Robot floating clamping jaw

Abstract

The floating clamping jaw of the robot comprises a clamping assembly and a floating assembly which are connected with each other, the clamping assembly comprises a nut clamping plate, a first clamping piece and a second clamping piece, the first clamping piece and the second clamping piece are connected to the nut clamping plate, and the rear end of the second clamping piece is connected with a driving piece. The driving piece pushes the second clamping piece to move relative to the first clamping piece to realize opening and closing actions; the floating assembly comprises a sliding connection mechanism connected with the nut clamping plate, the sliding connection mechanism can slide in a telescopic mode in the cross direction, and the floating assembly further comprises a locking mechanism for limiting telescopic sliding of the sliding connection mechanism. Therefore, when the bolt is combined with the nut, the screwing force, the rotating angle and the speed change are adapted, and the efficiency and the stability in the nut assembling process are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical assembly, in particular to a robot floating clamp. Background Art

[0002] The crawler is an endless chain belt composed of track plates and track links, and is the walking part of crawler engineering machinery. The track plates and track links are usually fixed by bolts and nuts. This connection method has the characteristics of high strength, high reliability and easy maintenance. With the improvement of intelligence and automated production, robots gradually replace manual labor to realize automatic grasping and delivery of nuts during the crawler assembly process, greatly reducing manual operations and improving efficiency and accuracy. However, existing nut clamps usually adopt a rigid structure. In the process of screwing the bolts and nuts together, due to changes in factors such as screwing force, rotation angle and speed, the rigid clamp cannot automatically adjust to adapt to such changes, which may cause the nut to deviate from the predetermined position during the screwing process, resulting in reduced assembly accuracy and assembly efficiency. Utility Model Content

[0003] The utility model provides a robot floating clamp, comprising a clamping assembly and a floating assembly connected to each other, the clamping assembly comprising a nut clamp, a first clamping piece and a second clamping piece connected to the nut clamp, the rear end of the second clamping piece is connected to a driving piece, the driving piece pushes the second clamping piece to move relative to the first clamping piece to realize an opening and closing action; the floating assembly comprises a sliding connection mechanism connected to the nut clamp, the sliding connection mechanism can be telescopically slidable in a cross direction, and the floating assembly also comprises a locking mechanism for limiting the telescopic sliding of the sliding connection mechanism.

[0004] Furthermore, the sliding connection mechanism includes a flange connecting plate and a slider fixing plate, the flange connecting plate and the slider fixing plate are slidably connected along an axial direction perpendicular to the slider fixing plate, and the nut clamping plate and the slider fixing plate are slidably connected along the axial direction of the slider fixing plate.

[0005] Furthermore, the top surface of the slider fixing plate is provided with a guide rail and a slider extending along the axial direction, the bottom surface of the slider fixing plate is provided with a guide rail and a slider extending perpendicular to the axial direction, and the flange connecting plate and the nut clamping plate are slidably connected to the slider fixing plate through the guide rail and the slider respectively.

[0006] Furthermore, the locking mechanisms are fixed on the slider fixing plate, and there are two of them, which are respectively perpendicular to the sliding directions of the flange connecting plate and the nut clamping plate. When the locking mechanisms are extended, they respectively limit the sliding of the flange connecting plate and the nut clamping plate relative to the slider fixing plate.

[0007] Furthermore, the locking mechanism includes a locking cylinder and a locking pin. Pin holes are provided on the flange connecting plate and the nut clamping plate at positions corresponding to the locking mechanism. The locking cylinder pushes the locking pin to insert into the pin hole to achieve locking.

[0008] Furthermore, a locking limit seat is provided at the pin hole, the locking limit seat is embedded in the inner circle of the pin hole, and the locking pin is inserted into the locking limit seat to achieve locking.

[0009] Furthermore, the second clamping member is slidably connected to the top surface of the nut clamping plate, one end of the first clamping member is fixed below the front end of the nut clamping plate, and the other end of the first clamping member extends forward and upward to be flush with the second clamping member. When the second clamping member slides forward, it cooperates with the first clamping member to clamp the nut.

[0010] Furthermore, the driving member is a driving cylinder, which is fixed on the nut clamping plate through a cylinder seat, and the cylinder shaft of the driving cylinder is movably connected to the second clamping member and drives the second clamping member to slide forward and backward.

[0011] Furthermore, a receiving groove for receiving a nut is provided at the front end of the first clamping member.

[0012] Furthermore, a T-shaped slot is provided at the rear end of the second clamping member, a plug is fixedly provided on the cylinder shaft of the driving cylinder, and the plug is embedded in the T-shaped slot to realize active connection with the second clamping member.

[0013] Compared with the prior art, the utility model has the following advantages:

[0014] The sliding connection mechanism of the robot floating clamp of the utility model can telescopically slide in the cross direction when the robot screws the bolt and nut together, thereby realizing floating with two degrees of freedom to adapt to the changes in screwing force, rotation angle and speed when the bolt and nut are combined, thereby improving the efficiency and stability of the nut assembly process, and at the same time can automatically compensate for the error of the nut position, making the nut positioning more accurate and improving the assembly accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of the floating gripper of the robot of the utility model;

[0016] Figure 2 It is a structural schematic diagram of the clamping assembly of the utility model;

[0017] Figure 3 It is a structural schematic diagram of the floating assembly of the utility model;

[0018] Figure 4 It is a rear view of the floating assembly of the utility model;

[0019] Figure 5It is a structural schematic diagram of the first clamping member of the utility model;

[0020] Figure 6 It is a structural schematic diagram of the second clamping member of the utility model;

[0021] Figure 7 It is a structural schematic diagram of the nut clamp of the utility model;

[0022] Figure 8 It is a structural schematic diagram of the locking cylinder of the utility model;

[0023] Fig. 9 It is a structural schematic diagram of the slider fixing plate of the utility model;

[0024] Fig.10 It is a structural schematic diagram of the flange connecting plate of the utility model.

[0025] In the figure:

[0026] 100, clamping assembly; 110, nut clamping plate; 120, first clamping member; 121, accommodating groove; 130, second clamping member; 131, T-shaped groove; 140, driving member; 141, driving cylinder; 142, cylinder seat; 150, plug; 200, floating assembly; 210, sliding connection mechanism; 211, flange connecting plate; 212, slider fixing plate; 213, pin hole; 220, locking mechanism; 221, locking cylinder; 222, locking pin; 223, locking limit seat. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present invention.

[0029] refer to Figure 1As shown, a robot floating clamp provided by the utility model is installed at the end of the robot flange, including a clamping assembly 100 and a floating assembly 200 connected to each other, the clamping assembly 100 includes a nut clamping plate 110, a first clamping member 120 fixedly connected to the nut clamping plate 110 and a second clamping member 130 slidably connected to the nut clamping plate 110, the rear end of the second clamping member 130 is connected to a driving member 140, the driving member 140 pushes the second clamping member 130 to move relative to the first clamping member 120 to realize an opening and closing action; the floating assembly 200 includes a sliding connection mechanism 210 connected to the nut clamping plate 110, the sliding connection mechanism 210 can realize telescopic sliding in the cross direction, and the floating assembly 200 also includes a locking mechanism 220 for limiting the telescopic sliding of the sliding connection mechanism 210.

[0030] In some embodiments, reference Figure 3-4 As shown, the sliding connection mechanism 210 includes a flange connecting plate 211 and a slider fixing plate 212. The flange connecting plate 211 is connected to the robot flange by bolts. The flange connecting plate 211 and the slider fixing plate 212 are axially slidingly connected perpendicular to the slider fixing plate 212. The nut clamping plate 110 and the slider fixing plate 212 are axially slidingly connected to the slider fixing plate 212.

[0031] In this embodiment, reference Figure 9-10 As shown, there are many options for the specific setting of the sliding connection, for example, the sliding connection can be achieved by the cooperation of a guide rail and a slider. Specifically, the slider fixing plate 212 is L-shaped, including a top plate and a side plate perpendicular to each other; the upper surface of the top plate of the slider fixing plate 212 is provided with a linear guide rail extending along the axial direction of the slider fixing plate 212, and a slider sliding along the guide rail is provided in the guide rail, and the nut clamping plate 110 is fixed to the slider by bolts to achieve sliding connection with the slider fixing plate 212. The lower surface of the top plate of the slider fixing plate 212 is provided with a linear guide rail extending along the axial direction perpendicular to the slider fixing plate 212, and a slider sliding along the guide rail is provided in the guide rail; the flange connection plate 211 is fixed to the slider by bolts to achieve sliding connection with the slider fixing plate 212.

[0032] In some embodiments, reference Figure 8As shown, the locking mechanism 220 includes a locking cylinder 221 and a locking pin 222, wherein the locking pin 222 is fixedly connected to the cylinder shaft of the locking cylinder 221; the locking cylinder 221 is fixed to the slider fixing plate 212 by bolts, and the slider fixing plate 212 is provided with a through hole for the cylinder shaft of the locking cylinder 221 to pass through. There are two locking mechanisms 220, which respectively limit the flange connection plate 211 and the nut clamping plate 110 from sliding relative to the slider fixing plate 212. The first locking mechanism 220 is fixed below the top plate of the slider fixing plate 212, and the movement direction of its cylinder shaft is perpendicular to the top plate of the slider fixing plate 212; the first locking mechanism 220 is fixed to the side plate of the slider fixing plate 212, and the movement direction of its cylinder shaft is perpendicular to the side plate of the slider fixing plate 212. Pin holes 213 are provided at positions of the flange connecting plate 211 and the nut clamping plate 110 corresponding to the locking mechanism 220 , and the locking cylinder 221 pushes the locking pin 222 to be inserted into the pin hole 213 to lock the flange connecting plate 211 and the nut clamping plate 110 .

[0033] In the above embodiment, a locking limit seat 223 is also provided at the pin hole 213, and the locking limit seat 223 is embedded in the inner circle of the pin hole 213, and the locking pin 222 is inserted into the locking limit seat 223 to achieve locking. At the same time, the shoulder of the locking pin 222 abuts against the locking limit seat 223, limiting the locking pin 222 from extending further.

[0034] In some embodiments, reference Figure 2 As shown, the top surface of the nut clamp 110 is provided with a guide rail extending axially along the nut clamp 110, and a slider sliding along the guide rail is provided in the guide rail. The second clamping member 130 is fixed on the slider and is connected to the top surface of the nut clamp 110 by sliding. One end of the first clamping member 120 is fixed below the front end of the nut clamp 110 by bolts, and the other end of the first clamping member 120 extends beyond the nut clamp 110 and extends upward to be flush with the second clamping member 130. An accommodating groove 121 for accommodating a nut is provided at the front end of the first clamping member 120; when the driving member 140 drives the second clamping member 130 to slide forward, it closes with the first clamping member 120 to clamp the nut. The first clamping member 120 and the second clamping member 130 are made of GCr15 material.

[0035] In the above embodiments, reference Figure 5-6As shown, the driving member 140 is a driving cylinder 141, and the driving cylinder 141 is fixed to the nut clamping plate 110 through a cylinder seat 142. The cylinder seat 142 is L-shaped, preferably made of 45# material; it includes a bottom plate fixed to the nut clamping plate 110 and a side plate fixed to the driving cylinder 141, and a groove is provided on the side plate of the cylinder seat 142 for the cylinder shaft of the driving cylinder 111 to pass through. A T-shaped plug 150 is fixed on the cylinder shaft of the driving cylinder 111, and a T-shaped slot 131 is provided at the rear end of the second clamping member 130. The plug 150 is embedded in the T-shaped slot 131 to achieve connection with the second clamping member 130, and the driving cylinder 141 drives the second clamping member 130 to slide forward and backward through the plug 150.

[0036] In this embodiment, the driving cylinder 141 and the locking cylinder 221 are both electrically connected to the robot control terminal. When the nut is placed in the receiving groove 121 of the first clamping member 120, the control terminal controls the cylinder shaft of the driving cylinder 141 to extend, and drives the second clamping member 130 to close to the first clamping member 120 to clamp the nut. At this time, the locking mechanism 220 is in a locked state. After the robot floating clamp delivers the nut to the bottom of the chain track link bolt hole, the robot screws the bolt to combine with the nut; at the same time, the robot control terminal controls the cylinder shaft of the locking cylinder 221 to retract, and the locking mechanism 220 is in an unlocked state; the slider fixing plate 212 can swing in the axial direction perpendicular to the slider fixing plate 212 through the guide rail and the slider relative flange connecting plate 211, and the nut clamping plate 110 can swing in the axial direction of the slider fixing plate 212 through the guide rail and the slider. While ensuring the grasping and delivery accuracy, the flexibility of the equipment is improved and the stability of the assembly is ensured.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the relevant field should understand that without departing from the principle of the utility model, the specific implementation method of the utility model can still be modified or some technical features can be replaced by equivalents, and these modifications and equivalent replacements should be included in the scope of the technical solution for protection of the utility model.

Claims

1. A robot floating gripper, characterized in that: The invention comprises a clamping assembly (100) and a floating assembly (200) which are connected to each other. The clamping assembly (100) comprises a nut clamping plate (110), a first clamping member (120) connected to the nut clamping plate (110), and a second clamping member (130). The rear end of the second clamping member (130) is connected to a driving member (140). The driving member (140) pushes the second clamping member (130) to move relative to the first clamping member (120) to realize an opening and closing action. The floating assembly (200) comprises a sliding connection mechanism (210) connected to the nut clamping plate (110). The sliding connection mechanism (210) can slide telescopically in a cross direction. The floating assembly (200) also comprises a locking mechanism (220) for limiting the telescopic sliding of the sliding connection mechanism (210).

2. The robot floating gripper according to claim 1, characterized in that: The sliding connection mechanism (210) comprises a flange connection plate (211) and a slider fixing plate (212); the flange connection plate (211) and the slider fixing plate (212) are slidably connected along an axial direction perpendicular to the slider fixing plate (212); and the nut clamping plate (110) and the slider fixing plate (212) are slidably connected along the axial direction of the slider fixing plate (212).

3. The robot floating gripper according to claim 2, characterized in that: The top surface of the slider fixing plate (212) is provided with a guide rail and a slider extending in the axial direction, the bottom surface of the slider fixing plate (212) is provided with a guide rail and a slider extending perpendicular to the axial direction, and the flange connecting plate (211) and the nut clamping plate (110) are slidably connected to the slider fixing plate (212) via the guide rail and the slider, respectively.

4. The robot floating gripper according to claim 2, characterized in that: The locking mechanisms (220) are fixed on the slider fixing plate (212), and there are two of them, which are respectively perpendicular to the sliding directions of the flange connecting plate (211) and the nut clamping plate (110). When the locking mechanisms (220) are extended, they respectively restrict the flange connecting plate (211) and the nut clamping plate (110) from sliding relative to the slider fixing plate (212).

5. The robot floating gripper according to claim 4, characterized in that: The locking mechanism (220) comprises a locking cylinder (221) and a locking pin (222); the flange connecting plate (211) and the nut clamping plate (110) are both provided with a pin hole (213) at positions corresponding to the locking mechanism (220); the locking cylinder (221) pushes the locking pin (222) to be inserted into the pin hole (213) to achieve locking.

6. The robot floating gripper according to claim 5, characterized in that: A locking limit seat (223) is also provided at the pin hole (213), wherein the locking limit seat (223) is embedded in the inner circle of the pin hole (213), and the locking pin (222) is inserted into the locking limit seat (223) to achieve locking.

7. The robot floating gripper according to claim 1, characterized in that: The second clamping member (130) is slidably connected to the top surface of the nut clamping plate (110), one end of the first clamping member (120) is fixed below the front end of the nut clamping plate (110), and the other end of the first clamping member (120) extends forward and upward to be flush with the second clamping member (130), and when the second clamping member (130) slides forward, it cooperates with the first clamping member (120) to clamp the nut.

8. The robot floating gripper according to claim 7, characterized in that: The driving member (140) is a driving cylinder (141), and the driving cylinder (141) is fixed to the nut clamping plate (110) via a cylinder seat (142). The cylinder shaft of the driving cylinder (141) is movably connected to the second clamping member (130) and drives the second clamping member (130) to slide forward and backward.

9. The robot floating gripper according to claim 7, characterized in that: The front end of the first clamping member (120) is provided with an accommodating groove (121) for accommodating a nut.

10. The robot floating gripper according to claim 8, characterized in that: A T-shaped slot (131) is provided at the rear end of the second clamping member (130), a plug (150) is fixedly provided on the cylinder shaft of the driving cylinder (141), and the plug (150) is embedded in the T-shaped slot (131) to realize a movable connection with the second clamping member (130).

Images