Multi-degree-of-freedom floating module structure

Abstract

The utility model provides a multi-degree-of-freedom floating module structure, and relates to the technical field of manipulators, the multi-degree-of-freedom floating module structure comprises a positioning piece, the top of the positioning piece is fixedly connected with a connecting plate, the other end of the connecting plate is fixedly connected with a module bottom plate, and the module bottom plate is sequentially provided with an X-axis floating unit, a Y-axis floating unit and a module cover plate from bottom to top; and the Y-axis floating unit and the module cover plate are connected through an adjusting piece. Through the arrangement of the X-axis floating unit and the Y-axis floating unit, the protection effect can be achieved when the floating module moves in multiple directions, when the moving range deviates, the floating module can be controlled to reset in time, and the safety of the floating module is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a floating module structure with multiple degrees of freedom. Background Art

[0002] In the existing patent: CN201220033334.5-a simple floating module includes: a first block, an intermediate block, and a second block; a first spring is arranged between the first block and the intermediate block, the axis of the first spring is parallel to the guiding direction of the first guiding mechanism, and the first block is provided with two stoppers, which are respectively in contact with the two ends of the first spring; the intermediate block is provided with corresponding upper stoppers at positions corresponding to the two ends of the first spring, and each upper stopper is in contact with the corresponding end of the first spring; a second spring is arranged between the second block and the intermediate block, the axis of the second spring is parallel to the guiding direction of the second guiding mechanism, and the second block is provided with two stoppers, which are respectively in contact with the two ends of the second spring; the intermediate block is provided with corresponding lower stoppers at positions corresponding to the two ends of the second spring, and each lower stopper is in contact with the corresponding end of the second spring.

[0003] In the above patent, the first block and the second block are easily damaged when they collide with any object or obstacle during the movement along the X / Y axis driven by the first guide mechanism and the second guide mechanism, resulting in deviation in the movement range. Therefore, the utility model provides a floating module structure with multiple degrees of freedom to solve the above problem. Utility Model Content

[0004] The utility model provides a floating module structure with multiple degrees of freedom, which is used to solve the problems raised in the background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: including: a positioning member, a connecting plate fixedly connected to the top of the positioning member, and the other end of the connecting plate is fixedly connected to the module bottom plate, the module bottom plate is provided with an X-axis floating unit, a Y-axis floating unit and a module cover plate from bottom to top, and the Y-axis floating unit and the module cover plate are connected by an adjusting member.

[0006] Preferably, the X-axis floating unit includes: an X-axis linear slide rail and two sets of X-axis return limit mechanisms, the fixed end of the X-axis linear slide rail is installed on the top of the module base plate, and the driving end of the X-axis linear slide rail is fixedly connected to the second bottom of the driving plate, and the two sets of X-axis return limit mechanisms are symmetrically installed on the top of the module base plate.

[0007] Preferably, the Y-axis floating unit includes: a Y-axis linear slide rail and two sets of Y-axis return limit mechanisms, the fixed end of the Y-axis linear slide rail is installed on the top of the second driving plate, and the driving end of the Y-axis linear slide rail is fixedly connected to the bottom of the first driving plate, and the two sets of Y-axis linear slide rails are symmetrically installed on the top of the second driving plate.

[0008] Preferably, the X-axis return and limit mechanism has the same structure as the Y-axis return and limit mechanism.

[0009] Preferably, a rectangular notch is opened in the center of the driving plate 1, and one end of the universal joint is movably connected to the driving plate 2, and the other end of the universal joint passes through the rectangular notch and is movably connected to the module cover.

[0010] Preferably, the adjusting parts include: four groups of cylinders and four groups of floating rings, through holes are opened at the four top corners of the module cover plate, the four groups of cylinders can move through the through holes at the top corners of the module cover plate, the fixed block is fixedly sleeved on the fixed outer wall of the cylinder, and the fixed block is detachably connected to the module cover plate by bolts, the four groups of floating rings are respectively arranged at the four top corners of the driving plate, and the output end of the cylinder passes through the floating ring and is fixedly connected to the driving plate.

[0011] Preferably, the X-axis return limit mechanism includes: a buffer sleeve, the buffer sleeve is fixedly arranged on the top of the module bottom plate, the balance plate and the piston block are arranged in the buffer sleeve, and the balance plate is fixedly connected to the inner wall of the buffer sleeve, the piston block is slidably connected to the inner wall of the buffer sleeve, one end of the guide column is fixedly connected to the inner wall of the buffer sleeve, and the other end of the guide column movably passes through the piston block.

[0012] Preferably, a limiting groove is provided in the piston block, and a pressure sensor is installed in the limiting groove, a limiting rod is provided on the outer wall of the guide column, and the buffer spring is sleeved on the outer wall of the guide column.

[0013] Preferably, the rubber head is connected to the support block through a first connecting rod, one end of the second connecting rod is fixedly connected to the support block, the other end of the second connecting rod movably passes through the balance plate and extends into the limiting groove of the piston block, the fixed end of the telescopic rod movably passes through the balance plate and is fixedly connected to the piston block, the movable end of the telescopic rod is fixedly connected to the support block, and the buffer spring is sleeved on the outer wall of the telescopic rod.

[0014] Preferably, a first magnet is provided on a side of the support block away from the first connecting rod, and a second magnet is provided on the balance plate.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] The utility model can protect the floating module when it moves in multiple directions through the arrangement of the X-axis floating unit and the Y-axis floating unit, and can timely control it to reset when the moving range deviates, thereby greatly improving the safety of the floating module. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention.

[0018] In the attached picture:

[0019] Figure 1 The three-dimensional structure of the utility model is shown in FIG. Figure 1 ;

[0020] Figure 2 The three-dimensional structure of the utility model is shown in FIG. Figure 2 ;

[0021] Figure 3 It is a schematic diagram of the structure of the X\Y axis return and limit mechanism in the utility model.

[0022] In the figure: 1. positioning member; 2. connecting plate; 3. module bottom plate; 4. X-axis floating unit; 5. Y-axis floating unit; 6. module cover plate; 7. adjusting member; 8. X-axis linear slide rail; 9. X-axis return limit mechanism; 10. Y-axis linear slide rail; 11. Y-axis return limit mechanism; 12. driving plate one; 13. universal joint; 14. rectangular notch; 15. floating ring; 16. cylinder; 17. fixing block; 18. driving plate two; 19. rubber head; 20. first connecting rod; 21. magnet one; 22. support block; 23. second connecting rod; 24. buffer spring one; 25. balance plate; 26. buffer sleeve; 27. telescopic rod; 28. magnet two; 29. ​​piston block; 30. limit groove; 31. pressure sensor; 32. buffer spring two; 33. guide column; 34. limit rod. DETAILED DESCRIPTION

[0023] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0024] In addition, in the present utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present utility model. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0025] Example 1

[0026] The present invention provides a floating module structure with multiple degrees of freedom, such as Figure 1-2As shown, it includes: a positioning member 1, a connecting plate 2 is fixedly connected to the top of the positioning member 1, and the other end of the connecting plate 2 is fixedly connected to the module bottom plate 3, the module bottom plate 3 is provided with an X-axis floating unit 4, a Y-axis floating unit 5 and a module cover plate 6 from bottom to top, and the Y-axis floating unit 5 and the module cover plate 6 are connected by an adjusting member 7.

[0027] Preferably, the X-axis floating unit 4 includes: an X-axis linear slide rail 8 and two sets of X-axis return limit mechanisms 9, the fixed end of the X-axis linear slide rail 8 is installed on the top of the module base plate 3, and the driving end of the X-axis linear slide rail 8 is fixedly connected to the bottom of the driving plate 2 18, and the two sets of X-axis return limit mechanisms 9 are symmetrically installed on the top of the module base plate 3.

[0028] Preferably, the Y-axis floating unit 5 includes: a Y-axis linear slide rail 10 and two sets of Y-axis return limit mechanisms 11, the fixed end of the Y-axis linear slide rail 10 is installed on the top of the driving plate 2 18, and the driving end of the Y-axis linear slide rail 10 is fixedly connected to the bottom of the driving plate 12, and the two sets of Y-axis linear slide rails 10 are symmetrically installed on the top of the driving plate 2 18.

[0029] Preferably, a rectangular slot 14 is provided at the center of the driving plate 12 , and one end of the universal joint 13 is movably connected to the driving plate 2 18 , and the other end of the universal joint 13 passes through the rectangular slot 14 and is movably connected to the module cover 6 .

[0030] Preferably, the adjusting member 7 includes: four groups of cylinders 16 and four groups of floating rings 15, through holes are opened at the four top corners of the module cover plate 6, the four groups of cylinders 16 can move through the through holes at the top corners of the module cover plate 6, the fixing block 17 is fixedly sleeved on the fixed outer wall of the cylinder 16, and the fixing block 17 is detachably connected to the module cover plate 6 by bolts, the four groups of floating rings 15 are respectively arranged at the four top corners of the driving plate 12, and the output end of the cylinder 16 passes through the floating ring 15 and is fixedly connected to the driving plate 12.

[0031] The working principle and beneficial effects of the above technical solution are as follows: the notch of the module cover 6 is used to install the clamping claws for adsorbing the workpiece. When in use, the drive plate 2 18 and the upper Y-axis floating unit 5 are driven to reciprocate along the X-axis by the X-axis linear slide rail 8, and the drive plate 1 12 and the upper module cover 6 are driven to reciprocate along the Y-axis by the Y-axis linear slide rail 10. The drive plate 12 and the lower X-axis floating unit 4 and the Y-axis floating unit 5 can be driven to reciprocate up and down along the Z-axis by the cylinder 16, and the distance between the module cover 6 and the drive plate 12 can be adjusted, so as to change the rotation range of the universal joint 13, and the setting of the floating ring 15 can limit the safe distance between the module cover 6 and the drive plate 12, so as to protect the universal joint 13. The setting of the universal joint 13 can assist the floating module to move in multiple directions, which not only has stable transportation and large bearing capacity, but also is very convenient for disassembly and maintenance.

[0032] The utility model can automatically adjust and compensate for the motion error of the robot arm to achieve precise positioning, which not only meets the loading and unloading needs of the equipment, but also has good stability and can meet the needs of various loading and unloading application scenarios.

[0033] Example 2

[0034] Based on Example 1, please refer to Figure 3 The X-axis return limit mechanism 9 includes: a buffer sleeve 26, the buffer sleeve 26 is fixedly arranged on the top of the module bottom plate 3, the balance plate 25 and the piston block 29 are arranged in the buffer sleeve 26, and the balance plate 25 is fixedly connected to the inner wall of the buffer sleeve 26, the piston block 29 is slidably connected to the inner wall of the buffer sleeve 26, one end of the guide column 33 is fixedly connected to the inner wall of the buffer sleeve 26, and the other end of the guide column 33 movably passes through the piston block 29.

[0035] Preferably, a limiting groove 30 is provided in the piston block 29 , and a pressure sensor 31 is installed in the limiting groove 30 . A limiting rod 34 is provided on the outer wall of the guide column 33 , and a second buffer spring 32 is sleeved on the outer wall of the guide column 33 .

[0036] Preferably, the rubber head 19 is connected to the support block 22 through the first connecting rod 20, one end of the second connecting rod 23 is fixedly connected to the support block 22, the other end of the second connecting rod 23 movably passes through the balance plate 25 and extends into the limiting groove 30 of the piston block 29, the fixed end of the telescopic rod 27 movably passes through the balance plate 25 and is fixedly connected to the piston block 29, the movable end of the telescopic rod 27 is fixedly connected to the support block 22, and the buffer spring 24 is sleeved on the outer wall of the telescopic rod 27.

[0037] Preferably, a magnet 1 21 is provided on a side of the support block 22 away from the first connecting rod 20 , and a magnet 28 is provided on the balance plate 25 .

[0038] Preferably, the X-axis return and limit mechanism 9 and the Y-axis return and limit mechanism 11 have the same structure.

[0039] Preferably, the model of the pressure sensor 31 can be Locar FSR402 or resistive flexible force-sensitive tactile FSR406 / RPF602.

[0040] The working principle and beneficial effects of the above technical solution are as follows: the X-axis return limit mechanism 9 and the Y-axis return limit mechanism 11 have the same structure, and the X-axis return limit mechanism 9 and the Y-axis return limit mechanism 11 are respectively installed on the axis of the moving direction of the driving plate 2 18 and the driving plate 1 12, so as to protect the entire floating module. When the floating module is in use, if it moves along the X\Y axis and hits any object\obstacle, the rubber head 19 is subjected to the impact force and pushes the support block 22 and the two sets of second connecting rods 23 to move through the first connecting rod 20. At this time, the telescopic rod 27 contracts while the buffer spring 1 24 is compressed, thereby reducing the initial velocity of the rubber head 19 being hit, and as Figure 3 As shown in the figure, magnet 1 21 and magnet 2 28 have the same magnetic properties in the axial direction, so the existence of magnet 1 21 and magnet 2 28 will generate a thrust on the support block 22 opposite to the impact force, thereby further playing a preliminary buffering role. When the impact is greater than the upper limit that the buffer spring 1 24 and the repulsive force of magnet 1 21 and magnet 2 28 can withstand, the second connecting rod 23 abuts against the pressure sensor 31 along the limit groove 30, and pushes the piston block 29 to slide along the guide column 33 as a whole, thereby compressing the buffer spring 2 32 to play a secondary buffering role. Among them, the setting of the limit rod 34 can prevent the piston block 29 from rotating during movement, and can increase the friction between the piston block 29 and the guide column 33, thereby playing an auxiliary buffering role. The second connecting rod 23 transmits the buffered impact force to the pressure sensor 31. When the data detected by the pressure sensor 31 exceeds the preset range, it will transmit a control signal to the X-axis linear slide 8\Y-axis linear slide 10, thereby controlling the X-axis linear slide 8\Y-axis linear slide 10 to reset, thereby preventing damage to the X-axis floating unit 4\Y-axis floating unit 5.

[0041] By setting the X-axis return limit mechanism 9\Y-axis return limit mechanism 11, it can play a protective role when the floating module moves in multiple directions, and when the moving range deviates, it can be controlled to reset in time, which greatly improves the safety of the floating module.

[0042] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A floating module structure with multiple degrees of freedom, characterized in that: include: A positioning member (1), a connecting plate (2) is fixedly connected to the top of the positioning member (1), and the other end of the connecting plate (2) is fixedly connected to a module bottom plate (3), and the module bottom plate (3) is provided with an X-axis floating unit (4), a Y-axis floating unit (5) and a module cover plate (6) in sequence from bottom to top, and the Y-axis floating unit (5) and the module cover plate (6) are connected via an adjusting member (7).

2. A floating module structure with multiple degrees of freedom as claimed in claim 1, characterized in that: The X-axis floating unit (4) comprises: an X-axis linear slide rail (8) and two sets of X-axis return and limit mechanisms (9); the fixed end of the X-axis linear slide rail (8) is installed on the top of the module base plate (3), and the driving end of the X-axis linear slide rail (8) is fixedly connected to the bottom of the second driving plate (18); the two sets of X-axis return and limit mechanisms (9) are symmetrically installed on the top of the module base plate (3).

3. A floating module structure with multiple degrees of freedom as claimed in claim 2, characterized in that: The Y-axis floating unit (5) comprises: a Y-axis linear slide rail (10) and two groups of Y-axis return limit mechanisms (11), the fixed end of the Y-axis linear slide rail (10) is installed on the top of the second driving plate (18), and the driving end of the Y-axis linear slide rail (10) is fixedly connected to the bottom of the first driving plate (12), and the two groups of Y-axis linear slide rails (10) are symmetrically installed on the top of the second driving plate (18).

4. The floating module structure with multiple degrees of freedom as claimed in claim 3, characterized in that: The X-axis return and limit mechanism (9) and the Y-axis return and limit mechanism (11) have the same structure.

5. The floating module structure with multiple degrees of freedom as claimed in claim 3, characterized in that: A rectangular notch (14) is provided at the center of the driving plate 1 (12), and one end of the universal joint (13) is movably connected to the driving plate 2 (18), while the other end of the universal joint (13) passes through the rectangular notch (14) and is movably connected to the module cover plate (6).

6. The floating module structure with multiple degrees of freedom as claimed in claim 3, characterized in that: The adjusting member (7) comprises: four groups of cylinders (16) and four groups of floating rings (15); through holes are provided at the four top corners of the module cover plate (6); the four groups of cylinders (16) are movably passed through the through holes at the top corners of the module cover plate (6); a fixed block (17) is fixedly sleeved on the fixed outer wall of the cylinder (16); and the fixed block (17) is detachably connected to the module cover plate (6) by bolts; the four groups of floating rings (15) are respectively arranged at the four top corners of the driving plate (12); and the output end of the cylinder (16) passes through the floating ring (15) and is fixedly connected to the driving plate (12).

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