WO2022228289A1 - 一种缓冲组件及机械手 - Google Patents

一种缓冲组件及机械手 Download PDF

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Publication number
WO2022228289A1
WO2022228289A1 PCT/CN2022/088371 CN2022088371W WO2022228289A1 WO 2022228289 A1 WO2022228289 A1 WO 2022228289A1 CN 2022088371 W CN2022088371 W CN 2022088371W WO 2022228289 A1 WO2022228289 A1 WO 2022228289A1
Authority
WO
WIPO (PCT)
Prior art keywords
mounting seat
spherical hinge
guide rod
buffer assembly
mounting
Prior art date
Application number
PCT/CN2022/088371
Other languages
English (en)
French (fr)
Inventor
张囝
宋国库
汤敬仁
Original Assignee
北京京东乾石科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京京东乾石科技有限公司 filed Critical 北京京东乾石科技有限公司
Priority to EP22794760.3A priority Critical patent/EP4249191A1/en
Priority to US18/277,457 priority patent/US20240123635A1/en
Publication of WO2022228289A1 publication Critical patent/WO2022228289A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B25J17/0233—Compliance devices with radial compliance, i.e. perpendicular to the longitudinal wrist axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm

Definitions

  • the present application relates to the technical field of automation equipment, for example, to a buffer assembly and a manipulator.
  • manipulators are widely used in various fields such as processing, production and logistics to realize the automatic transfer and handling of materials, thereby improving the efficiency and accuracy of material transmission.
  • the end picker is a component of various types of manipulators used to pick up the materials to be transported. It is connected to the end of the manipulator.
  • the control system controls the manipulator action based on the preset trajectory of the system or the movement trajectory calculated after the algorithm operation, so that the end The picker reaches the target position and picks up the material.
  • the manipulator in the related art usually lacks the function of avoiding obstacles. During the operation of the manipulator, if the end picker interferes with other items and stops moving, the manipulator will continue to move because it will not perceive the existence of the obstacle, resulting in the end picker. The collision between the device and the obstacle will cause damage to the obstacle and/or damage or destruction of the end device, and even cause the failure and damage of the manipulator, which will affect the safety and reliability of the manipulator.
  • the present application provides a buffer assembly, so as to improve the anti-collision capability of a mechanical arm and an end picker, and to provide anti-collision protection for an external device.
  • the application also provides a manipulator, which improves the anti-collision protection capability of the manipulator and improves the operation safety and reliability of the manipulator.
  • a buffer assembly comprising:
  • one of the first mounting seat and the second mounting seat is configured to be connected to the robotic arm, and the other is configured to be connected to the end effector;
  • a hinge assembly connected between the first mounting seat and the second mounting seat, includes a first spherical hinge and a guide rod, the first spherical hinge is mounted in the first mounting seat, the second One of the mounting seat and the first spherical hinge is connected with the guide rod, and the other is slidably sleeved outside the guide rod;
  • an elastic member configured to exert a force for bringing the second mounting seat closer to the first mounting seat.
  • a second spherical hinge is mounted on the second mounting seat, and the second mounting seat is connected to the guide rod through the second spherical hinge.
  • the first spherical hinge is fixed on the first end of the guide rod, and the second spherical hinge is slidably sleeved on the guide rod.
  • the first spherical hinge is sleeved outside the guide rod, and the outer wall of the first end of the guide rod is protruded with a limiting portion, and the limiting portion and the first A spherical hinge abuts on a side away from the second spherical hinge.
  • the first mounting seat and the second mounting seat are in abutment, and/or the first spherical hinge and all The second spherical hinge is in direct contact with each other.
  • the elastic member is sleeved on the guide rod, the elastic member is located on the side of the second spherical hinge away from the first spherical hinge, and the elastic member is located on the side of the second spherical hinge away from the first spherical hinge.
  • One end of the piece is relatively fixed with the guide rod, the other end of the elastic piece abuts against the second spherical hinge, and the elastic piece is always in a compressed state.
  • the second mounting seat when the buffer assembly is in an initial state, the second mounting seat is in abutment with the first mounting seat surface.
  • the second mounting seat includes a mounting plate and a mounting sleeve, and the mounting sleeve is detachably connected to the side of the mounting plate away from the first mounting seat, so The second ball hinge is detachably mounted on the mounting plate, and the second end of the guide rod passes through the mounting sleeve.
  • the first mounting seat is provided with an air inlet channel
  • the guide rod has an axially through cavity
  • the second mounting seat is provided with an air outlet channel
  • the Two ends of the cavity are respectively communicated with the air inlet passage and the air outlet passage.
  • the buffer assembly further includes a detection unit, and the detection unit is configured to detect the relative positions of the first mounting seat and the second mounting seat.
  • a plurality of the detection units are arranged around the first spherical hinge at intervals.
  • the detection unit is arranged on the side of the first installation seat facing the second installation seat, and/or the detection unit is arranged on the second installation seat facing the side of the first mounting seat;
  • the detection unit includes a jog switch, a pressure sensor, a micro switch or a proximity sensor.
  • one of the first mounting seat and the second mounting seat is provided with a positioning hole, and the other is protruded with a positioning column, and the positioning column can be inserted into the in the positioning hole.
  • the present application further provides a manipulator, comprising a manipulator arm and an end picker, and further comprising the above-mentioned buffer assembly, one of the first mounting seat and the second mounting seat is connected to the manipulator arm The end of the first mounting seat and the second mounting seat are connected with the end piece.
  • the first mounting seat and the second mounting seat when the end pick connected to the first mounting seat or the second mounting seat is subjected to an external force or encounters an external obstacle, the first mounting seat and the second mounting seat can move relatively or deflection to avoid direct collision between the manipulator and the end effector or generate a large interaction force, and provide anti-collision protection for the manipulator and the end effector; at the same time, due to the setting of the first spherical hinge, the guide rod can be relatively
  • the first mounting seat rotates in multiple directions, that is, the mechanical arm and the end picker can be deflected in multiple directions relative to each other, realizing multi-angle anti-collision and buffer protection, and improving applicability; by providing elastic parts, the external force can be canceled After that, the buffer assembly is automatically reset to improve the reliability and automation of the buffer assembly and the manipulator.
  • the manipulator provided in the embodiment of the present application can improve the multi-angle anti-collision protection of the manipulator and improve the safety and reliability of the manipulator by using the above-mentioned buffer assembly to connect the manipulator arm and the end picker.
  • FIG. 1 is a schematic structural diagram of a manipulator provided by an embodiment of the present application when the buffer assembly is in an initial state
  • FIG. 2 is a schematic structural diagram of a manipulator provided by an embodiment of the present application when the buffer assembly is in an offset state;
  • FIG. 3 is a cross-sectional view of the buffer assembly provided by the embodiment of the present application and the end picker in an initial state;
  • FIG. 4 is a cross-sectional view of the buffer assembly provided in the embodiment of the present application and the end picker in an offset state;
  • FIG. 5 is a cross-sectional view of the buffer assembly provided in an embodiment of the present application in an initial state
  • FIG. 6 is a cross-sectional view of the buffer assembly provided in an embodiment of the present application in an offset state.
  • the first mounting seat 11. Mounting slot; 12. Intake channel; 13. Positioning hole;
  • Second mounting seat 21. Mounting plate; 211. Avoidance groove; 22. Mounting sleeve; 221. Main cylinder part; 2211, accommodating cavity; ;
  • connection should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be an internal connection between two elements or an interaction relationship between the two elements.
  • connection may be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be an internal connection between two elements or an interaction relationship between the two elements.
  • a first feature "on” or “under” a second feature may include direct contact between the first and second features, or may include the first and second features Not directly but through additional features between them.
  • the first feature being “above”, “over” and “above” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature is “below”, “below” and “below” the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.
  • this embodiment provides a manipulator, which can be applied to fields such as production, processing, and logistics.
  • the manipulator is configured to pick up materials to transfer and transport materials. This application does not use the manipulator. The application scenarios and the types of materials handled are limited.
  • the manipulator includes a manipulator 300, an end picker 200 and a control system.
  • the end effector 200 is connected to the end of the robot arm 300, and the robot arm 300 can at least drive the end effector 200 to translate along the first direction, so as to move the end effector 200 to the target position; the end effector 200 is arranged along the second direction,
  • the end picker 200 is set to pick up the material at the target position;
  • the control system is set to control the movement of the mechanical arm 300 , thereby controlling the movement track of the end picker 200 .
  • the robot arm 300 drives the end effector 200 to move in the first direction, if the end effector 200 is stopped by an external obstacle, the robot arm 300 stops moving immediately because the robot arm 300 cannot sense the obstacle, causing the end effector 200 and the mechanical
  • the arm 300 has a tendency of relative movement.
  • the buffer assembly 100 is connected between the end effector 200 and the mechanical arm 300 .
  • the buffer assembly 100 includes a first mounting seat 1 , a second mounting seat 2 , a hinge assembly 3 and an elastic member 4 .
  • the hinge assembly 3 includes a guide rod 33 and a first spherical hinge 31.
  • the first spherical hinge 31 is mounted on the first mounting seat 1, and one of the first spherical hinge 31 and the second mounting seat 2 is connected to the guide rod 33, and the second spherical hinge 31 is connected to the guide rod 33.
  • the other one of the mounting seat 2 and the first spherical hinge 31 is slidably sleeved on the guide rod 33, so that the buffer assembly 100 can be set in the initial state where the second mounting seat 2 and the first mounting seat 1 are facing each other and the second mounting seat 2 and the first mounting seat 1 are relatively deflected or moved to switch between the offset states; the elastic member 4 is arranged to exert a force that makes the second mounting seat 2 and the first mounting seat 1 approach.
  • the second mounting seat 2 and one of the first mounting seats 1 are connected with the end of the robot arm 300 , and the second mounting seat 2 and the other one of the first mounting seats 1 are connected with the end effector 200 . That is, when the end effector 200 stops moving due to the influence of external obstacles, and the mechanical arm 300 continues to move in the set direction, since one of the second mounting seat 2 and the first spherical hinge 31 is slidably sleeved on the guide rod 33, the other is fixedly connected to the guide rod 33, and the distance between the second mounting base 2 and the first spherical hinge 31 in the length direction of the guide rod 33 is changed, so as to provide space for the relative movement of the end picker 200 and the mechanical arm 300 ; And because the first spherical hinge 31 is hinged with the first mounting seat 1, deflection can occur between the first mounting seat 1 and the second mounting seat 2, thereby enabling deflection between the robotic arm 300 and the end picker 200, Avoid direct collision between the two, and provide protection for the end effector
  • the buffer assembly 100 further includes a detection unit 8, and the detection unit 8 is configured to detect the relative position of the second mounting seat 2 relative to the first mounting seat 1, and obtain the first mounting seat 1 and the second mounting seat 2. to obtain the offset degree of the end effector 200 relative to the mechanical arm 300 . That is, it is known whether the end picker 200 encounters an obstacle during the operation, so that the control system can send the detection information to the control system of the manipulator, so that the control system can control the manipulator 300 to stop the movement in time according to the detection information, so as to ensure the operation safety of the manipulator. reliability.
  • the first mounting base 1 is connected to the end of the robot arm 300 , and the end effector 200 is connected to the side of the second mounting base 2 away from the first mounting base 1 .
  • the first mounting base 1 may also be connected to the end effector 200
  • the robotic arm 300 may be connected to the second mounting base 2 .
  • the end of the robotic arm 300 and the end effector 200 are respectively located on opposite sides of the buffer assembly 100 along the second direction to reduce structural interference.
  • the first mounting seat 1 and the robotic arm 300 can be optionally connected in a detachable manner to facilitate the disassembly and assembly of the buffer assembly 100, and the connection form can be but not limited to a threaded connection, and the connection structure can be but not limited to a flange connection , and its connection structure and connection method can be set according to the structure of the end of the robot arm 300 .
  • the first spherical hinge 31 is fixedly connected to the first end of the guide rod 33 , and the second mounting seat 2 is slidably sleeved on the guide rod 33 . Therefore, when the end effector 200 stops moving under an external obstacle, since the first mounting seat 1 continues to move in the first direction, the first spherical hinge 31 can drive the guide rod 33 to rotate relative to the first mounting seat 1;
  • the second mounting seat 2 is slidably sleeved on the guide rod 33 , so that the guide rod 33 drives the second mounting seat 2 to rotate relative to the first mounting seat 1 and at the same time the second mounting seat 2 follows the guide rod 33 and moves away from the first mounting seat 1, that is, the second mounting seat 2 is deflected relative to the first mounting seat 1.
  • This arrangement can avoid interference with the structure of the mechanical arm 300 caused by the sliding between the first mounting seat 1 and the guide rod 33 , simplify the structure of the first mounting seat 1 , and simplify the relationship between the first mounting seat 1 and the mechanical arm 300 .
  • the guide rod 33 may also be fixedly connected to the second mounting seat 2 , and the first ball hinge 31 is slidably sleeved on the guide rod 33 .
  • the guide rod 33 can also be hinged with the second mounting seat 2 , and the first ball hinge 31 is slidably sleeved on the guide rod 33 .
  • the hinge assembly 3 further includes a second spherical hinge 32 , the second spherical hinge 32 is mounted on the second mounting seat 2 , and the second spherical hinge 32 is slidably sleeved on the guide rod 33 .
  • An installation cavity is provided in the second installation seat 2 , and one end of the guide rod 33 away from the first spherical hinge 31 is rotatably accommodated in the installation cavity.
  • the arrangement of the second spherical hinge 32 can enable the guide rod 33 to rotate relative to the second mounting seat 2 , thereby improving the flexibility of the second mounting seat 2 , and can increase the flexibility of the second mounting seat 2 while the other structures remain unchanged.
  • the maximum angle at which the second mounting seat 2 can deflect relative to the first mounting seat 1 can improve the absorption of shock, improve the buffering effect and anti-collision applicability, and can improve the compactness of the structure and the use safety and reliability of the buffer assembly 100 .
  • the second mounting seat 2 can only slide relative to the guide rod 33 , that is, the deflection angle of the second mounting seat 2 relative to the first mounting seat 1 and the deflection angle of the guide rod 33 relative to the first mounting seat 1 Consistent.
  • a sliding bushing may be provided between the second mounting seat 2 and the guide rod 33 to reduce frictional resistance.
  • the second mounting seat 2 and the first mounting seat 1 face each other and face each other, so as to improve the structural compactness and positional stability of the buffer assembly 100 .
  • the cross-sections of the second mounting seat 1 and the first mounting seat 2 can be optionally rounded to reduce edges, corners and bumps and facilitate connection.
  • the butting end faces of the second mounting seat 1 and the first mounting seat 2 are coaxially arranged and have the same diameter, so as to improve the compactness of the structure and the aesthetics of the structure in the initial state.
  • the cross-sectional shapes of the second mounting seat 1 and the first mounting seat 2 can be set according to connection requirements.
  • the elastic member 4 can be optionally a spring, and optionally, the spring is sleeved on the guide rod 33 to facilitate the installation of the spring and the application of the elastic restoring force.
  • the elastic member 4 is sleeved on the side of the second spherical hinge 32 away from the first spherical hinge 31 , one end of the elastic member 4 is relatively fixed with the guide rod 33 , and the other end of the elastic member 4 abuts against the second spherical hinge.
  • the first spherical hinge 31 is in contact with the second spherical hinge 32, and the elastic member 4 is in a compressed state.
  • the elastic member 4 can apply an elastic force to the second spherical hinge 32 that is always in contact with the first spherical hinge 31 , thereby enabling the second mounting seat 2 to be mounted on the first spherical hinge 32 .
  • the seat 1 is closely fitted to ensure the positional stability and use reliability of the end pickup 200 in a normal state.
  • the elastic member 4 may also be disposed at other positions, for example, one end of the elastic member 4 is fixed to the outer side wall of the second mounting seat 2, and the other end is fixed to the outer side wall of the first mounting seat 1, and at the initial stage In this state, the elastic member 4 is in an elongated state, that is, the elastic member 4 pulls the second mounting seat 2 to make the second mounting seat 2 closely fit with the first mounting seat 1; or the elastic member 4 is accommodated in the second mounting seat 2 or the inside of the first mounting seat 1, and the two ends are respectively connected with the first mounting seat 1 and the second mounting seat 2.
  • the first ball joint 31 includes a first ball joint seat 311 and a first ball head 312 , the first ball joint seat 311 is detachably installed in the installation groove 11 , and the first ball head 312 is movably arranged on the first ball joint seat 311 .
  • the mounting slot 11 optionally includes a first slot portion and a second slot portion, the first slot portion is located on the side of the second slot portion facing the second mounting seat 2 , and the diameter of the first slot portion is larger than the diameter of the second slot portion , so that a limit step is formed between the second groove portion and the first groove portion.
  • the first ball joint seat 311 is installed in the first groove portion and abuts on the limiting step, and the first ball joint 312 partially extends into the second groove portion.
  • the first mounting seat 1 is provided with a sealing plate 5 at the notch of the first groove portion.
  • the first ball head 312 can partially protrude out of the opening with the diameter of the groove.
  • the sealing plate 5 is detachably connected to the first mounting seat 1 , and the sealing plate 5 abuts on one end of the first spherical hinge seat 311 away from the limiting step.
  • first spherical hinge seat 311 and the first spherical head 312 in the first spherical hinge 31 reference may be made to the structure of the spherical hinge in the related art, which will not be repeated here. It can be understood that the above-mentioned installation structures of the first spherical hinge 31 and the first mounting seat 1 are only exemplary structures, and in other embodiments, the mounting structures of the first spherical hinge 31 and the first mounting seat 1 may also be referred to.
  • the installation structure of the spherical hinge in the related art is provided.
  • An escape groove 211 is provided.
  • the groove depth of the escape groove 211 can be selected to be greater than the thickness of the sealing plate 5 .
  • the second ball joint 32 includes a second ball joint seat 321 and a second ball head 322 , the second ball joint seat 321 is detachably installed in the accommodating cavity 2211 , and the second ball head 322 is movably disposed in the second ball joint seat 321 and The opposite ends of the second spherical hinge seat 321 can protrude outwardly.
  • the structure of the second spherical hinge 32 may be set with reference to the first spherical hinge 31 , or set with reference to the spherical hinge structure in the related art.
  • the first ball hinge 31 is provided with a first installation hole, and the first end of the guide rod 33 is fixedly penetrated through the first installation hole.
  • the outer wall of the first end of the guide rod 33 protrudes outward with a limiting portion 332 , and the limiting portion 332 abuts on the side of the first ball head 312 away from the second ball hinge 32 , so as to realize the first ball hinge 31 and the guide rod 33 to prevent the first ball hinge 31 from falling out of the guide rod 33 .
  • This arrangement can improve the convenience of connection between the guide rod 33 and the first spherical hinge 31 .
  • the guide rod 33 may also be directly connected to the outer wall of the first ball head 312 , and the connection may be integrally formed, welded, or screwed.
  • first planes 3121 are cut on opposite sides of the first ball hinge 31
  • second planes 3221 are cut on opposite sides of the second ball hinge 32
  • the first planes 3121 and the second planes 3221 Both are perpendicular to the longitudinal direction of the guide rod 33 .
  • the setting of the first plane 3121 is conducive to the contact between the first spherical hinge 31 and the limiting portion 332 and the second spherical hinge 32
  • the setting of the second plane 3221 is conducive to the contact between the second spherical hinge 32 and the first spherical hinge 31 and the The abutment of the elastic member 4 .
  • the second end of the guide rod 33 is provided with a blocking member 6, the blocking member 6 protrudes from the outer wall of the guide rod 33, and the end of the elastic member 4 away from the second ball hinge 32 abuts on the blocking member 6.
  • the stopper 6 is detachably connected to the guide rod 33 to simplify the structure of the guide rod 33 and reduce the processing requirements of the guide rod 33 .
  • the blocking member 6 may also be a structure that is protruded on the outer wall of the guide rod 33 and is integrally formed with the guide rod 33 .
  • the blocking member 6 includes a blocking ring portion 61 and a connecting portion 62.
  • the blocking ring portion 61 is connected to one end of the connecting portion 62.
  • the connecting portion 62 is inserted into the guide rod 33 and is detachably connected with the guide rod 33.
  • the blocking ring portion 61 is located in the guide rod.
  • the outer side of 33 protrudes outward from the outer side wall of the guide rod 33 , and the elastic member 4 abuts on the retaining ring portion 61 .
  • the second mounting seat 2 includes a detachably connected mounting plate 21 and a mounting sleeve 22 .
  • the mounting sleeve 22 is connected to the side of the mounting plate 21 away from the first mounting seat 1 , and the mounting plate 21 can abut against the first mounting seat 1 . catch.
  • a through hole is formed through the mounting plate 21 , the mounting sleeve 22 has the above-mentioned accommodating cavity 2211 , the through hole and the accommodating cavity 2211 are facing and communicated, and the through hole and the accommodating cavity 2211 together form an installation cavity.
  • the second ball hinge 32 is detachably installed in the through hole, and the second end of the guide rod 33 and the elastic member 4 are located in the accommodating cavity 2211 .
  • the assembly of the elastic member 4 , the guide rod 33 and the second spherical hinge 32 can be facilitated, so that when the buffer assembly 100 is assembled, the first spherical hinge 31 can be installed first On the first mounting seat 1, secondly connect the guide rod 33 to the first ball hinge 31, set the mounting plate 21 on which the second ball hinge 32 is mounted on the guide rod 33, and then install the elastic piece 4 and the stopper 6 , and finally the installation sleeve 22 is installed, which effectively improves installation convenience and installation efficiency, and can improve installation accuracy.
  • the mounting sleeve 22 includes a main cylinder portion 221 , an end plate portion 222 protrudes radially outward from one end of the main cylinder portion 221 facing the mounting plate 21 , and the end plate portion 222 is connected with the mounting plate 21 by a screw connection to improve the convenience of connection and connection reliability.
  • a positioning structure is provided between the second mounting seat 2 and the first mounting seat 1, and the positioning structure includes setting The positioning column 7 on the second mounting seat 2 and the positioning hole 13 opened on the first mounting seat 1, the positioning column 7 can be inserted into the positioning hole 13, and there is a gap between the positioning column 7 and the hole wall of the positioning hole 13, In order to ensure that when the positioning column 7 is deflected with the second mounting base 2 , the positioning column 7 can exit the positioning hole 13 .
  • the first mounting seat 1 may also be provided with positioning posts, and the second mounting seat 2 may be provided with positioning holes.
  • a plurality of positioning structures may be provided at intervals along the circumferential direction of the first mounting seat 1 to ensure the positioning effect.
  • the positioning post 7 is detachably connected to the second mounting base 2 .
  • an insertion hole is formed through the second mounting base 2 , and the positioning post 7 is inserted into the insertion hole.
  • the outer wall of the positioning column 7 is radially protruded with a limit ring, and the hole wall of the insertion hole is provided with a matching limit ring groove.
  • the stop ring is located in the stop ring groove.
  • the positioning post 7 may also be integrally formed with the second mounting seat 2 .
  • a plurality of detection units 8 are arranged around the first spherical hinge 31 at intervals to ensure that when the first mounting seat 1 and the second mounting seat 2 are deflected in any direction, the second mounting seat 2 and the second mounting seat 2 can be effectively detected. The extent to which the mount 1 is deflected.
  • the detection unit 8 is arranged on the side of the first mounting seat 1 facing the second mounting seat 2, and/or the detection unit 8 is arranged on the side of the second mounting seat 2 facing the first mounting seat 1, so that the The degree of deflection can be detected by directly detecting the distance between the opposite end faces of the first mounting seat 1 and the second mounting seat 2 .
  • the detection unit 8 may be a jog switch, a pressure sensor, a micro switch or a proximity sensor, etc., and the detection unit 8 may be a mature product in the related art.
  • the detection unit 8 When the first mounting seat 1 and the second mounting seat 2 are in close contact, the detection unit 8 is in a triggered state, and the control system determines that the manipulator is in a normal operating state; After the mounting base 2 is partially out of contact, the detection unit 8 at the corresponding location is in a disconnected state, that is, the control system can determine that the end effector 200 encounters an external obstacle.
  • the guide rod 33 is a hollow rod-shaped structure, which has a cavity 331 which is disposed therethrough in the axial direction.
  • the first mounting seat 1 is provided with an air inlet channel 12
  • the second mounting seat 2 is provided with an air outlet channel
  • both ends of the cavity 331 are respectively connected with the air intake channel 12 and the air outlet channel.
  • the intake passage 12 extends along the radial direction of the first mounting seat 1 , one end of the intake passage 12 penetrates the outer side wall of the first mounting seat 1 , and the other end communicates with the second groove portion of the mounting groove 11 , the cavity 331 communicates with the second groove portion.
  • One end of the mounting sleeve 22 away from the mounting plate 21 is provided with a vent hole 2231, and the vent hole 2231 and the accommodating cavity 2211 together form an air outlet; the stopper 6 is provided with a vent hole 63 that communicates with the cavity 331, and the cavity 331 passes through.
  • the air hole 63 communicates with the accommodating cavity 2211 .
  • the end picker 200 includes a connecting pipe 201 and an adsorption member 202 , and one end of the connecting pipe 201 is detachably connected to one end of the mounting sleeve 22 away from the mounting plate 21 .
  • the other end of the connecting pipe 201 is connected with the above-mentioned adsorption member 202, the adsorption member 202 has an adsorption air passage for vacuum adsorption, and the connecting pipe 201 is communicated with the air outlet passage and the adsorption air passage. That is, the air inlet channel 12 , the cavity 331 , the air outlet channel, the inner cavity of the connecting pipe 201 and the adsorption air channel together form a vacuum air channel for vacuum adsorption.
  • connection pipe 201 and the installation sleeve 22 In order to facilitate the connection between the connection pipe 201 and the installation sleeve 22, the end of the main cylinder part 221 away from the installation plate 21 is connected with a connection cylinder part 223.
  • the outer diameter of the connection cylinder part 223 is smaller than the outer diameter of the main cylinder part 221.
  • the outer wall of the portion 223 is provided with an external thread
  • the connecting pipe 201 is provided with an internal thread
  • the connecting cylinder portion 223 and the connecting pipe 201 are connected by screwing.
  • the connection pipe 201 and the installation sleeve 22 may also be connected by flange connection or other connection structures in the related art, which is not limited in this application.
  • the suction member 202 may be, but is not limited to, suction nozzles, suction cups, etc., and the structure of the end effector 200 may be set with reference to the suction-type end effector 200 in the related art. And it can be understood that, in other embodiments, the end picker 200 may also be other structures that can be used for picking up materials, such as a pneumatic gripper.

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Abstract

一种缓冲组件，包括：第一安装座（1）；第二安装座（2），第一安装座（1）和第二安装座（2）中的一个设置为与机械臂（300）连接，另一个设置为与端拾器（200）连接；铰接组件（3），连接于第一安装座（1）与第二安装座（2）之间，包括第一球铰（31）和导杆（33），第一球铰（31）安装于第一安装座（1）中，第二安装座（2）和第一球铰（31）中的一个与导杆（33）连接，另一个滑动套设于导杆（33）外；弹性件（4），设置为施加使第二安装座（2）与第一安装座（1）靠近的力。还提供一种机械手。

Description

一种缓冲组件及机械手
本申请要求在2021年4月27日提交中国专利局、申请号为202110460504.1的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及自动化装备技术领域，例如涉及一种缓冲组件及机械手。
背景技术
随着机械自动化技术的发展，机械手被广泛应用于加工、生产及物流等各个领域，以实现物料的自动化移载和搬运，从而提高物料传输效率及精度。
端拾器是各类机械手用于拾取需要搬运物料的组成部分，其连接于机械臂的末端，控制系统基于系统预设的轨迹或者根据算法运算后计算的移动轨迹控制机械臂动作，以使端拾器达到目标位置并对物料进行拾取。
相关技术中的机械手通常缺乏避障功能，在机械手运行的过程中，若端拾器与其他物品发生干涉而停止运动，机械手由于不会感知到障碍物的存在而会继续移动，从而造成端拾器与障碍物发生碰撞，造成障碍物损坏和/或端拾器出现损伤或者毁坏，甚至会造成机械手出现故障和损毁，影响机械手的使用安全性和可靠性。
发明内容
本申请提供一种缓冲组件，以提高对机械臂和端拾器的防撞能力，对外接装置进行防撞保护。
本申请还提供一种机械手，提高机械手的防撞保护能力，提高机械手的运行安全性和可靠性。
本申请采用下述技术方案：
第一方面，本申请提供一种缓冲组件，包括：
第一安装座；
第二安装座，所述第一安装座和所述第二安装座中的一个设置为与机械臂连接，另一个设置为与端拾器连接；
铰接组件，连接于所述第一安装座与所述第二安装座之间，包括第一球铰和导杆，所述第一球铰安装于所述第一安装座中，所述第二安装座和所述第一球铰中的一个与所述导杆连接，另一个滑动套设于所述导杆外；
弹性件，设置为施加使所述第二安装座与所述第一安装座靠近的力。
作为一种缓冲组件的可选技术方案，所述第二安装座上安装有第二球铰，所述第二安装座通过所述第二球铰与所述导杆连接。
作为一种缓冲组件的可选技术方案，所述第一球铰固设于所述导杆的第一端，所述第二球铰滑动套设于所述导杆。
作为一种缓冲组件的可选技术方案，所述第一球铰套设于所述导杆外，所述导杆第一端的外壁凸设有限位部，所述限位部与所述第一球铰远离所述第二球铰的一侧抵接。
作为一种缓冲组件的可选技术方案，当所述缓冲组件处于初始状态时，所述第一安装座和所述第二安装座正对抵接，和/或所述第一球铰和所述第二球铰正对抵接。
作为一种缓冲组件的可选技术方案，所述弹性件套设于所述导杆上，所述弹性件位于所述第二球铰远离所述第一球铰的一侧，且所述弹性件的一端与所述导杆相对固定，所述弹性件的另一端抵接于所述第二球铰，所述弹性件始终处于压缩状态。
作为一种缓冲组件的可选技术方案，当所述缓冲组件处于初始状态时，所述第二安装座与所述第一安装座面抵接。
作为一种缓冲组件的可选技术方案，所述第二安装座包括安装板和安装套筒，所述安装套筒可拆卸连接于所述安装板远离所述第一安装座的一侧，所述第二球铰可拆卸安装于所述安装板，所述导杆的第二端穿设于所述安装套筒内。
作为一种缓冲组件的可选技术方案，所述第一安装座上开设有进气通道，所述导杆具有轴向贯通的空腔，所述第二安装座上开设有出气通道，所述空腔的两端分别与所述进气通道及所述出气通道连通。
作为一种缓冲组件的可选技术方案，所述缓冲组件还包括检测单元，所述检测单元用于检测所述第一安装座和所述第二安装座的相对位置。
作为一种缓冲组件的可选技术方案，所述检测单元环绕所述第一球铰间隔设置有多个。
作为一种缓冲组件的可选技术方案，所述检测单元设置于所述第一安装座朝向所述第二安装座的一侧，和/或，所述检测单元设置于所述第二安装座朝向所述第一安装座的一侧；
所述检测单元包括点动开关、压力传感器、微动开关或接近传感器。
作为一种缓冲组件的可选技术方案，所述第一安装座和所述第二安装座中的一个设置有定位孔，另一个凸设有定位柱，所述定位柱能够插设于所述定位孔中。
第二方面，本申请还提供一种机械手，包括机械臂和端拾器，还包括如上所述的缓冲组件，所述第一安装座和所述第二安装座中的一个与所述机械臂的末端连接，所述第一安装座和所述第二安装座中的另一个与所述端拾器连接。
本申请实施例提供的缓冲组件，当与第一安装座或第二安装座连接的端拾器受到外部作用力或碰到外部障碍物时，第一安装座和第二安装座能够发生相对移动或偏转，避免机械臂和端拾器直接发生直接碰撞或产生较大的相互作用力，对机械臂和端拾器提供防撞保护；同时，由于第一球铰的设置，能够使得导杆相对第一安装座绕多个方向转动，即使得机械臂和端拾器能够相对多个方向偏转，实现多角度的防撞和缓冲保护，提高适用性；通过设置弹性件，能够在外部作用力撤销后，使缓冲组件自动复位，提高缓冲组件及机械手的使用可靠性和自动性。
本申请实施例提供的机械手，通过采用上述的缓冲组件连接机械臂和端拾 器，能够提高机械手的多角度防撞保护，提高机械手的使用安全性和可靠性。
附图说明
图1是本申请实施例提供的机械手在缓冲组件处于初始状态下的结构示意图；
图2是本申请实施例提供的机械手在缓冲组件处于偏移状态下的结构示意图；
图3是本申请实施例提供的缓冲组件处于初始状态下与端拾器的剖视图；
图4是本申请实施例提供的缓冲组件处于偏移状态下与端拾器的剖视图；
图5是本申请实施例提供的缓冲组件处于初始状态下的剖视图；
图6是本申请实施例提供的缓冲组件处于偏移状态下的剖视图。
图中标记如下：
100、缓冲组件；200、端拾器；201、连接管；202、吸附件；300、机械臂；
1、第一安装座；11、安装槽；12、进气通道；13、定位孔；
2、第二安装座；21、安装板；211、避让槽；22、安装套筒；221、主筒部；2211、容纳腔；222、端板部；223、连接筒部；2231、通气孔；
3、铰接组件；31、第一球铰；311、第一球铰座；312、第一球头；3121、第一平面；32、第二球铰；321、第二球铰座；322、第二球头；3221、第二平面；33、导杆；331、空腔；332、限位部；
4、弹性件；5、封板；6、挡件；61、挡环部；62、连接部；63、过气孔；7、定位柱；8、检测单元。
具体实施方式
下面结合附图和实施例对本申请作详细说明。
在本申请的描述中，除非另有明确的规定和限定，术语“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体； 可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本实施例的描述中，术语“上”、“下”、“右”、等方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述和简化操作，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”仅仅用于在描述上加以区分，并没有特殊的含义。
如图1-4所示，本实施例提供了一种机械手，其可以应用于生产、加工和物流等领域，机械手设置为对物料进行拾取，以进行物料的移载和搬运，本申请不对机械手的应用场景和搬运的物料类型进行限制。
机械手包括机械臂300、端拾器200和控制系统。端拾器200连接于机械臂300的末端，且机械臂300能够至少带动端拾器200沿第一方向平移，以将端拾器200移动至目标位置；端拾器200沿第二方向设置，端拾器200设置为拾取位于目标位置的物料；控制系统设置为控制机械臂300的运动，进而控制端拾器200的移动轨迹。
当机械臂300带动端拾器200沿第一方向运动时，若端拾器200受到外部障碍物停止运动，由于机械臂300无法感应障碍物而立刻停止运动，则会造成端拾器200和机械臂300具有相对运动的趋势，为避免该种运动趋势造成端拾器200和/或机械臂300的损伤，在本实施例中，端拾器200和机械臂300之间 连接有缓冲组件100。
可选的，缓冲组件100包括第一安装座1、第二安装座2、铰接组件3及弹性件4。铰接组件3包括导杆33和第一球铰31，第一球铰31安装于第一安装座1，且第一球铰31和第二安装座2中的一个连接于导杆33，第二安装座2和第一球铰31中的另一个滑动套设于导杆33，以使缓冲组件100能够在第二安装座2与第一安装座1正对设置的初始状态和第二安装座2与第一安装座1相对偏转或移动的偏移状态间切换；弹性件4设置为施加使第二安装座2与第一安装座1靠近的力。
第二安装座2与第一安装座1中的一个与机械臂300的末端相连，第二安装座2与第一安装座1中的另一个与端拾器200连接。即，当端拾器200受因外部障碍物的影响停止运动，而机械臂300继续沿设定方向运动时，由于第二安装座2和第一球铰31中的一个滑动套设在导杆33上，另一个固定连接于导杆33，第二安装座2和第一球铰31在导杆33长度方向上的间距发生改变，从而为端拾器200与机械臂300的相对运动提供空间；且由于第一球铰31与第一安装座1铰接，第一安装座1和第二安装座2之间能够发生偏转，由此使得机械臂300与端拾器200之间能够发生偏转，避免两者直接碰撞，对端拾器200和机械臂300提供保护；同时，由于第一球铰31可以相对第一安装座1自由转动，即第一安装座1与第二安装座2可以相对任意方向偏转，从而能够使端拾器200适用于不同方位的多角度碰撞，适用性强；通过设置弹性件，能够在外部作用力撤销后，使缓冲组件100自动复位，提高缓冲组件100及机械手的使用可靠性和自动性。
为提高机械手的使用安全性，缓冲组件100还包括检测单元8，检测单元8设置为检测第二安装座2相对第一安装座1的相对位置，获取第一安装座1与第二安装座2的偏移程度，从而获取端拾器200相对机械臂300的偏移程度。即获知端拾器200在运行过程中是否遇到障碍物，从而能够通过给机械手的控制系统发送检测信息，使控制系统可以根据检测信息控制机械臂300及时停止 运动，保证机械手的运行安全性和可靠性。
在本实施例中，第一安装座1与机械臂300的端部连接，端拾器200连接于第二安装座2远离第一安装座1的一侧。在其他实施例中，也可以是第一安装座1与端拾器200连接，机械臂300与第二安装座2连接。可选地，机械臂300的末端和端拾器200分别位于缓冲组件100沿第二方向的相对两侧，以减少结构干涉。
第一安装座1与机械臂300可选采用可拆卸连接方式，以方便缓冲组件100的拆装，且连接形式可以但不限定为螺纹连接，且连接的结构可以但不限定为法兰式连接，其连接结构和连接方式可以根据机械臂300末端的结构进行设置。
在本实施例中，可选地，第一球铰31固定连接于导杆33的第一端，第二安装座2滑动套设在导杆33上。由此，当端拾器200在外部障碍物下停止运动时，由于第一安装座1继续沿第一方向运动，能够使得第一球铰31带动导杆33相对第一安装座1转动；由于第二安装座2滑动套设在导杆33上，进而使得导杆33带动第二安装座2相对第一安装座1转动且同时第二安装座2顺着导杆33沿远离第一安装座1的方向滑动，即第二安装座2相对第一安装座1发生偏转。该种设置，能够避免第一安装座1与导杆33之间的滑动造成与机械臂300本身的结构相干涉，简化第一安装座1的结构，简化第一安装座1与机械臂300之间的连接结构。
在其他一实施例中，也可以是导杆33固定连接于第二安装座2，第一球铰31滑动套设于导杆33上。在其他另一实施例中，也可以是导杆33与第二安装座2铰接，第一球铰31滑动套设于导杆33上。
可选地，铰接组件3还包括第二球铰32，第二球铰32安装于第二安装座2，且第二球铰32滑动套设于导杆33上。第二安装座2内设置有安装腔，导杆33远离第一球铰31的一端可转动地容纳于安装腔中。第二球铰32的设置，可以使导杆33能够与第二安装座2发生相对转动，从而能够提高第二安装座2的活动灵活性，且能够其他结构保持不变的情况下，增大第二安装座2能够相对第 一安装座1偏转的最大角度，提高对冲击的吸收作用，提高缓冲效果和防撞适用能力，且能够提高结构紧凑性和缓冲组件100的使用安全性和可靠性。
在其他实施例中，也可以是第二安装座2仅能相对导杆33滑动，即第二安装座2相对第一安装座1偏转的角度与导杆33相对第一安装座1偏转的角度一致。此时，第二安装座2与导杆33之间可以设置滑动衬套，以降低摩擦阻力。
可选地，当缓冲组件100处于初始状态时，第二安装座2和第一安装座1正对且面抵接，以提高缓冲组件100的结构紧凑性和位置稳定性。在其他实施例中，当缓冲组件100处于初始状态时，第二安装座2和第一安装座1之间也可以具有一定间隙，只要保证第二安装座2和第一安装座1之间在正常运行下具有稳定的位置关系即可。
第二安装座1和第一安装座2的截面可选呈圆形，以减小棱角与磕碰，且方便连接。第二安装座1与第一安装座2的对接端面同轴设置且直径相等，以提高结构紧凑性和初始状态下的结构美观性。但可以理解的是，第二安装座1和第一安装座2的截面形状可以根据连接需求进行设置。
在本实施例中，弹性件4可选为弹簧，且可选的，弹簧套设在导杆33上，以方便弹簧的安装以及弹性回复力的施加。可选的，弹性件4套设在第二球铰32远离第一球铰31的一侧，且弹性件4的一端与导杆33相对固定，弹性件4的另一端抵接于第二球铰32，在初始状态下，第一球铰31与第二球铰32抵接，且弹性件4处于压缩状态。该种设置，能够在缓冲组件100处于初始状态下，弹性件4向第二球铰32施加始终抵接于第一球铰31的弹性力，由此能够使第二安装座2与第一安装座1紧密贴合，保证正常状态下端拾器200的位置稳定性和使用可靠性。
在其他实施例中，弹性件4也可以设置于其他位置处，如弹性件4的一端固定于第二安装座2的外侧壁，另一端固定于第一安装座1的外侧壁，且在初始状态下，弹性件4处于拉长状态，即弹性件4拉住第二安装座2，使第二安装座2与第一安装座1紧密贴合；或弹性件4容置于第二安装座2或第一安装座1 内部，且两端分别与第一安装座1和第二安装座2连接。
为方便第一球铰31的安装，第一安装座1朝向第二安装座2的一侧开设有安装槽11，第一球铰31安装于安装槽11中。第一球铰31包括第一球铰座311和第一球头312，第一球铰座311可拆卸安装于安装槽11内，第一球头312活动设置于第一球铰座311上。安装槽11可选地包括第一槽部和第二槽部，第一槽部位于第二槽部朝向第二安装座2的一侧，且第一槽部的直径大于第二槽部的直径，以使第二槽部与第一槽部之间形成有限位台阶。第一球铰座311安装于第一槽部，且抵接于限位台阶上，第一球头312部分伸入第二槽部中。
为方便第一球铰31的拆装以及避免第一球铰31脱出安装槽11，第一安装座1于第一槽部的槽口处设置有封板5，封板5开设有直径小于第一槽部直径的穿口，第一球头312能够部分伸出穿口。封板5与第一安装座1可拆卸连接，且封板5抵接于第一球铰座311远离限位台阶的一端。
第一球铰31中第一球铰座311和第一球头312的配合结构可参考相关技术中的球铰的结构，此处不再赘述。且可以理解的是，上述第一球铰31与第一安装座1的安装结构仅为示例性结构，在其他实施例中，第一球铰31与第一安装座1的安装结构也可以参考相关技术中的球铰的安装结构进行设置。
为避免封板5外凸于第一安装座1的端面而影响第一安装座1与第二安装座2的抵接，可选地，第二安装座2朝向第一安装座1的一端端面开设有避让槽211，当缓冲组件100处于初始状态时，封板5容置于避让槽211中。避让槽211的槽深可选大于封板5的厚度。
第二球铰32包括第二球铰座321和第二球头322，第二球铰座321可拆卸安装于容纳腔2211内，第二球头322活动设置于第二球铰座321内且能外凸于第二球铰座321的相对两端。第二球铰32的结构可以参考第一球铰31进行设置，或参考相关技术中的球铰结构进行设置。
为方便第一球铰31与导杆33的连接，可选地，第一球铰31开设有第一安装孔，导杆33的第一端固定穿设于第一安装孔。导杆33的第一端外壁向外凸 设有限位部332，限位部332抵接于第一球头312远离第二球铰32的一侧，以实现第一球铰31和导杆33的安装限位，防止第一球铰31脱出导杆33。该种设置，能够提高导杆33与第一球铰31的连接便利性。在其他实施例中，导杆33也可以直接连接于第一球头312的外壁上，且连接方式可以为一体成型、焊接连接或者螺纹连接等。
可选地，第一球铰31的相对两侧均切设有第一平面3121，第二球铰32的相对两侧均切设有第二平面3221，且第一平面3121和第二平面3221均与导杆33的长度方向垂直。第一平面3121的设置，有利于第一球铰31与限位部332及第二球铰32的抵接；第二平面3221的设置，有利于第二球铰32与第一球铰31及弹性件4的抵接。
为方便弹性件4的安装，导杆33的第二端设置有挡件6，挡件6凸出导杆33的外壁，弹性件4远离第二球铰32的一端抵接于挡件6上。可选的，挡件6与导杆33可拆卸连接，以简化导杆33的结构，降低导杆33的加工要求。在其他实施例中，挡件6也可以是凸设在导杆33外壁的、与导杆33一体成型的结构。
挡件6包括挡环部61和连接部62，挡环部61连接于连接部62的一端，连接部62插入导杆33的内部并与导杆33可拆卸连接，挡环部61位于导杆33的外侧并外凸于导杆33的外侧壁，弹性件4抵接于挡环部61上。
第二安装座2包括可拆卸连接的安装板21和安装套筒22，安装套筒22连接于安装板21远离第一安装座1的一侧，安装板21能够与第一安装座1面抵接。安装板21上贯通开设有通孔，安装套筒22具有上述的容纳腔2211，通孔与容纳腔2211正对且连通，通孔与容纳腔2211共同形成安装腔。第二球铰32可拆卸安装于通孔内，导杆33的第二端及弹性件4位于容纳腔2211内。
通过设置可拆卸连接的安装板21和安装套筒22，能够方便弹性件4、导杆33及第二球铰32的组装，从而在缓冲组件100组装时，可以先将第一球铰31安装于第一安装座1，其次将导杆33与第一球铰31连接，将安装有第二球铰 32的安装板21套设在导杆33上，然后再安装弹性件4和挡件6，最后安装安装套筒22，有效提高安装便利性和安装效率，且能够提高安装精度。
安装套筒22包括主筒部221，主筒部221朝向安装板21的一端沿径向外凸有端板部222，端板部222与安装板21通过螺纹连接件连接，以提高连接便利性和连接可靠性。
为保证在缓冲组件100处于初始状态时，第二安装座2与第一安装座1之间的连接定位，第二安装座2与第一安装座1之间设置有定位结构，定位结构包括设置于第二安装座2上的定位柱7以及开设于第一安装座1上的定位孔13，定位柱7能够插入定位孔13，且定位柱7与定位孔13的孔壁之间具有间隙，以保证定位柱7随第二安装座2偏转时，定位柱7能够退出定位孔13。在其他实施例中，也可以是第一安装座1上设置定位柱，第二安装座2上开设有定位孔。定位结构可选沿第一安装座1的周向间隔设置有多个，以保证定位效果。
在本实施例中，定位柱7与第二安装座2可拆卸连接。可选地，第二安装座2上贯通开设有插孔，定位柱7插设于插孔中。定位柱7的外壁沿径向凸设有限位环，插孔的孔壁上开设有适配的限位环槽，限位环槽贯通第二安装座2朝向第一安装座1的端面，限位环位于限位环槽中。在其他实施例中，定位柱7还可以与第二安装座2一体成型。
可选的，检测单元8环绕第一球铰31间隔设置有多个，以保证第一安装座1与第二安装座2呈任意方向偏转时，均能够有效检测出第二安装座2与第一安装座1偏转的程度。
为提高检测精度，检测单元8设置于第一安装座1朝向第二安装座2的一侧，和/或检测单元8设置于第二安装座2朝向第一安装座1的一侧，从而可以直接检测第一安装座1与第二安装座2相对端面之间的间距实现对偏转程度的检测。
可选地，检测单元8可以为点动开关、压力传感器、微动开关或者接近传感器等，且检测单元8可采用相关技术中的成熟产品。当第一安装座1与第二 安装座2紧密贴合时，检测单元8处于触发状态，控制系统判断机械手处于正常运行状态；当任一检测单元8对应处的第一安装座1与第二安装座2局部脱离接触后，对应处的检测单元8处于断开状态，即控制系统可以判断出端拾器200碰到外部障碍物。
在本实施例中，导杆33为中空杆状结构，其具有沿轴向贯通设置的空腔331。第一安装座1上开设有进气通道12，第二安装座2内设置有出气通道，空腔331的两端分别与进气通道12及出气通道连通。该种设置，能够为吸附式端拾器200或气动爪式端拾器200进行供气，提高结构紧凑性，提高端拾器200的使用和安装便利性。
可选地，进气通道12沿第一安装座1的径向延伸，进气通道12的一端贯通第一安装座1的外侧壁，另一端连通安装槽11的第二槽部，空腔331与第二槽部连通。安装套筒22远离安装板21部的一端贯通开设有通气孔2231，通气孔2231与容纳腔2211共同形成出气通道；挡件6贯通开设有与空腔331连通的过气孔63，空腔331通过气孔63与容纳腔2211连通。
如图3、图5和图6所示，在本实施例中，端拾器200包括连接管201和吸附件202，连接管201的一端与安装套筒22远离安装板21的一端可拆卸连接，连接管201的另一端连接有上述的吸附件202，吸附件202具有用于真空吸附的吸附气道，连接管201与出气通道及吸附气道连通。即，进气通道12、空腔331、出气通道、连接管201的内腔及吸附气道共同形成用于真空吸附的真空气道。
为方便连接管201与安装套筒22之间的连接，主筒部221远离安装板21的一端连接有连接筒部223，连接筒部223的外径小于主筒部221的外径，连接筒部223的外壁上开设有外螺纹，连接管201内部开设有内螺纹，连接筒部223与连接管201通过螺纹旋拧连接。在其他实施例中，连接管201与安装套筒22也可以采用法兰连接或者相关技术中的其他连接结构连接，本申请对此不做限制。
在本实施例中，吸附件202可以但不限定为吸嘴、吸盘等，端拾器200的 结构可以参考相关技术中的吸附式端拾器200进行设置。且可以理解的是，在其他实施例中，端拾器200还可以为气动抓手等其他能够用于物料拾取的结构。

Claims (14)

  1. 一种缓冲组件，包括：
    第一安装座(1)；
    第二安装座(2)，所述第一安装座(1)和所述第二安装座(2)中的一个设置为与机械臂(300)连接，另一个设置为与端拾器(200)连接；
    铰接组件(3)，连接于所述第一安装座(1)与所述第二安装座(2)之间，所述铰接组件(3)包括第一球铰(31)和导杆(33)，所述第一球铰(31)安装于所述第一安装座(1)中，所述第二安装座(2)和所述第一球铰(31)中的一个与所述导杆(33)连接，另一个滑动套设于所述导杆(33)外；
    弹性件(4)，设置为施加使所述第二安装座(2)与所述第一安装座(1)靠近的力。
  2. 根据权利要求1所述的缓冲组件，其中，所述第二安装座(2)上安装有第二球铰(32)，所述第二安装座(2)通过所述第二球铰(32)与所述导杆(33)连接。
  3. 根据权利要求2所述的缓冲组件，其中，所述第一球铰(31)固设于所述导杆(33)的第一端，所述第二球铰(32)滑动套设于所述导杆(33)。
  4. 根据权利要求3所述的缓冲组件，其中，所述第一球铰(31)套设于所述导杆(33)外，所述导杆(33)第一端的外壁凸设有限位部(332)，所述限位部(332)与所述第一球铰(31)远离所述第二球铰(32)的一侧抵接。
  5. 根据权利要求3所述的缓冲组件，其中，在所述缓冲组件处于初始状态的情况下，满足以下至少之一：所述第一安装座(1)和所述第二安装座(2)正对抵接；所述第一球铰(31)和所述第二球铰(32)正对抵接。
  6. 根据权利要求3所述的缓冲组件，其中，所述弹性件(4)套设于所述导杆(33)上，所述弹性件(4)位于所述第二球铰(32)远离所述第一球铰(31)的一侧，且所述弹性件(4)的一端与所述导杆(33)相对固定，所述弹性件(4)的另一端抵接于所述第二球铰(32)，所述弹性件(4)始终处于压缩状态。
  7. 根据权利要求6所述的缓冲组件，其中，在所述缓冲组件处于初始状态的 情况下，所述第二安装座(2)与所述第一安装座(1)面抵接。
  8. 根据权利要求2-7任一项所述的缓冲组件，其中，所述第二安装座(2)包括安装板(21)和安装套筒(22)，所述安装套筒(22)可拆卸连接于所述安装板(21)远离所述第一安装座(1)的一侧，所述第二球铰(32)可拆卸安装于所述安装板(21)，所述导杆(33)的第二端穿设于所述安装套筒(22)内。
  9. 根据权利要求1-7任一项所述的缓冲组件，其中，所述第一安装座(1)上开设有进气通道(12)，所述导杆(33)具有轴向贯通的空腔(331)，所述第二安装座(2)上开设有出气通道，所述空腔(331)的两端分别与所述进气通道(12)及所述出气通道连通。
  10. 根据权利要求1-7任一项所述的缓冲组件，还包括检测单元(8)，所述检测单元(8)设置为检测所述第一安装座(1)和所述第二安装座(2)的相对位置。
  11. 根据权利要求10所述的缓冲组件，其中，所述检测单元(8)环绕所述第一球铰(31)间隔设置有多个。
  12. 根据权利要求11所述的缓冲组件，其中，所述检测单元(8)满足以下至少之一：所述检测单元(8)设置于所述第一安装座(1)朝向所述第二安装座(2)的一侧；所述检测单元(8)设置于所述第二安装座(2)朝向所述第一安装座(1)的一侧；
    所述检测单元(8)包括点动开关、压力传感器、微动开关或接近传感器。
  13. 根据权利要求1-6任一项所述的缓冲组件，其中，所述第一安装座(1)和所述第二安装座(2)中的一个设置有定位孔(13)，另一个凸设有定位柱(7)，所述定位柱(7)能够插设于所述定位孔(13)中。
  14. 一种机械手，包括机械臂(300)、端拾器(200)，以及如权利要求1-13任一项所述的缓冲组件，所述第一安装座(1)和所述第二安装座(2)中的一个与所述机械臂(300)的末端连接，所述第一安装座(1)和所述第二安装座(2)中的另一个与所述端拾器(200)连接。
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CN115056255A (zh) * 2022-07-06 2022-09-16 射阳县杰力纺织机械有限公司 机械臂用无底筒子纱塑料薄膜包装袋脱袋气动抓手

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