Flexible floating gripper

Abstract

The utility model discloses a flexible floating gripper which comprises a fixed base, floating structures, a pneumatic gripper and a motor, the floating structures are installed on the two sides of the fixed base through upper rails, the motor is arranged on the side faces of the floating structures, the motor is installed on the fixed base through a motor supporting seat, and a belt pulley structure is arranged in the motor supporting seat. Wherein the upper end of the belt pulley structure is connected with the motor, the lower end of the belt pulley structure is connected with the screw rod, two ends of the screw rod are sleeved on the clamp, the clamp is arranged below the fixed base, lower rails are arranged on two sides of the clamp, a plurality of sliding devices are arranged on the lower rails, and a pneumatic gripper is arranged on each sliding device through a mounting plate. The special-shaped shaft part grabbing device has the beneficial effects that the structural design is reasonable, and special-shaped shaft parts with different lengths can be conveniently grabbed.

Description

Technical Field

[0001] The utility model belongs to the field of pneumatic grippers, in particular to a flexible floating gripper capable of maintaining balance. Background Art

[0002] In modern processing and production workshops, in order to improve production efficiency, more and more manufacturing companies have adopted fully automatic office, using robots to grab workpieces between various mechanical equipment and then transport them. However, current production equipment usually has equipment for processing different workpieces. When there are only a few automatic robots, the robots need to be compatible with the grabbing of multiple products at the same time. Under normal circumstances, each product needs to be equipped with an independent grabbing system. Each time the robot grabs the workpiece, the corresponding grabbing system must be replaced to grab the corresponding workpiece. For example, when encountering special-shaped shafts, the double groove spacing needs to be adjusted to avoid the bumps on the shafts. Automatic adjustment cannot be achieved, which will greatly increase repetitive work time, reduce work efficiency, and be inconvenient to use. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a flexible floating gripper with high automation and automatic adjustment.

[0004] In order to solve the above-mentioned existing technical problems, the utility model adopts the following solution: a flexible floating gripper, including a fixed base, a floating structure, a pneumatic gripper and a motor, wherein floating structures are installed on both sides of the fixed base through upper rails, a motor is provided on the side of the floating structure, the motor is installed on the fixed base through a motor support seat, a pulley structure is provided in the motor support seat, wherein the upper end of the pulley structure is connected to the motor, and the lower end is installed and connected to the screw rod, both ends of the screw rod are sleeved and installed on a clamp, the clamp is installed under the fixed base, lower rails are provided on both sides of the clamp, a number of sliding devices are installed on the lower rails, and a pneumatic gripper is installed on each sliding device through a mounting plate.

[0005] Preferably, a limit sensor is installed on the side of the fixed base.

[0006] Preferably, the floating structure is composed of a sliding plate and sliding clamps installed at both ends of the sliding plate, wherein the sliding plate is installed on the upper rail through the sliding clamp, a limit clamp is provided between the two upper rails, the limit clamp is installed on a fixed base, each limit clamp is composed of two limit plates, a limit rod is sleeved on the limit clamp, a limit spring is installed on the limit rod, and the limit spring is located between the two limit plates.

[0007] Preferably, a floating limit sensor is provided in front of the sliding plate, and a position detection sensor is provided below the floating limit sensor.

[0008] Preferably, the pneumatic gripper consists of a "T"-shaped connecting plate, a clamping cylinder and a finger block, wherein the "T"-shaped connecting plate is installed at the bottom of the mounting plate, a clamping cylinder is installed on the inner side of the "T"-shaped connecting plate, and the bottom of the "T"-shaped connecting plate is connected to the finger block by screws.

[0009] Preferably, a protective plate is installed on the outside of the "T"-shaped connecting plate and the clamping cylinder.

[0010] The utility model adopts the above technical solution to provide a flexible floating gripper, which has the following advantages compared with the existing technology:

[0011] 1. The motor drives the screw to rotate, and the screw drives the pneumatic gripper on the sliding device to move, which is convenient for adjustment;

[0012] 2. Install a limit spring on the limit rod between the two limit plates. If there is interference during the loading process, the spring will be deformed by external force, resulting in floating. When the floating reaches a certain stroke, the stroke detection switch will be triggered to cause an alarm.

[0013] 3. After the workpiece is hooked by the finger block, the clamping cylinder presses the workpiece to facilitate transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the utility model.

[0015] Figure 2 It is a structural schematic diagram of the side of the utility model.

[0016] Figure 3 This is a partial schematic diagram of the installation of the sliding plate of the utility model.

[0017] Figure 4 It is a partial schematic diagram of the sliding plate of the utility model.

[0018] In the figure, there are fixed base 1, floating structure 2, pneumatic gripper 3, motor 4, upper rail 5, motor support seat 6, pulley structure 7, screw 8, clamp 9, lower rail 10, sliding device 11, mounting plate 12, limit sensor 13, sliding plate 14, sliding clamp 15, limit clamp 16, limit plate 17, limit rod 18, limit spring 19, floating limit sensor 20, position detection sensor 21, "T" type connecting plate 22, clamping cylinder 23, and finger block 24. DETAILED DESCRIPTION

[0019] like Figures 1 to 4As shown, a flexible floating gripper comprises a fixed base 1, a floating structure 2, a pneumatic gripper 3 and a motor 4, wherein the floating structure 2 is installed on both sides of the fixed base 1 through an upper rail 5, a motor 4 is arranged on the side of the floating structure 2, the motor 4 is installed on the fixed base 1 through a motor support seat 6, a pulley structure 7 is arranged in the motor support seat 6, wherein the upper end of the pulley structure 7 is connected to the motor 4, and the lower end is installed and connected to the screw rod 8, the two ends of the screw rod 8 are sleeved and installed on a fixture 9, the fixture 9 is installed below the fixed base 1, lower rails 10 are arranged on both sides of the fixture 9, a plurality of sliding devices 11 are installed on the lower rails 10, each sliding device 11 is installed with a pneumatic gripper 3 through a mounting plate 12, a limit sensor 13 is installed on the side of the fixed base 1, the floating structure 2 is composed of a sliding plate 14 and a sliding fixture 15 installed at both ends of the sliding plate 14, wherein the sliding plate 14 is The sliding clamp 15 is installed on the upper rail 5, and a limit clamp 16 is provided between the two upper rails 5. The limit clamp 16 is installed on the fixed base 1, and each limit clamp 16 is composed of two limit plates 17. A limit rod 18 is sleeved on the limit clamp 16, and a limit spring 19 is installed on the limit rod 18. The limit spring 19 is located between the two limit plates 17. The sliding plate 14 is provided with a floating limit sensor 20 in front, and a position detection sensor 21 is provided below the floating limit sensor 20. The pneumatic gripper 3 is composed of a "T"-shaped connecting plate 22, a clamping cylinder 23 and a finger block 24, wherein the "T"-shaped connecting plate 22 is installed at the bottom of the mounting plate 12, and a clamping cylinder 23 is installed on the inner side of the "T"-shaped connecting plate 22. The bottom of the "T"-shaped connecting plate 22 is connected to the finger block 24 by screws, and a protective plate 25 is installed on the outer side of the "T"-shaped connecting plate 22 and the clamping cylinder 23.

[0020] In actual operation, the pulley structure 7 is driven by the motor 4 to drive the screw rod 8 to rotate. During the rotation of the screw rod 8, the two corresponding sliding devices 11 will slide along the lower track 10, which is convenient for adjusting the distance between the two sliding devices 11. After adjustment, a pneumatic gripper 3 is installed at the bottom of the sliding device 11. The workpiece can be grasped by the finger block 24 on the pneumatic gripper 3. After grasping, the workpiece is fixed by the downward extension of the clamping cylinder 23, and then it is transported. During the transportation process, the floating structure 2 installed on the fixed base 1 can ensure the fixed base 1 to be centered in normal operation under the action of the limit spring 19. The position detection sensor 21 can detect the distance between the two pneumatic grippers 3, which is convenient for timely adjustment. If interference is encountered during the loading process, the limit spring 19 is deformed by the external force to generate floating. When the external force is too large, the floating reaches a certain stroke, and the floating limit sensor 20 is triggered to cause an alarm, which is convenient for timely suspension of the action to ensure the safety of the robot.

[0021] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A flexible floating gripper, comprising a fixed base (1), a floating structure (2), a pneumatic gripper (3) and a motor (4), characterized in that: The fixed base (1) has floating structures (2) installed on both sides through upper rails (5), and the floating structure (2) is provided with a motor (4) on the side, and the motor (4) is installed on the fixed base (1) through a motor support seat (6), and a pulley structure (7) is provided in the motor support seat (6), wherein the upper end of the pulley structure (7) is connected to the motor (4), and the lower end is installed and connected to a screw rod (8), and the two ends of the screw rod (8) are sleeved and installed on a clamp (9), and the clamp (9) is installed below the fixed base (1), and lower rails (10) are provided on both sides of the clamp (9), and a plurality of sliding devices (11) are installed on the lower rails (10), and each sliding device (11) is installed with a pneumatic gripper (3) through a mounting plate (12).

2. The flexible floating gripper according to claim 1, characterized in that: A limit sensor (13) is installed on the side of the fixed base (1).

3. The flexible floating gripper according to claim 1, characterized in that: The floating structure (2) is composed of a sliding plate (14) and sliding clamps (15) installed at both ends of the sliding plate (14), wherein the sliding plate (14) is installed on the upper rail (5) through the sliding clamps (15), a limiting clamp (16) is provided between the two upper rails (5), the limiting clamp (16) is installed on the fixed base (1), each limiting clamp (16) is composed of two limiting plates (17), a limiting rod (18) is sleeved on the limiting clamp (16), a limiting spring (19) is installed on the limiting rod (18), and the limiting spring (19) is located between the two limiting plates (17).

4. The flexible floating gripper according to claim 3 is characterized in that: A floating limit sensor (20) is provided in front of the sliding plate (14), and a position detection sensor (21) is provided below the floating limit sensor (20).

5. The flexible floating gripper according to claim 1, characterized in that: The pneumatic gripper (3) is composed of a "T"-shaped connecting plate (22), a clamping cylinder (23) and a finger block (24), wherein the "T"-shaped connecting plate (22) is installed at the bottom of the mounting plate (12), the clamping cylinder (23) is installed inside the "T"-shaped connecting plate (22), and the bottom of the "T"-shaped connecting plate (22) is connected to the finger block (24) by screws.

6. The flexible floating gripper according to claim 5, characterized in that: The "T"-shaped connecting plate (22) and the outer side of the pressing cylinder (23) are provided with a protective plate (25).

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