Automatic compensation positioning device for mechanical gripper

Abstract

The utility model discloses a mechanical gripper automatic compensation positioning device which comprises a bottom plate, a slide carriage and a first magnet are arranged on the bottom plate, a through hole, a rotating groove and a limiting groove are formed in the slide carriage, the limiting groove is formed in the face, opposite to the bottom plate, of the slide carriage, and the rotating groove is formed in the top face of the slide carriage and communicated with the limiting groove. A connecting column is rotationally arranged in the through hole, a second magnet is fixedly arranged at one end of the connecting column and is opposite to the first magnet, a rotating seat is fixedly arranged at the other end of the connecting column, a limiting column is further arranged on the rotating seat, and the free end of the limiting column penetrates through the rotating groove and then is located in the limiting groove. The first magnet and the second magnet are arranged on the rotating seat and the bottom plate correspondingly, and compensation positioning can be achieved through mutual attraction of the two magnets; after the second magnet is driven by the rotating seat to rotate, the second magnet and the magnetic pole of the first magnet can move, so that the magnets of the two magnets repel each other, and the mechanical gripper can be prevented from damaging the product when grabbing the product or crushing the product when discharging the product.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical arms, in particular to an automatic compensation positioning device for a mechanical gripper. Background Art

[0002] Most of the mechanical structures of the handling robots in the industry are non-flexible mechanical grippers. There are displacement errors in the movement of the robots, which may damage the products when grabbing them or crush the products when placing them.

[0003] Therefore, we need to design an automatic compensation positioning device for a mechanical gripper to solve these problems. Utility Model Content

[0004] The problem to be solved by the utility model is to provide an automatic compensation positioning device for a mechanical gripper, which is particularly suitable for compensating the position of the mechanical gripper to avoid damaging the product when grabbing it or crushing the product when releasing it.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A mechanical gripper automatic compensation positioning device includes a base plate, a slide and a first magnet are provided on the base plate, a through hole, a rotating groove and a limit groove are provided on the slide, the limit groove is opened on the surface of the slide opposite to the base plate, the rotating groove is opened on the top surface of the slide and is connected with the limit groove, a connecting column is rotatably arranged in the through hole, a second magnet is fixedly provided at one end of the connecting column, the second magnet is opposite to the first magnet, a rotating seat is fixedly provided at the other end of the connecting column, a limiting column is also provided on the rotating seat, the free end of the limiting column is located in the limiting groove after passing through the rotating groove, and a limiting plate is also fixedly provided at the free end of the limiting column.

[0007] Preferably, a slide rail is fixedly provided on the bottom plate, a slider is fixedly provided on the slide plate, and the slide plate and the bottom plate are slidably connected to each other via the slider and the slide rail.

[0008] Preferably, a mounting groove is provided on the slide, and the rotating seat is located in the mounting groove.

[0009] Preferably, the limiting column is further provided with a sliding assembly and a spring, the spring is located between the sliding assembly and the limiting plate, and a support tube is further provided on the outside of the spring, and the support tube is fixed on the limiting plate.

[0010] Furthermore, the sliding assembly includes a washer, a retaining frame and a plurality of balls, the plurality of balls are rotatably arranged on the retaining frame, and the washer is located between the retaining frame and the spring.

[0011] Preferably, the limiting plate is a circular plate, the limiting column is a cylinder, the cross-sectional diameter of the limiting column is the same as the width of the rotation groove, and the diameter of the limiting plate is not less than the width of the rotation groove.

[0012] The advantages and positive effects of the utility model are:

[0013] The utility model arranges a first magnet and a second magnet on a rotating seat and a bottom plate respectively, and can achieve compensation positioning through the mutual attraction of the two magnets; after the second magnet is driven by the rotating seat to rotate, it will move with the magnetic pole of the first magnet, so that the magnetic bodies of the two magnets repel each other, which can prevent the mechanical gripper from damaging the product when grabbing it or crushing the product when releasing the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0015] Figure 1 This is an axonometric diagram of the overall structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the positions of the installation slot and the rotation slot of the utility model;

[0017] Figure 3 It is a cross-sectional schematic diagram of the present utility model;

[0018] Figure 4 This is a schematic structural diagram of the sliding assembly of the utility model;

[0019] Figure 5 This is a schematic diagram of the magnetic pole position when the magnet is compensated after the slide moves in the utility model;

[0020] Figure 6 This is a schematic diagram of the magnetic pole position when the magnet is compensated after the rotating seat rotates in the utility model;

[0021] Figure 7 yes Figure 3 A magnified view of the structure in Figure 2.

[0022] The following are the descriptions of the reference numerals:

[0023] 1. Base plate; 2. Slide rail; 3. Slider; 4. Slide plate; 5. Rotating seat; 6. Connecting column; 7. First magnet; 8. Second magnet; 9. Rotating slot; 10. Limiting slot; 11. Limiting column; 12. Limiting plate; 13. Spring; 14. Sliding assembly; 141. Washer; 142. Retaining frame; 143. Ball; 15. Mounting slot; 16. Through hole; 17. Support tube. DETAILED DESCRIPTION

[0024] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "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 cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0025] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0026] The present invention will be further described below with reference to the accompanying drawings:

[0027] Example 1: Figure 1-Figure 7As shown, a mechanical gripper automatic compensation positioning device includes a base plate 1, a slide 4 and a first magnet 7 are provided on the base plate 1, a through hole 16, a rotating groove 9 and a limit groove 10 are provided on the slide 4, the limit groove 10 is provided on the surface of the slide 4 opposite to the base plate 1, the rotating groove 9 is provided on the top surface of the slide 4 and is connected with the limit groove 10, a connecting column 6 is rotatably arranged in the through hole 16, a second magnet 8 is fixedly provided at one end of the connecting column 6, the second magnet 8 is opposite to the first magnet 7, a rotating seat is fixedly provided at the other end of the connecting column 6, a limiting column 11 is also provided on the rotating seat, the free end of the limiting column 11 is located in the limiting groove 10 after passing through the rotating groove 9, and a limiting plate 12 is also fixedly provided at the free end of the limiting column 11.

[0028] like Figure 1 and Figure 2 As shown, a slide rail 2 is fixedly provided on the base plate 1 , a slider 3 is fixedly provided on the slide plate 4 , and the slide plate 4 and the base plate 1 are slidably connected to each other through the slider 3 and the slide rail 2 .

[0029] like Figure 3 As shown, a mounting groove 15 is provided on the slide 4 , and the rotating seat is located in the mounting groove 15 .

[0030] like Figure 7 As shown, the limiting column 11 is also provided with a sliding assembly 14 and a spring 13 . The spring 13 is located between the sliding assembly 14 and the limiting plate 12 . A support tube 17 is also provided outside the spring 13 . The support tube 17 is fixed to the limiting plate 12 .

[0031] like Figure 4 As shown, the sliding assembly 14 includes a washer 141 , a retainer 142 and a plurality of balls 143 . The plurality of balls 143 are rotatably disposed on the retainer 142 , and the washer 141 is located between the retainer 142 and the spring 13 .

[0032] Specifically, the limiting plate 12 is a circular plate, the limiting column 11 is a cylinder, and the cross-sectional diameter of the limiting column 11 is the same as the width of the rotation slot 9 . The diameter of the limiting plate 12 is not less than the width of the rotation slot 9 .

[0033] The working process of this embodiment is as follows: when working, the linear drive device drives the slide plate 4 to slide on the bottom plate 1, and the slide plate 4 stops when it slides to the specified position. Figure 5 As shown, since the magnetic poles of the first magnet 7 and the second magnet 8 are in opposite positions, when the first magnet 7 and the second magnet 8 are close to each other, they will attract each other and compensate for the position of the slide 4; then the rotary seat will drive the mechanical gripper to grab and discharge the product. When the mechanical gripper grabs or discharges the product, the rotary seat will rotate under the action of the rotary drive device. At this time, Figure 6As shown, the opposite poles on the two magnets will move relative to each other, and when the two poles of the same phase approach each other, a repulsive force will be generated. Under the action of the repulsive force, the rotating seat will be pushed up. When the mechanical gripper moves beyond the limit position when grabbing or releasing the material, the reaction force will be transmitted to the rotating seat. When the rotating seat is subjected to the reaction force transmitted by the mechanical gripper, it will move closer to the bottom plate 1. The magnetic force compensation can avoid damaging the product when grabbing the product or crushing the product when releasing the material.

[0034] It should be noted that only one set of magnets is provided in this embodiment. The compensation effect can be increased by providing multiple sets of magnets according to the actual working conditions. The switching of magnetic poles can also be achieved by installing electromagnets in conjunction with the electronic control system, which can meet the working conditions of a small rotation angle of the rotating seat.

[0035] The above describes an embodiment of the present invention in detail. However, the above content is only a preferred embodiment of the present invention and should not be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent application of the present invention.

Claims

1. A mechanical gripper automatic compensation positioning device, characterized by: The invention comprises a bottom plate (1), a slide plate (4) and a first magnet (7) are provided on the bottom plate (1), a through hole (16), a rotation groove (9) and a limit groove (10) are provided on the slide plate (4), the limit groove (10) is provided on the surface of the slide plate (4) opposite to the bottom plate (1), the rotation groove (9) is provided on the top surface of the slide plate (4) and is connected to the limit groove (10), a connecting column (6) is rotatably provided in the through hole (16), a second magnet (8) is fixedly provided at one end of the connecting column (6), the second magnet (8) is opposite to the first magnet (7), a rotating seat is fixedly provided at the other end of the connecting column (6), a limit column (11) is also provided on the rotating seat, the free end of the limit column (11) is located in the limit groove (10) after passing through the rotation groove (9), and a limit plate (12) is also fixedly provided at the free end of the limit column (11).

2. The automatic compensation positioning device for a mechanical gripper according to claim 1, characterized in that: A slide rail (2) is fixedly provided on the base plate (1), a slider (3) is fixedly provided on the slide plate (4), and the slide plate (4) and the base plate (1) are slidably connected to each other via the slider (3) and the slide rail (2).

3. The automatic compensation positioning device for a mechanical gripper according to claim 1, characterized in that: The slide (4) is provided with a mounting groove (15), and the rotating seat is located in the mounting groove (15).

4. The automatic compensation positioning device for a mechanical gripper according to claim 1, characterized in that: The limiting column (11) is also provided with a sliding assembly (14) and a spring (13), the spring (13) is located between the sliding assembly (14) and the limiting plate (12), and a support tube (17) is also provided on the outside of the spring (13), and the support tube (17) is fixed on the limiting plate (12).

5. The automatic compensation positioning device for a mechanical gripper according to claim 4, characterized in that: The sliding assembly (14) comprises a washer (141), a retaining frame (142) and a plurality of balls (143). The plurality of balls (143) are rotatably arranged on the retaining frame (142). The washer (141) is located between the retaining frame (142) and the spring (13).

6. The automatic compensation positioning device for a mechanical gripper according to claim 1, characterized in that: The limiting plate (12) is a circular plate, the limiting column (11) is a cylinder, and the cross-sectional diameter of the limiting column (11) is the same as the width of the rotation groove (9), and the diameter of the limiting plate (12) is not less than the width of the rotation groove (9).

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