Tool changing mechanical gripper with flexible compensation function

Abstract

The invention belongs to the technical field of mechanical arms, and provides a tool changing mechanical gripper with a flexible compensation function, which comprises a flexible floating assembly and a clamping assembly. The flexible floating assembly comprises a fixed end and a floating end, and the fixed end is connected to the industrial robot. The clamping assembly is connected to the floating end. Under the action of the flexible floating assembly, the clamping assembly can achieve posture self-adaption, even if a certain error exists in the position or posture of the tool handle, compensation can be conducted through the flexible floating assembly, and impact and posture errors generated during tool changing are effectively absorbed.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically relating to a tool-changing robotic gripper with flexible compensation function. Background Technology

[0002] CNC machining centers are crucial high-precision, high-efficiency automated machine tools in modern manufacturing. Typically, CNC machining centers are equipped with tool magazines and can automatically change tools. Commonly, six-axis industrial robots in CNC machining centers perform the task of automatic tool changing. In summary, the tool changing process involves the industrial robot's robotic arm gripping the old tool holder on the spindle, placing the old tool back into the tool magazine, and then the robotic arm gripping the new tool in the tool magazine and inserting the new tool holder into the machine tool spindle.

[0003] Traditional robotic grippers mostly employ rigid connection structures. During the process of gripping the tool holder and inserting it into the machine tool spindle, even a slight error in posture alignment can easily lead to problems such as obstructed tool holder insertion, damage to the spindle taper bore, misalignment of the grippers, or even breakage. This is especially true when the spindle taper bore is of a high-precision type such as Morse taper, HSK, or BT, where the requirements for flexible coordination during tool changing are even higher.

[0004] To address the aforementioned issues, there is an urgent need for a tool changer with spatial flexibility compensation capabilities that can automatically absorb positional errors during tool insertion, ensuring a safe transition and protection during tool holder insertion, thereby enhancing the stability and versatility of the robotic tool changer system. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a tool-changing robotic gripper with flexible compensation function, thereby resolving the issues in the prior art. The technical solution adopted by this invention is as follows: A tool-changing robotic gripper with flexible compensation function, for attachment to an industrial robot, includes a flexible floating component and a gripping component. The flexible floating component includes a fixed end and a floating end, with the fixed end connected to the industrial robot. The gripping component is connected to the floating end.

[0006] Furthermore, the clamping assembly includes two claws and a drive component. The claws are movably connected to the floating end, and the two claws are arranged opposite each other. The drive component is used to drive the two claws to separate or close.

[0007] Furthermore, it also includes quick-change components, which include an installation end and a connection end. The fixed end of the flexible floating component is connected to the connection end, and the installation end is connected to the industrial robot.

[0008] Furthermore, the mounting end includes a first connecting portion, a second connecting portion, and multiple deformable components. The first connecting portion is used to connect the industrial robot. The second connecting portion is spaced apart from the first connecting portion. The deformable components include a first arm and a second arm. The first arm is rotatably connected to the first connecting portion, and the second arm is rotatably connected to the second connecting portion. The first arm and the second arm are rotatably connected to form a limiting portion. The multiple deformable components are circumferentially spaced around the first connecting portion. The connecting end includes a receiving cavity. The peripheral wall of the receiving cavity is provided with a recess. The deformable components are configured such that when the deformable components are inserted into the receiving cavity, the limiting portion is inserted into the recess.

[0009] Furthermore, a limiting component is provided between the first arm and the second arm. This limiting component includes two limiting arms, a pressure receiving part, and a force applying part. The two limiting arms are spaced apart along the rotation axis of the second arm, and pressing parts are movably provided on opposite sides of each limiting arm. The pressure receiving part is located between the two limiting arms and is movably connected to them. The pressure receiving part is configured such that when it moves towards the second arm, it pushes the two pressing parts apart. The force applying part is connected to the first arm and located between the two limiting arms. The force applying part is used to push the pressure receiving part towards the second arm.

[0010] Furthermore, along the rotation axis of the second arm, driving inclined surfaces are provided on both sides of the pressure-bearing part, and the extrusion part abuts against the driving inclined surfaces.

[0011] Furthermore, the first connecting portion and the second connecting portion are arranged opposite to each other along a first direction, and a positioning component is provided between the first connecting portion and the second connecting portion. The positioning component includes a pin and a sleeve. The pin is movably connected to the second connecting portion along a second direction, and the first direction is perpendicular to the second direction. The sleeve is disposed in the first connecting portion, and the pin is inserted into the sleeve.

[0012] Furthermore, the pin includes a main body, multiple valves, and a sliding body. The main body is movably connected to the second connecting portion along a second direction. The valves are rotatably connected to the main body, and the multiple valves are circumferentially spaced around the main body. Each valve includes a first end, which is inserted into a sleeve, and the inner wall of the first end is provided with an abutment slope. The sliding body is movably connected to the second connecting portion along a second direction, and the sliding body is configured such that when it moves toward the sleeve, it abuts against the abutment slope, and the first ends of the multiple valves separate from each other.

[0013] Furthermore, the sliding body is provided with a toggle part, and the petal body is provided with a mating part. The sliding body is configured such that when the sliding body moves away from the sleeve, the toggle part abuts against the mating part to push the main body away from the sleeve.

[0014] Furthermore, the valve body includes a second end disposed opposite to the first end, and the positioning component also includes a magnetic generating part. The second ends of the plurality of valve bodies are disposed around the magnetic generating part, and the second end and the sliding body are respectively provided with magnetic mating parts. The magnetic generating part and the magnetic mating part disposed at the second end are configured such that when the magnetic generating part drives the sliding body to approach the sleeve, the magnetic poles of the magnetic generating part and the magnetic mating part are the same, and when the magnetic generating part drives the sliding body away from the sleeve, the magnetic poles of the magnetic generating part and the magnetic mating part are opposite.

[0015] The present invention has the following beneficial effects: 1. First, thanks to the flexible floating component, the clamping assembly can achieve posture self-adaptation. Even if there are certain errors in the position or posture of the tool holder, the flexible floating component can compensate for them, effectively absorbing the impact and posture errors during tool changes. Second, the flexible floating component also protects the spindle and the tool. Specifically, the buffer structure formed by the flexible floating component can delay rigid interference contact, avoiding spindle taper hole wear or tool jamming caused by improper insertion or removal.

[0016] 2. With the help of the quick-change components, this device has a quick disassembly and assembly function, which can quickly realize the disassembly and assembly of the tool-changing robotic gripper, and can effectively improve work efficiency.

[0017] 3. The quick-change components, flexible floating components, and clamping components can be detachably connected to form a modular design, which on the one hand enables efficient and rapid deployment, and on the other hand facilitates the addition or removal of modules during subsequent research and development upgrades. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a tool-changing robotic gripper with flexible compensation function according to the present invention; Figure 2 This is a schematic diagram of the structure of a tool-changing robotic gripper with flexible compensation function according to the present invention (showing the improved quick-change component); Figure 3 This is a partial cross-sectional view of the connection end of the present invention; Figure 4 for Figure 3 Enlarged view of point A; Figure 5 This is a schematic diagram of the structure of the limiting component of the present invention; Figure 6 This is a schematic diagram of the positioning component of the present invention; In the figure: 1-Flexible floating component, 11-Fixed end, 12-Floating end, 2-Clamping component, 21-Driving component, 22-Claw part, 3-Quick change component, 31-Mounting end, 311-First connecting part, 312-Second connecting part, 313-First arm, 314-Second arm, 32-Connecting end, 321-Receiving cavity, 322-Recessed part, 33-Limiting component, 331-Force application part, 332-Limiting arm, 333-Squeezing part, 334-Pressurized part, 335-Driving inclined surface, 34-Positioning component, 341-Main body, 342-Petal body, 343-Sleeve body, 344-Abutting inclined surface, 345-Sliding body, 346-Magnetic generating part, 347-Actuating part, 348-Matching part, 349-First end, 3410-Second end. Detailed Implementation

[0019] The following will be based on embodiments of the present invention. Figures 1-6 The technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Unless otherwise specified, the technical means used in the embodiments are conventional means well known to those skilled in the art.

[0020] This application provides a tool-changing robotic gripper with flexible compensation function for connection to an industrial robot, including a flexible floating component 1 and a gripping component 2. The flexible floating component 1 includes a fixed end 11 and a floating end 12, with the fixed end 11 connected to the industrial robot. The gripping component 2 is connected to the floating end 12.

[0021] The end of the arm of an industrial robot can be equipped with a flange, and the fixed end 11 can be connected to the arm through the flange.

[0022] The floating end 12 can be linearly displaced relative to the fixed end 11 in the XYZ directions, and can oscillate relative to the fixed end 11 within a certain range.

[0023] The flexible floating component 1 can be a suitable product selected from existing technologies, and its structure and working principle are well known to those skilled in the art, and will not be described in detail here. For example, the flexible floating component 1 can be a Worm ACM-50 compensation module.

[0024] Clamping assembly 2 is used to clamp the tool holder.

[0025] The tool-changing robotic gripper of this embodiment can operate in the following manner: Pre-grabbing stage: The robot moves its gripper to the tool magazine, and the clamping component 2 securely clamps the tool handle; Alignment and tool insertion stage: The industrial robot carries the tool holder to directly below the machine tool spindle. During the insertion into the tapered hole, if there are slight errors in posture and position, the flexible floating component 1 automatically provides micro-displacement and angle fine-tuning functions in the XYZ directions to ensure smooth insertion of the tool holder; Release phase complete: After the tool holder is inserted into place, the clamping component 2 releases the tool holder, and the robot exits.

[0026] First, under the action of the flexible floating component 1, the clamping component 2 can achieve attitude self-adaptation. Even if there is a certain error in the position or attitude of the tool holder, it can be compensated by the flexible floating component 1, effectively absorbing the impact and attitude error during tool changing.

[0027] Secondly, the flexible floating component 1 also plays a role in protecting the spindle and the tool. Specifically, the buffer structure formed by the flexible floating component 1 can delay rigid interference contact and avoid spindle taper hole wear or tool jamming caused by improper insertion and removal.

[0028] Furthermore, the clamping assembly 2 includes two claws 22 and a drive component 21. The claws 22 are movably connected to the floating end 12, and the two claws 22 are arranged opposite to each other. The drive component 21 is used to drive the two claws 22 to separate or close.

[0029] The driving component 21 can be a cylinder, which can include two moving ends. The cylinder can be connected to the floating end 12, and the claw 22 can be connected to the two moving ends.

[0030] The claws 22 are used to hold the knife. When the two claws 22 are closed, they can hold the knife handle. Conversely, when the two claws 22 are separated, the knife handle is released.

[0031] Furthermore, it also includes a quick-change component 3, which includes an installation end 31 and a connection end 32. The fixed end 11 of the flexible floating component 1 is connected to the connection end 32, and the installation end 31 is connected to the industrial robot.

[0032] The mounting end 31 and connecting end 32 of the quick-change component 3 can be quickly installed and removed. The quick-change component 3 can be a suitable product selected from the existing technology, and its structure and working principle are well known to those skilled in the art. For example, the quick-change component 3 can be a SCHUNK quick-change disc.

[0033] In actual production activities, this device may need to be disassembled and reassembled multiple times to meet operational requirements. For example, different types of grippers 22 are needed to adapt to various cutting tools. Therefore, this device needs to have multiple different models to meet different tool requirements. When gripping different tools, the entire tool-changing robotic gripper needs to be replaced. Furthermore, the processing devices required for industrial robots vary depending on the processing task. In summary, the disassembly and assembly efficiency of this device has a significant impact on production efficiency.

[0034] With the help of quick-change component 3, this device has a quick disassembly and assembly function, which can quickly disassemble and assemble the tool-changing robotic gripper, effectively improving work efficiency.

[0035] In this embodiment, the quick-change component 3, the flexible floating component 1, and the clamping component 2 can be detachably connected, forming a modular design. This design allows for efficient and quick deployment, and also facilitates the addition or removal of modules during subsequent research and development upgrades.

[0036] Furthermore, the mounting end 31 includes a first connecting portion 311, a second connecting portion 312, and multiple deformable components. The first connecting portion 311 is used to connect the industrial robot, and the second connecting portion 312 is spaced apart from the first connecting portion 311. The deformable components include a first arm 313 and a second arm 314. The first arm 313 is rotatably connected to the first connecting portion 311, and the second arm 314 is rotatably connected to the second connecting portion 312. The first arm 313 and the second arm 314 are rotatably connected to form a limiting portion. The multiple deformable components are circumferentially spaced around the first connecting portion 311. The connecting end 32 includes a receiving cavity 321. The peripheral wall of the receiving cavity 321 is provided with a recess 322. The deformable components are configured such that when the deformable components are inserted into the receiving cavity 321, the limiting portion is inserted into the recess 322.

[0037] For example, the first connection 311 can be connected to an industrial robot via a flange.

[0038] The rotation axes of the first arm 313 and the second arm 314 are set in parallel.

[0039] Return springs may be provided between the first arm 313 and the first connecting part 311, between the second arm 314 and the second connecting part 312, and between the first arm 313 and the second arm 314, so that the deformed parts can be reset.

[0040] In this embodiment, when the mounting end 31 and the connecting end 32 need to be connected, the second connecting portion 312 first enters the receiving cavity 321, abuts against the bottom wall of the receiving cavity 321, and moves further. The first connecting portion 311 and the second connecting portion 312 close, thereby causing the first arm 313 and the second arm 314 to close. At this time, the overall structure of the multiple deformable components expands, and the limiting portion formed by the first arm 313 and the second arm 314 can be inserted into the recessed portion 322 and closely abut against the inner wall of the recessed portion 322. When the mounting end 31 and the connecting end 32 need to be disconnected, the first connecting portion 311 and the second connecting portion 312 separate. At this time, the included angle between the first arm 313 and the second arm 314 increases, and the limiting portion exits the recessed portion 322.

[0041] In this embodiment, the specific shape and size of the receiving cavity 321 can be adjusted as needed.

[0042] Common quick-change components 3 often achieve quick-change functionality using steel balls. Specifically, between the two assembled parts of the quick-change component 3, one part has an annular groove, and the other part has a movably mounted steel ball. When the steel ball engages in the annular groove, the two assembled parts connect; when the steel ball exits the annular groove, the two assembled parts separate. The inventors discovered that while this structure achieves quick-change functionality, a gap can easily form when the steel ball and the annular groove engage, which is one of the reasons for positional errors between the tool holder and the spindle. Furthermore, the steel ball is usually pneumatically driven, resulting in a complex overall structure for the quick-change component 3.

[0043] The advantages of the quick-change assembly 3 in this embodiment are as follows: First, by closing the first connecting part 311 and the second connecting part 312, the limiting part and the inner wall of the recessed part 322 can be tightly fitted, ensuring reliable fixation, eliminating the fitting gap, and improving the fitting accuracy. Second, the first arm 313 and the second arm 314 simultaneously contact the inner wall surface of the receiving cavity 321, increasing the contact area and further improving the fitting accuracy. Furthermore, when the first connecting part 311 and the second connecting part 312 are closed, all the limiting parts simultaneously separate from each other and abut against the inner wall surface of the receiving cavity 321, enabling the connecting end 32 to be aligned and positioned relative to the mounting end 31, further improving the fitting accuracy. Finally, the quick-change assembly 3 in this embodiment simplifies the drive structure, effectively increasing the reliability of the device. For example, a placement frame can be provided, and the gripper of this embodiment can be placed on the placement frame. When connecting the gripper and the industrial robot, the industrial robot moves the mounting end 31, inserts the deformable component into the receiving cavity 321 of the connecting end 32, and then applies pressure. Conversely, when disconnecting, place the gripper on the placement rack and release the restriction on the first connecting part 311 and the second connecting part 312 so that they can be separated.

[0044] Furthermore, a limiting member 33 is provided between the first arm 313 and the second arm 314. The limiting member 33 includes two limiting arms 332, a pressure receiving part 334, and a force applying part 331. Along the rotation axis of the second arm 314, the two limiting arms 332 are spaced apart on the second arm 314, and pressing parts 333 are movably provided on opposite sides of the two limiting arms 332. The pressure receiving part 334 is disposed between the two limiting arms 332 and movably connected to the limiting arms 332. The pressure receiving part 334 is configured such that when it moves towards the second arm 314, it pushes the two pressing parts 333 apart. The force applying part 331 is connected to the first arm 313 and disposed between the two limiting arms 332. The force applying part 331 is used to push the pressure receiving part 334 towards the second arm 314.

[0045] The receiving cavity 321 may include two opposing inner wall surfaces, and when the deformable component is inserted into the receiving cavity 321, the deformable component is located between the two inner wall surfaces.

[0046] When the first connecting part 311 and the second connecting part 312 are closed, the angle between the first arm 313 and the second arm 314 decreases. At this time, the force-applying part 331 will move towards the pressure-receiving part 334, thereby causing the pressure-receiving part 334 to move closer to the second arm 314. The pressure-receiving part 334 drives the two extrusion parts 333 to separate.

[0047] When the two extrusion parts 333 separate, they can abut against the inner wall of the receiving cavity 321. This serves two purposes: firstly, it positions the deformable component within the receiving cavity 321, further improving the fit accuracy between the mounting end 31 and the connecting end 32. Secondly, the extrusion parts 333 limit the first connecting part 311 and the second connecting part 312, reducing the risk of excessive pressure on the recessed part 322, which could cause the inner wall of the recessed part 322 to cave in and reduce fit accuracy. In other words, when the extrusion parts 333 abut against the inner wall of the receiving cavity 321, the first and second limiting parts cannot close further. Furthermore, since the force-applying part 331 is positioned between the two limiting arms 332, the connection strength between the first arm 313 and the second arm 314 is increased through the limiting arms 332.

[0048] In this embodiment, springs may be provided between the pressure-receiving part 334 and the limiting arm 332, and between the squeezing part 333 and the limiting arm 332, to facilitate the reset of the pressure-receiving part 334 and the squeezing part 333.

[0049] Furthermore, along the rotation axis of the second arm 314, driving inclined surfaces 335 are provided on both sides of the pressure part 334, and the extrusion part 333 abuts against the driving inclined surfaces 335.

[0050] The limiting arm 332 may be provided with a through hole, and the extrusion part 333 is partially disposed on the opposite side of the two limiting arms 332 through the through hole.

[0051] The driving inclined surfaces 335 on both sides of the pressure-bearing part 334 can form a V-shaped structure, and the specific parameters can be set as needed.

[0052] The driving inclined surface 335 drives the two pressing parts 333 to move. That is, when the pressing part 334 moves toward the second arm 314, the distance between the driving inclined surfaces 335 on both sides of the pressing part 334 increases at the point where the pressing part 333 and the driving inclined surface 335 abut. Thus, under the action of the driving inclined surface 335, the pressing parts 333 of the two limiting arms 332 move away from each other.

[0053] Furthermore, the first connecting portion 311 and the second connecting portion 312 are arranged opposite to each other along a first direction, and a positioning component 34 is provided between the first connecting portion 311 and the second connecting portion 312. The positioning component 34 includes a pin and a sleeve 343. The pin is movably connected to the second connecting portion 312 along a second direction, and the first direction is perpendicular to the second direction. The sleeve 343 is disposed on the first connecting portion 311, and the pin is inserted into the sleeve 343.

[0054] The first direction can be the direction shown by the X-axis in the figure, and the second direction can be the direction shown by the Y-axis in the figure.

[0055] When the first connecting part 311 and the second connecting part 312 are closed along the first direction, so that the pin and the sleeve 343 are positioned opposite each other, the pin can be inserted into the sleeve 343. The pin and the sleeve 343 cooperate to limit the first connecting part 311 and the second connecting part 312, so that they will not separate after being closed.

[0056] Furthermore, the pin includes a main body 341, multiple valve bodies 342, and a sliding body 345. The main body 341 is movably connected to the second connecting portion 312 along a second direction. The valve bodies 342 are rotatably connected to the main body 341, and the multiple valve bodies 342 are circumferentially spaced around the main body 341. Each valve body 342 includes a first end 349, which is inserted into the sleeve 343, and the inner wall of the first end 349 is provided with an abutting inclined surface 344. The sliding body 345 is movably connected to the second connecting portion 312 along a second direction. The sliding body 345 is configured such that when it moves toward the sleeve 343, it abuts against the abutting inclined surface 344, and the first ends 349 of the multiple valve bodies 342 separate from each other.

[0057] The rotation axis of the valve body 342 can be perpendicular to the second direction, and the main body 341 can be a columnar structure, in which case the rotation surface of the valve body 342 can pass through the axis of the main body 341.

[0058] The inclination angle and length of the inclined surface 344 can be set as needed to ensure that when the sliding body 345 moves towards the sleeve 343, the sliding body 345 can separate the first ends 349 of the multiple petals 342 by abutting against the inclined surface 344. For example, in an embodiment where the main body 341 is a columnar structure, from the first end 349 of the petal 342 to the second end 3410 opposite to the first end 349, the inclined surface 344 gradually moves away from the axis of the main body 341.

[0059] In the initial state, the first ends 349 of the multiple valves 342 are closed. When the sliding body 345 moves toward the sleeve 343, the sliding body 345 can contact and abut against the inclined surface 344. At this time, the sliding body 345 pushes the main body 341 and the multiple valves 342 into the sleeve 343 on the one hand, and makes the multiple valves 342 separate from each other on the other hand, so that the multiple valves 342 can fit tightly with the inner wall surface of the sleeve 343, improving the fitting accuracy of the pin and the sleeve 343.

[0060] The advantages of the pin in this embodiment are as follows: First, both the valve body 342 and the sliding body 345 are inserted into the sleeve 343. Even if the valve body 342 is damaged, the sliding body 345 can still play a certain limiting role, improving reliability. Second, the valve body 342 separates from the sleeve 343 when inserted, improving the fitting accuracy between the pin and the sleeve 343. Furthermore, when removing the pin, the sliding body 345 can be removed first. At this time, the pressure between the valve body 342 and the inner wall of the sleeve 343 is reduced, and then the valve body 342 is removed, which can effectively reduce the wear of the valve body 342.

[0061] Furthermore, the sliding body 345 is provided with a toggle part 347, and the petal body 342 is provided with a mating part 348. The sliding body 345 is configured such that when the sliding body 345 moves away from the sleeve body 343, the toggle part 347 abuts against the mating part 348 to push the main body 341 away from the sleeve body 343.

[0062] When the pin is removed, the sliding body 345 first pushes out the sleeve 343. After the sliding body 345 moves a certain distance, the actuating part 347 can contact the mating part 348. The actuating part 347 pushes the main body 341 and the petal 342 to continue to exit the sleeve 343.

[0063] Furthermore, the valve body 342 includes a second end 3410 disposed opposite to the first end 349, and the positioning component 34 also includes a magnetic generating part 346. The second ends 3410 of the plurality of valve bodies 342 are disposed around the magnetic generating part 346. The second end 3410 and the slider 345 are respectively provided with magnetic mating parts. The magnetic generating part 346 and the magnetic mating part disposed on the second end 3410 are configured such that when the magnetic generating part 346 drives the slider 345 to approach the sleeve 343, the magnetic poles of the magnetic generating part 346 and the magnetic mating part are the same, and when the magnetic generating part 346 drives the slider 345 away from the sleeve 343, the magnetic poles of the magnetic generating part 346 and the magnetic mating part are opposite.

[0064] The magnetic generating part 346 can be an electromagnet.

[0065] The magnetic mating part can be a permanent magnet or an electromagnet.

[0066] The slider 345 is driven to move by the magnetic generating part 346 attracting or repelling the magnetic mating part provided on the slider 345. For example, when it is necessary to drive the slider 345 to insert into the sleeve 343, the magnetic poles of the magnetic generating part 346 and the magnetic mating part provided on the slider 345 can be the same. At this time, under the action of magnetic repulsion, the slider 345 moves towards the sleeve 343. Conversely, by adjusting the magnetic attraction direction of the magnetic generating part 346, the magnetic poles of the magnetic generating part 346 and the magnetic mating part provided on the slider 345 are different. At this time, under the action of magnetic attraction, the slider 345 exits the sleeve 343.

[0067] When the slider 345 moves toward the sleeve 343, the magnetic attraction of the magnetic generating part 346 and the magnetic mating part provided at the second end 3410 is the same. At this time, the second ends 3410 of the multiple valves 342 separate from each other, and the first ends 349 close. This makes it easier for the slider 345 to push the valves 342 to move. Since the first ends 349 are in the closed state, it is easier to insert them into the sleeve 343. After the first ends 349 are inserted into the sleeve 343, the slider 345 continues to move until the first ends 349 separate from each other and abut against the inner wall of the sleeve 343. In the working state, the magnetic generating part 346 maintains the magnetic force on the slider 345, so that the slider 345 will not exit the sleeve 343. When the slider 345 retracts from the sleeve 343, the magnetic poles of the magnetic generating part 346 need to switch. At this time, the magnetic attraction between the magnetic generating part 346 and the magnetic mating part located at the second end 3410 is different. The second ends 3410 of the multiple petals 342 close together, and the first ends 349 tend to separate from each other. This reduces the pressure between the first ends 349 and the slider 345, thereby reducing the wear of the slider 345 and making it easier for the slider 345 to be attracted and moved by the magnetic generating part 346. When the slider 345 moves to the point where the abutment part contacts the mating part 348, the slider 345 can push the main body 341 and the petals 342 to move out of the sleeve 343.

[0068] There can be multiple magnetic generating parts 346, one of which is used to engage with the magnetic mating part of the sliding body 345, and the others are provided corresponding to the magnetic mating parts of the second end 3410. When the sliding body 345 moves to the point where the abutment part contacts the mating part 348, the magnetic generating part 346 engaging with the second end 3410 can be de-energized. At this time, the magnetic force that closes the second end 3410 of the valve body 342 disappears, reducing the pressure of the first end 349 of the valve body 342 on the inner wall of the sleeve 343, thereby reducing the wear between the valve body 342 and the sleeve 343, and making it easier for the valve body 342 to exit the sleeve 343.

[0069] Although the main body 341 and the petal 342 will move relative to the magnetic generating part 346, which will cause a change in the magnetic force of the magnetic generating part 346 and the magnetic mating part of the second end 3410, the change in magnetic force caused by the displacement is negligible because the pin itself moves a small distance.

[0070] In the embodiments of this application, the specific structure of the rotatable connection of two components, the specific structure of one component being movably connected to the other component, and the specific structure of the detachable connection of two components can refer to existing structures, which will not be described in detail here.

[0071] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Any modifications, alterations, alterations, or substitutions made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A tool-changing robotic gripper with flexible compensation function, for attachment to an industrial robot, characterized in that, include: The flexible floating component (1) includes a fixed end (11) and a floating end (12), wherein the fixed end (11) is connected to the industrial robot; The clamping assembly (2) is connected to the floating end (12).

2. The tool-changing robotic gripper with flexible compensation function according to claim 1, characterized in that, The clamping assembly (2) includes: Two claws (22) are movably connected to the floating end (12), and the two claws (22) are arranged opposite to each other; A drive component (21) is used to drive the two claws (22) to separate or close.

3. The tool-changing robotic gripper with flexible compensation function according to claim 1, characterized in that, It also includes a quick-change component (3), which includes an installation end (31) and a connection end (32). The fixed end (11) of the flexible floating component (1) is connected to the connection end (32), and the installation end (31) is connected to the industrial robot.

4. A tool-changing robotic gripper with flexible compensation function according to claim 3, characterized in that, The mounting end (31) includes a first connecting part (311), a second connecting part (312), and a plurality of deformable components. The first connecting part (311) is used to connect the industrial robot. The second connecting part (312) is spaced apart from the first connecting part (311). The deformable components include a first arm (313) and a second arm (314). The first arm (313) is rotatably connected to the first connecting part (311), and the second arm (314) is rotatably connected to the second connecting part (312). The first arm (313) and the second arm (314) are rotatably connected to form a limiting part. The plurality of deformable components are spaced apart circumferentially around the first connecting part (311). The connecting end (32) includes a receiving cavity (321), and the peripheral wall of the receiving cavity (321) is provided with a recess (322). The deformation member is configured such that when the deformation member is inserted into the receiving cavity (321), the limiting part is inserted into the recess (322).

5. A tool-changing robotic gripper with flexible compensation function according to claim 4, characterized in that, A limiting component (33) is provided between the first arm (313) and the second arm (314), the limiting component (33) comprising: Two limiting arms (332) are arranged at intervals along the rotation axis of the second arm (314) and the two limiting arms (332) are arranged at intervals along the second arm (314). The opposing sides of the two limiting arms (332) are respectively provided with extrusion parts (333). A pressure receiving part (334) is disposed between the two limiting arms (332), the pressure receiving part (334) is movably connected to the limiting arms (332), and the pressure receiving part (334) is configured to push the two squeezing parts (333) apart when the pressure receiving part (334) moves toward the second arm (314); The force-applying part (331) is connected to the first arm (313). The force-applying part (331) is disposed between the two limiting arms (332). The force-applying part (331) is used to push the pressure-receiving part (334) to move closer to the second arm (314).

6. A tool-changing robotic gripper with flexible compensation function according to claim 5, characterized in that, Along the rotation axis of the second arm (314), driving inclined surfaces (335) are provided on both sides of the pressure part (334), and the squeezing part (333) abuts against the driving inclined surfaces (335).

7. A tool-changing robotic gripper with flexible compensation function according to claim 4, characterized in that, The first connecting portion (311) and the second connecting portion (312) are disposed opposite to each other along a first direction, and a positioning component (34) is disposed between the first connecting portion (311) and the second connecting portion (312). The positioning component (34) includes: A pin is movably connected to the second connecting part (312) along a second direction, wherein the first direction is perpendicular to the second direction; A sleeve (343) is disposed on the first connecting part (311), and the pin is inserted into the sleeve (343).

8. A tool-changing robotic gripper with flexible compensation function according to claim 7, characterized in that, The pin includes: The main body (341) is movably connected to the second connecting part (312) along the second direction; Multiple valve bodies (342) are rotatably connected to the main body (341). The multiple valve bodies (342) are arranged circumferentially around the main body (341). Each valve body (342) includes a first end (349), which is inserted into the sleeve (343). The inner wall of the first end (349) is provided with an abutment inclined surface (344). A sliding body (345) is movably connected to the second connecting portion (312) along the second direction. The sliding body (345) is configured such that when the sliding body (345) moves toward the sleeve (343), the sliding body (345) abuts against the abutting inclined surface (344), and the first ends (349) of the plurality of petals (342) are separated from each other.

9. A tool-changing robotic gripper with flexible compensation function according to claim 8, characterized in that, The sliding body (345) is provided with a toggle part (347), and the petal body (342) is provided with a mating part (348). The sliding body (345) is configured such that when the sliding body (345) moves away from the sleeve (343), the toggle part (347) abuts against the mating part (348) to push the main body (341) away from the sleeve (343).

10. A tool-changing robotic gripper with flexible compensation function according to claim 8, characterized in that, The valve body (342) includes a second end (3410) disposed opposite to the first end (349). The positioning component (34) further includes a magnetic generating part (346). The second ends (3410) of a plurality of valve bodies (342) are disposed around the magnetic generating part (346). The second end (3410) and the sliding body (345) are respectively provided with magnetic mating parts. The magnetic generating part (346) and the magnetic mating part disposed at the second end (3410) are configured such that when the magnetic generating part (346) drives the sliding body (345) to approach the sleeve (343), the magnetic poles of the magnetic generating part (346) and the magnetic mating part are the same, and when the magnetic generating part (346) drives the sliding body (345) away from the sleeve (343), the magnetic poles of the magnetic generating part (346) and the magnetic mating part are opposite.

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