility of floating the flexible connection mechanism 100 is improved.

In some embodiments, referring to fig. 2, 3, 4 and 6, the second air suspension member 33 is cylindrical, and has a third guiding groove 332 and a fourth guiding groove 333 on an outer wall thereof, where the third guiding groove 332 extends along an axial direction of the second air suspension member 33, and the axial direction of the second air suspension member 33 is the second direction Y shown in fig. 6. The fourth diversion trench 333 extends along the circumferential direction of the second air suspension member 33, the third diversion trench 332 communicates the fourth diversion trench 333 with the second air hole 312, and the third diversion trench 332 and the fourth diversion trench 333 communicate with the second installation cavity 331 respectively.

After the air flow enters the second air hole 312, the air flow can flow along the extending direction of the third diversion trench 332 and enter the second installation cavity 331 or the fourth diversion trench 333, and can also flow along the extending direction of the fourth diversion trench 333, namely, along the circumferential direction of the second air suspension member 33, and enter the second installation cavity 331, so that the uniformity of the air flow distribution in the second installation cavity 331 is improved, the stress of the longitudinal adjustment member 32 is uniform, and the stability of the relative sliding of the longitudinal adjustment member 32 and the second air suspension member 33 is improved.

Referring to fig. 6, in some embodiments, the outer wall of the second air suspension member 33 is further provided with a second communicating groove 334 communicating with the third air guiding groove 332, the second communicating groove 334 is disposed along the circumferential direction of the second air suspension member 33, and the second communicating groove 334 communicates the third air guiding groove 332 with the second air hole 312. The bottom wall of the fourth diversion trench 333 is provided with at least one through hole b communicating with the second installation cavity 331. The air flow enters from the second air hole 312, sequentially flows to the second communication groove 334, the third diversion trench 332 and the fourth diversion trench 333, and then enters the second installation cavity 331 through the through hole b of the fourth diversion trench 333.

Referring to fig. 6, in some embodiments, a plurality of third diversion trenches 332 are provided, the second air suspension 33 has a central axis, and the plurality of third diversion trenches 332 are distributed around and spaced apart from the central axis of the second air suspension 33. The fourth diversion trench 333 is provided with a plurality of, and a plurality of fourth diversion trenches 333 are arranged at intervals. The third and fourth flow guiding grooves 332 and 333 can guide the airflow direction, so as to improve the uniformity of the airflow distribution in the second direction Y and the circumferential direction of the second air suspension member 33.

Referring to fig. 2, 3, 4 and 6, in some embodiments, the longitudinal moving member 31 has a third air passage 313, the lateral moving member 21 has a second limiting groove 214, the third air passage 313 is in communication with the second limiting groove 214, and the third air passage 313 is for air flow. The longitudinal floating module 30 further includes a second locking member 34, where the second locking member 34 is movably disposed in the third air channel 313. When the third air passage 313 guides air flow, the second locking member 34 can suspend in the third air passage 313 and be partially located in the second limiting groove 214.

When the second locking member 34 is fully positioned in the third air passage 313, the longitudinal moving member 31 can move relative to the lateral moving member 21. When the third air passage 313 guides air flow, the second locking member 34 can suspend in the third air passage 313 under the action of the air flow, and is partially located in the second limiting groove 214 to limit the relative movement of the lateral moving member 21 and the longitudinal moving member 31, so that after the gripper 202 grabs the jig, the longitudinal moving member 31 can be kept stable relative to the lateral moving member 21 by partially moving the second locking member 34 to the second limiting groove 214, and shake of the gripper 202 is reduced. The second locking member 34 has a guiding function, and can return the vertically movable member 31.

Referring to fig. 2, 3, 4 and 6, in some embodiments, the second locking member 34 is a second locking bead, which is a sphere. The second limiting groove 214 is disposed on a side of the lateral moving member 21 facing the longitudinal moving member 31, and the second limiting groove 214 can accommodate half of the second locking bead. When half of the second locking bead is located in the second limiting groove 214 and half is located in the third air passage 313, the longitudinal moving member 31 is at the initial position, i.e., the longitudinal moving member 31 is not offset with respect to the lateral moving member 21.

When the third air passage 313 is filled with air flow, the air flow can push the second locking bead to move towards the second guiding groove 314, so that half of the second locking bead is positioned in the second guiding groove 314 and the other half of the second locking bead is positioned in the third air passage 313, thereby limiting the relative movement of the transverse moving member 21 and the longitudinal moving member 31, and facilitating the longitudinal moving member 31 to be kept at the initial position.

In other embodiments, the second locking member 34 may have other shapes.

Referring to fig. 2, 4 and 6, in some embodiments, the inner wall surface of the second limiting groove 214 is a conical surface, and the larger end of the second limiting groove 214 faces the third air passage 313. The tapered surface has a guiding function capable of guiding the second locking member 34 into the second guiding groove 314 and driving the longitudinal moving member 31 to return to the initial position during the process of the second locking member 34 into the second guiding groove 314.

When the grasping apparatus 200 is placed in the vertical direction, that is, the longitudinal moving member 31 is located below the lateral moving member 21, the third air passage 313 stops introducing the air flow, and the second locking member 34 can move into the third air passage 313 under the action of gravity, so that the second locking member 34 is convenient to release the restriction of the second moving body.

Referring to fig. 2, 4 and 6, in some embodiments, the lateral moving member 21 has a fourth air passage 215, the fourth air passage 215 is in communication with the second limiting groove 214, and the fourth air passage 215 is used for air flow. When the fourth air passage 215 introduces the air flow, the second locking piece 34 can move toward the third air passage 313. During operation of the grasping apparatus 200, the third air passage 313 and the fourth air passage 215 alternatively introduce an air flow.

The air flow introduced by the fourth air passage 215 can apply a force to the second locking member 34 to move the second locking member 34 toward the third air passage 313 and be completely located in the third air passage 313, thereby unlocking the second locking member 34 from the longitudinal moving member 31 and the lateral moving member 21, so that the longitudinal moving member 31 can move relative to the lateral moving member 21.

The rotational float module 40 is configured to rotate the gripper 202 about the first direction X or the second direction Y. Referring to fig. 3, 4 and 6, in some embodiments, the rotational floating module 40 includes an elastic member 41, a guiding member 42 and a base plate 43, wherein the elastic member 41 connects the guiding member 42 and the longitudinal moving member 31. The base plate 43 is used to connect the gripper 202 and to the guide 42. The base plate 43 can be rotated about the first direction X relative to the lateral movement member 21 or about the second direction Y relative to the longitudinal movement member 31 by the elastic member 41, i.e., the base plate 43 can be rotated about an axis parallel to the first direction X or about an axis parallel to the second direction Y relative to the longitudinal movement member 31 by the elastic member 41 relative to the lateral movement member 21.

When the angle deviation exists between the gripper 202 and the jig, the substrate 43 deflects by the deformation of the elastic member 41 to adapt to the angle of the jig, so that the gripper 202 can accurately clamp the jig. After the gripper 202 clamps the jig, the elastic member 41 is restored, and the substrate 43 is restored under the driving of the elastic member 41 and the guiding action of the guide member 42, so that the gripper 202 is driven to restore.

Referring to fig. 4 and 6, in some embodiments, a guiding groove 314 is formed on a side of the longitudinal moving member 31 facing away from the lateral moving member 21, and the guiding member 42 is partially located in the guiding groove 314 and partially penetrates the substrate 43. The elastic member 41 is sleeved on the guide member 42, and one end of the elastic member 41 abuts against the inner wall of the guide slot 314, and the other end abuts against one side of the base plate 43 facing the longitudinal moving member 31, and one side of the base plate 43 facing away from the elastic member 41 is used for connecting the gripper 202. A gap is provided between the side of the base plate 43 facing the longitudinal moving member 31 and the longitudinal moving member 31 to facilitate deflection of the base plate 43.

In some embodiments, the elastic member 41 is a spring, and in other embodiments, the elastic member 41 may be a rubber member or the like capable of elastic deformation.

Referring to fig. 3, 4 and 6, in some embodiments, a plurality of guide members 42 are provided, and each guide member 42 is sleeved with an elastic member 41. For example, the guide members 42 are provided in four, and the four guide members 42 are distributed in a square matrix, thereby improving the accuracy in resetting the substrate 43.

In one embodiment, the lateral moving member 21 and the longitudinal moving member 31 can freely move within a range of 2.5mm in the XY plane, and the rotation angle of the substrate 43 about the first direction X or the second direction Y ranges from 0 degrees to 3 degrees.

In some embodiments, the grasping apparatus 200 further includes a detection mechanism (not shown) disposed on the flexible connection mechanism 100. When the gripper 202 is shifted to the material or the jig, the pin 203 of the gripper 202 is not matched with the pin hole of the jig, and when the lateral moving member 21, the longitudinal moving member 31 and the substrate 43 are displaced, the detecting mechanism can automatically read the deviation position size, and the grabbing device 200 can automatically correct the deviation value according to the set requirement, so as to reduce the deviation value between the gripper 202 and the jig, thereby enabling the grabbing or placing of the material to be accurately matched, protecting the device and the material, and improving the efficiency.

The grabbing device 200 in this solution, through the rotation of the rotating floating module 40 in the flexible connection mechanism 100, makes the gripper 202 capable of freely deflecting around the first direction X or the second direction Y when the gripper 202 grabs the material or the fixture, and capable of freely moving along the first direction X or the second direction Y under the action of the transverse floating module 20 and the longitudinal floating module 30, so as to realize universal free adaptation. When the gripper 202 picks up the material or the jig, under the action of gravity, the gripper 202 can automatically guide and return under the cooperation of the guide member 42 and the missile type member 41, so that the whole grabbing action is completed.

In this scheme, the gripper 202 can adjust the position and the angle under the action of the flexible connection mechanism 100 to adapt to the position of the jig, so that the gripper 202 and the jig can be conveniently docked. In addition, the arrangement can reduce the condition that the gripper 202 is hard or forcibly grabbed when the gripper 202 is grabbed due to the position deviation of the gripper 202 and the jig, so that the risk of clamping the jig is reduced. In addition, when the pin 203 on the paw 202 approaches to the pin hole on the jig, the pin 203 can automatically find the pin hole under the flexible connection action of the flexible connection mechanism 100, so that the accurate action of grabbing the jig is completed, the grabbing device 200 is not required to be completely aligned with the jig when the grabbing device 200 is debugged, the debugging accuracy requirement is reduced, the investment of manpower and time is reduced, and the debugging efficiency is improved.

In addition, other variations within the scope of the present application will be apparent to those skilled in the art, and such variations are intended to be included within the scope of the present disclosure.

Claims (10)

1. A flexible connection mechanism for connecting a robotic arm and a gripper, comprising:

The connecting piece is used for connecting the mechanical arm;

The transverse floating module comprises a transverse moving part and a transverse adjusting part, wherein the transverse moving part is arranged on one side of the connecting part, and the transverse moving part is connected with the connecting part; the transverse moving part is provided with a first sliding hole which is used for accommodating the transverse adjusting part and allowing the transverse moving part to slide along a first direction relative to the transverse adjusting part;

The longitudinal floating module comprises a longitudinal moving part and a longitudinal adjusting part, wherein the longitudinal moving part is arranged on one side of the transverse moving part, which is opposite to the connecting part, and the longitudinal adjusting part is connected with the transverse moving part; the longitudinal moving part is provided with a second sliding hole which is used for accommodating the longitudinal adjusting part and allowing the longitudinal moving part to slide along a second direction relative to the longitudinal adjusting part, and the second direction is perpendicular to the first direction; and

The rotary floating module comprises a guide piece, an elastic piece and a base plate, wherein the elastic piece is connected with the guide piece and the longitudinal moving piece; the base plate is used for connecting the paw and is connected with the guide piece; the substrate rotates around the first direction relative to the transverse moving piece or rotates around the second direction relative to the longitudinal moving piece through the elastic piece.

2. The flexible connection unit of claim 1, wherein the lateral floating module further comprises a first air suspension member disposed within the first slide aperture and movable with the lateral movement member, the first air suspension member having a first mounting cavity, the lateral adjustment member passing through the first mounting cavity;

The transverse moving part is provided with a first air hole, the first air hole is communicated with the first installation cavity, and when the transverse moving part is used for guiding air supply flow, the transverse adjusting part is suspended in the first installation cavity.

3. The flexible connection unit of claim 2, wherein the outer wall of the first air suspension member is provided with a first flow guide groove and a second flow guide groove, the first flow guide groove extends along the first direction, the second flow guide groove extends along the circumferential direction of the first air suspension member, the first flow guide groove is communicated with the second flow guide groove and the first air hole, and the first flow guide groove and the second flow guide groove are respectively communicated with the first installation cavity.

4. The flexible connection unit of claim 1, wherein the connection unit comprises a connection body and two sets of first fixed blocks disposed on opposite sides of the connection body in the first direction; the transverse adjusting piece penetrates through the transverse moving piece along the first direction, one end of the transverse adjusting piece penetrates out of one side of the transverse moving piece, and the other end of the transverse adjusting piece penetrates out of the other side of the transverse moving piece; one end of the transverse adjusting piece is connected with the first fixed block on one side of the connecting main body, and the other end of the transverse adjusting piece is connected with the first fixed block on the other side of the connecting main body;

The transverse floating module further comprises two groups of second fixed blocks, and the two groups of second fixed blocks are arranged on two opposite sides of the transverse moving piece along the second direction; the longitudinal adjusting piece penetrates through the longitudinal moving piece along the second direction, one end of the longitudinal adjusting piece penetrates through one side of the longitudinal moving piece, and the other end of the longitudinal adjusting piece penetrates through the other side of the longitudinal moving piece; one end of the longitudinal adjusting piece is connected with the second fixed block on one side of the transverse moving piece, and the other end of the longitudinal adjusting piece is connected with the second fixed block on the other side of the transverse moving piece.

5. The flexible connection unit of claim 4, wherein the longitudinal floating module further comprises a second air suspension member disposed within the longitudinally movable member and movable therewith, the second air suspension member having a second mounting cavity, the longitudinal adjustment member passing through the second mounting cavity;

The longitudinal moving part is provided with a second air hole, the second air hole is communicated with the second installation cavity, and when the longitudinal moving part is used for guiding air supply flow, the longitudinal adjusting part can suspend in the second installation cavity.

6. The flexible connection unit of claim 5, wherein a third and a fourth flow guide grooves are provided on the outer wall of the second air suspension member, the third flow guide groove extends along the second direction, the fourth flow guide groove extends along the circumferential direction of the second air suspension member, the third flow guide groove communicates with the fourth flow guide groove and the second air hole, and the third flow guide groove and the fourth flow guide groove communicate with the second installation cavity, respectively.

7. The flexible connection unit of claim 1, wherein the lateral movement member has a first air passage, the connection member has a first limiting slot, the first air passage is in communication with the first limiting slot, and the first air passage is for air flow therethrough;

The transverse floating module further comprises a first locking piece, and the first locking piece is movably arranged in the first air passage; when the first air passage guides air flow, the first locking piece can suspend in the first air passage and is partially positioned in the first limiting groove.

8. The flexible connection unit of claim 7, wherein the connector has a second air passage in communication with the first limiting slot, the second air passage being configured such that the first locking member is movable toward and fully within the first air passage when air is supplied therethrough.

9. The flexible connection unit of claim 8, wherein the longitudinally movable member has a third air passage, the transversely movable member has a second limiting slot, the third air passage is in communication with the second limiting slot, and the third air passage is for the passage of an air stream; the longitudinal floating module further comprises a second locking piece, and the second locking piece is movably arranged in the third air passage; when the third air passage guides air flow, the second locking piece can suspend in the third air passage and is partially positioned in the second limiting groove; the transverse moving part is provided with a fourth air passage which is communicated with the second limiting groove, and when the fourth air passage is used for air supply to pass through, the second locking part can move towards the third air passage and is completely positioned in the third air passage.

10. A gripping apparatus comprising a robotic arm, a gripper and a flexible connection mechanism as claimed in any one of claims 1 to 9, the gripper being connected to the base plate, the robotic arm being connected to the connector and driving the flexible connection mechanism to move with the gripper.