Electric cylinder floating mounting structure used in field of manipulators

Abstract

The utility model discloses an electric cylinder floating installation structure used in the field of manipulators, which comprises a connecting seat component and a floating plate parallelly arranged on one side of the connecting seat component, two ends of the floating plate are of symmetrical external expansion type arc-shaped structures, connecting holes are arranged on two sides of the surface of the floating plate, and a shaft sleeve is arranged on one surface of the floating plate facing the connecting seat component. The connecting seat assembly comprises a base and a rotating shaft which penetrates through the base and is parallel to the floating plate, a limiting block corresponding to the shaft sleeve is arranged in the middle of the base, the limiting block is of a two-side symmetrical structure with the rotating shaft as the center, and limiting frames corresponding to the connecting holes are formed in the two sides of the base. Fixing pieces correspondingly connected with the connecting holes are arranged in the limiting frame, and locking mechanisms connected with the two ends of the rotating shaft correspondingly are arranged at the two ends of the base. The multi-shaft-arm manipulator solves the problems that in the prior art, the parallelism is low and the height difference is large when the multi-shaft-arm manipulator is installed and used.

Description

Technical Field

[0001] The utility model relates to the field of robot processing, in particular to an electric cylinder floating installation structure used in the field of robots. Background Art

[0002] At present, the use of manipulators is becoming more and more extensive. Manipulators are mainly composed of three parts: actuators, drive mechanisms and control systems. The hand is used to grasp the workpiece (or tool). According to the shape, size, weight, material and operation requirements of the grasped object, there are many structural forms, such as clamping type, holding type and adsorption type. As for the motion mechanism of the manipulator, the hand completes various rotations (swings), movements or compound movements to achieve the specified actions and change the position and posture of the grasped object.

[0003] In the prior art, for the motion mechanism of a multi-axis (two-axis, three-axis or more) robot, if the flatness (Y-axis parallel, X-axis parallel or Z-axis parallel) is not adjusted during installation, there may be problems of low parallelism and large height difference. If readjustment is required, the entire robot arm structure needs to be disassembled, which is inefficient and not conducive to subsequent assembly and processing.

[0004] In view of this, the technical solution proposes a floating installation structure of an electric cylinder used in the field of manipulators. It adopts a floating adjustable structure, which can be adaptively adjusted when installing a multi-axis manipulator (during or after installation) so that each axis meets the installation requirements. The overall structure is simple, and can be driven by an electric cylinder (or manually fine-tuned), and the multi-hole design is easy to install. Utility Model Content

[0005] The technical solution of the utility model aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the main purpose of the utility model is to provide an electric cylinder floating installation structure for the field of manipulators, aiming to solve the problems of low parallelism and large height difference of multi-axis arm manipulators during installation and use in the prior art.

[0006] To achieve the above-mentioned purpose, the utility model provides an electric cylinder floating installation structure for use in the field of manipulators, comprising a connecting seat assembly and a floating plate arranged parallel to one side of the connecting seat assembly.

[0007] The two ends of the floating plate are symmetrical outward-expanding arc structures, and connection holes are opened on both sides of the surface. The floating plate is provided with a shaft sleeve on the side facing the connecting seat assembly, and a steering bracket is located in the shaft sleeve.

[0008] The connecting seat assembly includes a base, and a rotating shaft that passes through the base and is parallel to the floating plate. A limit block corresponding to the shaft sleeve is provided at the middle position of the base. The limit block is a symmetrical structure on both sides with the rotating shaft as the center. Limit frames corresponding to the connecting holes are provided on both sides of the base. Locking mechanisms respectively connected to the two ends of the rotating shaft are provided at both ends of the base.

[0009] As a further solution of the utility model, a recessed position for adapting to the installation of the steering bracket is provided in the middle of the rotating shaft.

[0010] As a further solution of the utility model, pressure blocks are provided at both ends of the base, and the pressure blocks frame the locking mechanism and one end of the rotating shaft to limit the position.

[0011] As a further solution of the present invention, the pressing block is fixed to the base by screws.

[0012] As a further solution of the utility model, the locking mechanism is a connecting and rotating structure composed of a damping mechanism and a buckle.

[0013] As a further solution of the utility model, the shaft sleeve is a rubber sleeve structure with a hole in the middle.

[0014] As a further solution of the present invention, the floating plate and the base are both integral stainless steel plate structures.

[0015] As a further solution of the utility model, the fixing member is a positioning structure composed of a mounting seat and bolts arranged on the mounting seat.

[0016] The beneficial effects of the utility model are as follows:

[0017] The electric cylinder floating installation structure for the robot field proposed by the utility model realizes a fast and micro-adjustable robot installation method through the provided floating plate and the connecting seat assembly matched therewith, so that the flatness of the multi-axis robot after installation meets the requirements. In addition, the overall structure of the floating mechanism is simple, the adjustable structure has a high degree of customization, strong adaptability, and is easy to install and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model technical solution or the utility model technical solution in the prior art, the drawings required for use in the embodiments or the prior art descriptions will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the utility model technical solution. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0019] Figure 1It is a schematic diagram of the overall structure of the utility model from one side.

[0020] Figure 2 It is a schematic diagram of the overall structure of the utility model from another side perspective.

[0021] Figure 3 It is a schematic diagram of the overall structure disassembly of the utility model.

[0022] Figure 4 It is a schematic diagram of the floating plate in the present invention performing a planar rotation action.

[0023] Figure 5 It is a schematic diagram of the floating plate in the utility model performing a plane translation action.

[0024] Figure 6 It is a schematic diagram of the floating plate of the present invention performing Y-axis rotation.

[0025] Figure 7 This is a schematic diagram of the floating mechanism of the utility model installed in a multi-axis manipulator.

[0026] [Main parts / assembly reference numerals]

[0027]

[0028] DETAILED DESCRIPTION

[0029] as follows:

[0030] Please refer to the attached Figure 1-7 ,

[0031] The main structure includes a connecting seat assembly 1, and a floating plate 2 arranged parallel to one side of the connecting seat assembly 1. The two ends of the floating plate 2 are symmetrical outward-expanding arc structures, and connecting holes 20 are opened on both sides of the surface. The floating plate 2 is provided with a sleeve on the side facing the connecting seat assembly 1, and a steering bracket 22 located in the sleeve. The connecting seat assembly 1 includes a base 10, and a rotating shaft 14 that passes through the base 10 and is parallel to the floating plate 2. A limit block 11 corresponding to the sleeve 21 is provided in the middle position of the base 10. The limit block 11 has a symmetrical structure on both sides with the rotating shaft 14 as the center. Limit frames 12 corresponding to the connecting holes 20 are opened on both sides of the base 10, and locking mechanisms 16 respectively connected to the two ends of the rotating shaft 14 are provided at both ends of the base 10.

[0032] Here’s how it works:

[0033] When installing multiple manipulators (arms), the floating mechanism is first installed and connected to the fixed position. During installation, the base 10 (or floating plate 2) is first fixed to the external fixed position (equipment), the rotating shaft 14 is inserted from one end of the base 10, and continues to penetrate the limit block 11 and the other end of the base 10, and then the floating plate 2 with the steering bracket 22 and the shaft sleeve 21 is connected to the base 10. When connecting, keep the steering bracket 22 "across" the middle of the rotating shaft 14, and keep the shaft sleeve 21 in the limit block 11, and then set the fixing member 13 on the other side of the base 10, and keep the fixing member 13 in the limit frame 12, and finally install the locking mechanism 16 at both ends of the base 10.

[0034] During operation, when adjusting the floating structure connected to one of the multi-axis manipulators, the electric cylinder is used to realize the plane rotation or plane translation of the floating plate 2, and the floating plate 2 performs the Y-axis rotation. The principle is that the two-point floating plate 2 with arc-shaped structures at both ends can rotate parallel to each other in the base 10, through the shaft sleeve 21 and the steering bracket 22, and the shaft 14 can also perform lateral translation, and the rotation range is affected by the travel of the fixed part 13 in the limit frame 12, which is used to improve parallelism. When the floating plate 2 performs the Y-axis rotation, the shaft 14 only rotates on the Y axis, and at this time one side of the floating plate 2 is "tilted" to improve the height difference.

[0035] A preferred embodiment of the present invention: a recessed position for fitting the steering bracket 22 is provided in the middle of the rotating shaft 14 .

[0036] The steering bracket 22 can be clamped through a recessed position provided in the middle of the rotating shaft 14 , thereby serving as a connecting piece between the rotating shaft 14 , the shaft sleeve 21 , and the floating plate 2 .

[0037] A preferred embodiment of the present invention is as follows: both ends of the base 10 are provided with pressing blocks 15 , and the pressing blocks 15 frame the locking mechanism 16 and one end of the rotating shaft 14 to limit the position.

[0038] The provided pressing block 15 is used to frame and limit the rotating shaft 14 and the locking mechanism 16 on one side of the base 10 to prevent them from falling out.

[0039] A preferred embodiment of the present invention: the pressing block 15 is fixed to the base 10 by screws.

[0040] A preferred embodiment of the present invention: the locking mechanism 16 is a connecting and rotating structure composed of a damping mechanism and a buckle.

[0041] The locking mechanism 16 is used to connect with an external device to realize the rotation of the rotating shaft 14, the damping mechanism is used to adjust the rotation resistance of the rotating shaft 14, and the buckle is used to locate the adjustment degree of the damping mechanism.

[0042] A preferred embodiment of the utility model is that the shaft sleeve is a rubber sleeve structure with a hole in the middle.

[0043] The rubber sleeve can avoid excessive wear caused by "hard contact" between the floating plate 2 and the lower components, thereby increasing the service life and reducing the working noise.

[0044] A preferred embodiment of the present invention: the floating plate 2 and the base 10 are both integral stainless steel plate structures.

[0045] A preferred embodiment of the present invention: the fixing member 13 is a positioning structure composed of a mounting seat and bolts arranged on the mounting seat.

[0046] During operation, the mounting seat of the fixing member 13 moves in the limiting frame 12 and is limited by the limiting frame 12 , thereby affecting the rotation angle and direction of the floating plate 2 .

[0047] The above description is only a preferred embodiment of the technical solution of the utility model, and does not limit the patent scope of the technical solution of the utility model. All equivalent structural changes made by using the contents of the technical solution description and drawings of the utility model under the conception of the technical solution of the utility model, or direct / indirect application in other related technical fields are included in the patent protection scope of the technical solution of the utility model.

Claims

1. A floating installation structure for an electric cylinder used in the field of manipulators, characterized in that: include A connecting seat assembly, and a floating plate arranged parallel to one side of the connecting seat assembly, The two ends of the floating plate are symmetrical outward-expanding arc structures, and connection holes are opened on both sides of the surface. The floating plate is provided with a shaft sleeve on the side facing the connecting seat assembly, and a steering bracket is located in the shaft sleeve. The connecting seat assembly includes a base, and a rotating shaft that passes through the base and is parallel to the floating plate. A limit block corresponding to the shaft sleeve is provided at the middle position of the base. The limit block has a bilaterally symmetrical structure centered on the rotating shaft. Limit frames corresponding to the connecting holes are provided on both sides of the base. A fixing piece for correspondingly connecting to the connecting hole is provided in the limit frame. Locking mechanisms respectively connected to the two ends of the rotating shaft are provided at both ends of the base.

2. The electric cylinder floating installation structure used in the field of manipulators according to claim 1 is characterized in that: A recessed position for fitting the steering bracket is provided in the middle of the rotating shaft.

3. The electric cylinder floating installation structure used in the field of manipulators according to claim 1 is characterized in that: Pressing blocks are provided at both ends of the base, and the pressing blocks frame the locking mechanism and one end of the rotating shaft to limit the position.

4. The electric cylinder floating installation structure used in the field of manipulators according to claim 3 is characterized in that: The pressing block is fixed to the base by screws.

5. The electric cylinder floating installation structure used in the field of manipulators according to claim 1 is characterized in that: The locking mechanism is a connecting and rotating structure composed of a damping mechanism and a buckle.

6. The electric cylinder floating installation structure used in the field of manipulators according to claim 1 is characterized in that: The shaft sleeve is a rubber sleeve structure with a hole in the middle.

7. The electric cylinder floating installation structure used in the field of manipulators according to claim 1 is characterized in that: The floating plate and the base are both integral stainless steel plate structures.

8. The electric cylinder floating installation structure used in the field of manipulators according to claim 1 is characterized in that: The fixing member is a positioning structure composed of a mounting seat and bolts arranged on the mounting seat.

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