Passive angle adaptive buffer mechanism

Abstract

The utility model discloses a passive angle adaptability buffering mechanism which comprises an upper fixing plate, a lower fixing plate and an application tool, the upper fixing plate and the lower fixing plate are connected through at least three buffering assemblies, and the application tool is assembled on the bottom face of the lower fixing plate. Each buffer assembly penetrates through the first penetrating hole of the upper fixing plate and the second penetrating hole of the lower fixing plate through a guide rod, the upper end of each guide rod is locked with a limiting piece and limited to the top face of the upper fixing plate so as to control the movement direction of the mechanism, and the lower end of each guide rod is provided with a conical block matched with the second penetrating hole so as to position the lower fixing plate. The elastic piece is assembled in the middle section of the guide rod and located between the upper fixing plate and the lower fixing plate, so that the lower fixing plate can be compressed along with the elastic piece to move along with the guide rod, positioning of the lower fixing plate is relieved, then the inclination angle is compensated in a self-adaptive mode, an application tool accurately grabs a workpiece, and the buffering and angle adapting effects are achieved.

Description

Technical Field

[0001] The utility model relates to clamping instruments, in particular to a passive angle adaptability buffer mechanism. Background Art

[0002] Industrial production often uses robotic arms to pick up workpieces to integrate different production lines or assist in handling. As Figure 7 shown, when the working end of the conventional robotic arm 6 combines with the application tool 3 to grasp the workpiece, the robotic arm 5 needs to drive the application tool 3 to move perpendicular to the surface of the workpiece 5, and the joint surface of the application tool 3 is parallel to the surface of the workpiece 5 to successfully grasp. However, the conventional robotic arm 6 often operates vertically up and down. Therefore, the workpiece 5 needs to be manually carried, sorted, and placed on the horizontal storage surface 7, reducing work efficiency. However, as Figure 8 shown, when the workpiece 5 is placed on a storage surface 7 with an inclined angle, and the surface of the workpiece 5 and the joint surface of the application tool 3 form an angle, since the conventional robotic arm 6 has no adjustment and buffer mechanism, the joint surface of the application tool 3 cannot fit the surface of the workpiece 5, resulting in grasping failure. And when there is an error between the designed size and the actual size of the workpiece 5, the application tool 3 may hit the workpiece 5, causing damage to the instrument and the workpiece 5.

[0003] To solve the above problems, some manufacturers use urethane rubber blocks or foams for buffering. However, due to their short stroke, only about 3 to 5 mm, the buffering effect is not obvious, and they cannot be adjusted according to different slopes of the workpiece surface. Therefore, as shown in Figure 9, the offset of the robotic arm 6 is further improved, so that the central axis Z1 of the robotic arm is deflected to form an angle with the central axis Z2 of the workpiece, making the application tool 3 perpendicular to the surface of the workpiece 5 and fit. However, this structural design easily causes the weight offset of the robotic arm to change. Since the offset is usually adjusted by manually calibrating points on the robotic arm one by one, the workload of the operator increases, the machine adjustment time is greatly lengthened, and the production cost is increased.

[0004] Therefore, some manufacturers have designed buffer mechanisms to solve the above technical problems. The utility model patent TW1641453 in Taiwan, China, discloses a clamping device adaptable to the shape of workpieces, which can provide pneumatic clamping force and elastic clamping force to the clamping column, and can stably clamp workpieces with soft texture and arbitrary shapes, but it cannot accurately position the clamping, and the structure is complex and difficult to maintain. The utility model patent CN206140214 in China discloses a self-adaptive flexible loading gripper for a high-precision internal grinder. Its detection mechanism can detect the placement position of the workpiece, and the clamping mechanism is convenient for accurately finding the feeding point of the internal grinder robot during manual debugging, which can make up for the defect of the repeated positioning error of the industrial robot and ensure that the workpiece can adaptively enter the high-precision internal grinder. However, it needs to control the buffer function switch by a pneumatic cylinder, the structure is complex, and manual debugging and alignment are required, which affects the efficiency. In addition, the utility model patent application CN112573201 in China discloses an inclination self-adaptive electromagnetic gripper device for pallet handling, which only moves in a single axial direction and requires a combination of multiple magnetic attraction devices, and the inclination applicability is poor, reducing the success rate of workpiece grasping.

[0005] In view of this, how to solve the above problems is the primary issue to be solved by this utility model. Summary of the Utility Model

[0006] The main purpose of this utility model is to provide a passive angle adaptability buffer mechanism. By means of at least three buffer components, the lower fixed plate can be adaptively compensated according to the inclination angle of the workpiece, so that the application tool installed on the lower fixed plate can accurately grasp the workpiece, the structure is simple and easy to repair and maintain, and it does not affect the weight balance of the robotic arm.

[0007] To achieve the above-mentioned purpose, this utility model provides a passive angle adaptability buffer mechanism, which includes:

[0008] An upper fixed plate, provided with at least three first through holes penetrating the upper fixed plate along an axial direction;

[0009] A lower fixed plate, located directly below the upper fixed plate for assembling an application tool, and provided with at least three second through holes opposite to the first through holes. The second through holes are tapered holes and have an inclined conical surface;

[0010] An application tool, assembled on the bottom surface of the lower fixed plate for grasping a workpiece;

[0011] Wherein, the upper fixing plate and the lower fixing plate are assembled with each other through at least three buffer components. Each buffer component has a guide rod and an elastic member. The upper end of each guide rod extends from the first through hole to the top surface of the upper fixing plate and is locked with a limiting member. The lower end of each guide rod extends from the second through hole to the bottom surface of the lower fixing plate and has a conical block. The conical block cooperates with the inclined conical surface of the second through hole to position the lower fixing plate. The elastic member is assembled on the middle section of the guide rod and is located between the upper fixing plate and the lower fixing plate, so that the lower fixing plate can be displaced along the guide rod as the elastic member is compressed.

[0012] When the grasping surface of the workpiece is an inclined plane with an inclination angle, after the application tool presses down to contact the workpiece, due to the pressure, the lower fixing plate squeezes and compresses the elastic member, causing the lower fixing plate to displace upward along the guide rod, and the conical block disengages from the second through hole and extends to the outside to release the positioning of the lower fixing plate, thereby adaptively compensating for the inclination angle and enabling the application tool to accurately grasp the workpiece.

[0013] Preferably, a linear bushing is inserted into the first through hole. An annular plate is further provided at one end of the linear bushing facing the lower fixing plate for the elastic member to abut between the annular plate and the lower fixing plate. The upper end of the guide rod sequentially extends from the elastic member, the annular plate, and the linear bushing to the top surface of the upper fixing plate and is locked with the limiting member.

[0014] Preferably, the upper fixing plate has a circumferential upper plate body. Three upper support legs that equally divide the upper plate body extend from the outer peripheral side of the upper plate body, and the first through hole is opened in the upper support leg. The lower fixing plate has a lower plate body disposed opposite to the upper plate body. The lower plate body is also circumferential, and three lower support legs that equally divide the lower plate body extend from the outer peripheral side of the lower plate body, and the second through hole is opened in the lower support leg.

[0015] Preferably, the conical block is detachably assembled to the lower end of the guide rod.

[0016] Preferably, the conical block is screwed to the lower end of the guide rod.

[0017] Preferably, the conical block is snap-fitted to the lower end of the guide rod.

[0018] Preferably, two vertical cutting surfaces are symmetrically provided on the outer periphery of the lower end of the conical block to facilitate clamping and fixing the conical block when combined with the lower end of the guide rod.

[0019] Preferably, the application tool is a magnetic disk, a jaw, or a suction cup.

[0020] Preferably, the application tool has an electromagnetic disk provided on the bottom surface of the lower fixing plate and a wire connector electrically connected to the electromagnetic disk. By energizing the wire connector, the electromagnetic disk generates magnetic suction force to adsorb the workpiece.

[0021] Preferably, a shaft hole is formed at the central position of the upper fixing plate for assembling on a robotic arm.

[0022] Advantages of the present utility model: The passive angle-adaptive buffering mechanism of the present utility model enables the lower fixing plate to adaptively compensate according to the inclination angle of the workpiece through at least three buffering components, so that the application tool installed on the lower fixing plate can accurately grasp the workpiece. The structure is simple and easy to maintain, and it does not affect the weight balance of the robotic arm. Description of the Drawings

[0023] Figure 1 It is a three-dimensional structural schematic diagram of the present utility model.

[0024] Figure 2 It is a partial exploded structural schematic diagram of the present utility model.

[0025] Figure 3 It is a usage state diagram of the present utility model for horizontally gripping a workpiece.

[0026] Figure 4 It is a usage state diagram of the present utility model for adaptively gripping a workpiece at an angle.

[0027] Figure 5 It is a partial cross-sectional view of the initial state of the present utility model for adaptively gripping a workpiece at an angle.

[0028] Figure 6 It is a partial cross-sectional view of the usage state of the present utility model for adaptively gripping a workpiece at an angle.

[0029] Figure 7 It is a usage state diagram of an existing robotic arm for gripping a workpiece.

[0030] Figure 8 It is a usage state diagram of an existing robotic arm for gripping a skewed workpiece.

[0031] Figure 9 It is a usage state diagram of an existing robotic arm for improving the offset amount to grip a skewed workpiece.

[0032] Upper fixing plate 1, upper plate body 11

[0033] Shaft hole 12, upper support leg 13

[0034] First through hole 14

[0035] Lower fixing plate 2, lower plate body 21

[0036] Lower support leg 22, second through hole 23

[0037] Oblique conical surface 231

[0038] Application tool 3, electromagnetic chuck 31

[0039] Fixing screw 311, wire connector 32

[0040] Buffer assembly 4, linear bushing 41

[0041] Head end 411, screw 412

[0042] Guide rod 42, upper end 421

[0043] Middle section 422, lower end 423

[0044] Elastic member 43, annular plate 44

[0045] Limiting member 45, conical block 46

[0046] Vertical cutting surface 461

[0047] Workpiece 5, robotic arm 6

[0048] Placement surface 7, inclination angle α

[0049] Axis of the robotic arm Z1, axis of the workpiece Z2 Detailed implementation manner

[0050] As Figures 1 to 2 shown, the present utility model provides a passive angle adaptive buffer mechanism, which includes an upper fixing plate 1, a lower fixing plate 2, an application tool 3 and at least three buffer assemblies 4. By means of each buffer assembly 4, the lower fixing plate 2 can be adaptively compensated according to the inclination angle of the workpiece 5, so that the application tool 3 can fit the surface of the workpiece 5 to accurately grasp it.

[0051] Please refer to Figure 1 and Figure 2 shown, the application tool 3 is set on the bottom surface of the lower fixing plate 2, and the application tool 3 can be a magnetic disk, a clamping jaw or a suction cup. The application tool 3 in this embodiment has an electromagnetic disk 31 set on the bottom surface of the lower fixing plate 2 and a wire connector 32 electrically connected to the electromagnetic disk 31, wherein the electromagnetic disk 31 is fixed to the bottom surface of the lower fixing plate 2 by fixing screws 311. By energizing the wire connector 32, the electromagnetic disk 31 generates magnetic suction force to adsorb the workpiece 5.

[0052] The lower fixing plate 2 is located directly below the upper fixing plate 1 and is assembled to the upper fixing plate 1 by at least three buffer components 4. Preferably, three buffer components 4 are used to assemble the upper fixing plate 1 and the lower fixing plate 2. Further, the upper fixing plate 1 has a circumferential upper plate body 11, and a shaft hole 12 is provided at the central position of the upper plate body 11 for assembling to a robotic arm 6. Three upper support feet 13 that equally divide the upper plate body 11 extend from the outer peripheral side of the upper plate body 11, and a first through hole 14 is axially penetrated through each of the upper support feet 13. In addition, the lower fixing plate 2 also has a circumferential lower plate body 21, and three lower support feet 22 that equally divide the lower plate body 21 extend from the outer peripheral side of the lower plate body 21, and a second through hole 23 is axially penetrated through each of the lower support feet 22. The first through hole 14 and the second through hole 23 are for assembling the buffer component 4. Among them, as Figure 6 shown, the second through hole 23 is a tapered hole and has an inclined conical surface 231.

[0053] Please continue to refer to Figure 2 shown, each buffer component 4 has a linear bushing 41, a guide rod 42, and an elastic member 43. The linear bushing 41 is inserted into the first through hole 14, and its head end 411 is assembled to the top surface of the upper fixing plate 1 by a screw 412, and an annular plate 44 is further provided at one end thereof facing the lower fixing plate 2. The upper end 421 of the guide rod 42 sequentially passes through the annular plate 44 and the linear bushing 41, and then passes out to the top surface of the upper fixing plate 1 and is locked to a limiting member 45. In this embodiment, the limiting member 45 is a limiting nut. The elastic member 43 is assembled on the middle section 422 of the guide rod 42 and elastically abuts between the annular plate 44 and the lower fixing plate 2. The elastic member 43 is preferably a spring. The present utility model controls the movement direction of the guide rod 42 by means of the linear bushing 41, the limiting member 45, and the elastic member 43, and at the same time provides a buffer stroke by means of the guide rod 42, that is, the longer the guide rod 42, the greater the buffer stroke.

[0054] Combined with Figure 5 and Figure 6 shown, the lower end 423 of the guide rod 42 passes through the second through hole 23 and extends to the bottom surface of the lower fixing plate 2. Among them, the lower end 423 of the guide rod 42 has a conical block 46 that cooperates with the inclined conical surface 231, thereby positioning the lower fixing plate 2. Preferably, the conical block 46 is detachably assembled to the lower end 423 of the guide rod 42. In this embodiment, the conical block 46 is screwed to the lower end 423 of the guide rod 42. In other feasible embodiments, the conical block 46 can also be clamped to the lower end 423 of the guide rod 42.

[0055] To further improve the angle adaptability effect, as Figure 5As shown in the figure, in this embodiment, two vertical cutting surfaces 461 are symmetrically provided on the outer periphery of the lower end of the conical block 46. When combining the conical block 46 with the lower end of the guide rod 42, it is convenient to use tools such as a wrench or a vise to clamp and fix the conical block 46, improving the installation convenience. Different conical blocks 46 can also be replaced to change the angle between the outer surface of the conical block 46 and the inclined conical surface 231, thereby increasing the angle adaptation range of the present utility model.

[0056] When the embodiment provided by the present utility model is actually used, for example Figure 3 As shown, the workpiece 5 is placed on a horizontal placement surface 7. The grasping surface of the workpiece 5 is a horizontal plane. At this time, the central axis Z1 of the robotic arm and the central axis Z2 of the workpiece are on the same straight line. The robotic arm 6 moves downward perpendicular to the grasping surface of the workpiece 5, and the application tool 3 is attached to the grasping surface of the workpiece 5 to complete the grasping. As shown in Figure 4, the workpiece 5 is placed on a placement surface 7 with an inclination angle a. At this time, the grasping surface of the workpiece 5 is also an inclined surface with the same inclination angle a. At this time, the central axis Z1 of the robotic arm and the central axis Z2 of the workpiece are not on the same straight line. After the application tool 3 presses down and contacts the workpiece 5, as shown in Figures 5 to 6, due to the pressure, the lower fixing plate 2 pushes and compresses the elastic member 43, causing the lower fixing plate 2 to move upward along the guide rod 42, and the conical block 46 disengages from the second through hole 23 and extends to the outside to release the positioning of the lower fixing plate 2. Since the second through hole 23 is a conical hole, the swing freedom of the lower fixing plate 2 can be increased and the inclination angle a can be adaptively compensated by the angle, so that the application tool 3 can be attached to the grasping surface of the workpiece 5, thereby accurately grasping the workpiece 5. After the robotic arm 6 grasps the workpiece and leaves the platform, the elastic restoring force of the elastic member pushes the lower fixing plate 2 to move downward along the guide rod 42 to reset to the initial state, and the conical block 46 maintains the positioning of the lower fixing plate 2, so that the application tool 3 of the robotic arm 6 is parallel to the workpiece 5 in the horizontal direction. The maximum inclination angle a that the embodiment provided by the present utility model can adapt to is 4.5□, and the parallel downward movement stroke is 15 mm.

[0057] And the passive angle adaptation buffer mechanism provided by the present utility model has the following technological progress and advantages:

[0058] First, the structure is simple and it has both buffering and angle adaptation functions at the same time; the main structure of the present utility model is that the upper fixing plate and the lower fixing plate are connected by a buffer assembly. The assembly structure of the guide rod of the buffer assembly and the elastic member enables the lower fixing plate to have a buffer stroke to adapt to workpieces with different inclination angles. In addition, the second through hole of the lower fixing plate is a conical hole that cooperates with the conical block at the lower end of the guide rod. When the two are separated, the conical hole increases the freedom of the lower fixing plate and passively adjusts the angle to compensate for the inclination angle, so that the application tool can be attached to the grasping surface of the workpiece and successfully grasp it. It can be seen that the present utility model can have both buffering and angle adaptation functions through a simple elastic structure.

[0059] Second, effectively improve the clamping stability and success rate; by setting multiple buffer components in the present utility model, the buffer of the elastic member and the tapered hole increase the freedom degree of the lower fixing plate, so as to cope with workpieces with different axial heights and angles simultaneously, realize the accurate positioning of the workpiece, and achieve the effect of improving the clamping stability and success rate.

[0060] Third, improve the clamping efficiency of the robotic arm; the present utility model has a large buffer stroke and a large adaptable angle, and the workpiece does not need to be placed on an accurately positioned exchange table for the robotic arm to clamp, reducing the working procedures, and thus improving the clamping efficiency of the robotic arm.

[0061] The disclosure of the above embodiments is only used to illustrate the present utility model, not to limit the present utility model. Therefore, any change in numerical value or replacement of equivalent components still belongs to the scope of the present utility model.

[0062] In summary, it should be clear to those skilled in the art that the present utility model can indeed achieve the foregoing objectives, which actually meets the requirements of the Patent Law. Therefore, an application is filed in accordance with the law.

Claims

1. A passive angle-adaptive buffer mechanism, characterized in that: These include: An upper fixing plate having at least three first through holes extending through the upper fixing plate in an axial direction; A lower fixing plate is located directly below the upper fixing plate for assembling an application tool and is provided with at least three second through holes arranged opposite to the first through holes, wherein the second through holes are tapered holes and have an inclined tapered surface; An application tool, assembled on the bottom surface of the lower fixing plate, for grabbing a workpiece; The upper fixing plate and the lower fixing plate are assembled by at least three buffer components, each of which has a guide rod and an elastic member, the upper end of each guide rod extends from the first through hole to the top surface of the upper fixing plate and is mutually locked with a stopper, and the lower end of each guide rod extends from the second through hole to the bottom surface of the lower fixing plate and has a conical block, the conical block and the oblique conical surface of the second through hole cooperate with each other to position the lower fixing plate, the elastic member is assembled on the middle section of the guide rod and is located between the upper fixing plate and the lower fixing plate, so that the lower fixing plate can be displaced along the guide rod as the elastic member is compressed; When the grasping surface of the workpiece is an inclined surface with an inclined angle, after the application tool is pressed down to contact the workpiece, the pressure causes the lower fixing plate to push and compress the elastic member, causing the lower fixing plate to move upward along the guide rod, and the conical block disengages from the second through hole and extends to the outside to release the positioning of the lower fixing plate, thereby adaptively compensating for the inclined angle, so that the application tool can accurately grasp the workpiece.

2. The passive angle-adaptive buffer mechanism according to claim 1, characterized in that: A linear bushing is inserted into the first through hole, and an annular plate is further provided at one end of the linear bushing facing the lower fixed plate, so that the elastic member can be elastically pressed between the annular plate and the lower fixed plate. The upper end of the guide rod extends from the elastic member, the annular plate and the linear bushing in sequence to the top surface of the upper fixed plate and is mutually locked with the limit member.

3. The passive angle-adaptive buffer mechanism according to claim 1, characterized in that: The upper fixed plate has a circular upper plate body, and three upper supporting feet that equally divide the upper plate body extend from the outer circumference of the upper plate body, and the first through hole is opened in the upper supporting foot; the lower fixed plate has a lower plate body arranged opposite to the upper plate body, and the lower plate body is also circular, and three lower supporting feet that equally divide the lower plate body extend from the outer circumference of the lower plate body, and the second through hole is opened in the lower supporting foot.

4. The passive angle-adaptive buffer mechanism according to claim 1, characterized in that: The cone block is detachably assembled on the lower end of the guide rod.

5. The passive angle-adaptive buffer mechanism according to claim 4, characterized in that: The conical block is screwed to the lower end of the guide rod.

6. The passive angle-adaptive buffer mechanism according to claim 4, characterized in that: The conical block is clamped on the lower end of the guide rod.

7. The passive angle-adaptive buffer mechanism according to claim 1, characterized in that: The outer periphery of the lower end of the conical block is symmetrically provided with two vertical cut surfaces, which facilitates clamping and fixing the conical block when combined with the lower end of the guide rod.

8. The passive angle-adaptive buffer mechanism according to claim 1, characterized in that: The application tool is a magnetic disk, a clamping jaw, or a suction cup.

9. The passive angle-adaptive buffer mechanism according to claim 1, characterized in that: The application tool comprises a set of electromagnetic disks arranged on the bottom surface of the lower fixing plate and a wire connector electrically connected to the electromagnetic disks. When the wire connectors are energized, the electromagnetic disks generate magnetic attraction to absorb workpieces.

10. The passive angle-adaptive buffer mechanism according to claim 1, characterized in that: The central position of the upper fixing plate is provided with an axial hole for assembly to a mechanical arm.

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