Floating mechanism with adjustable force and robot

Abstract

The utility model discloses a floating mechanism capable of adjusting force and a robot, the floating mechanism capable of adjusting force comprises an outer shell which is a hollow assembly and is provided with a through hole; the supporting rod is a T-shaped assembly, and the supporting rod is arranged in the through hole and used for being connected with a flange plate at the tail end of the robot; the limiting plate is arranged on the supporting rod and is used for limiting the supporting rod in the through hole; the metal block is arranged on the side wall in the outer shell; the electromagnet is arranged on the supporting rod and used for being connected with a power source, and the power source can adjust the electromagnetic force between the electromagnet and the metal block according to the output power. According to the force-adjustable floating mechanism and the robot, the output power of the power source is regulated and controlled, so that the attraction force of the electromagnet can be regulated and controlled, the floating force is changed, the force-adjustable floating mechanism is suitable for various environments, assembling work is conveniently completed, and the compatibility of the floating mechanism is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of connection components, and more specifically, to a floating mechanism with adjustable force. In addition, the utility model also relates to a robot comprising the floating mechanism with adjustable force. Background Art

[0002] As the market for robotics applications expands, demand for diverse robotic applications is also growing. In recent years, robot applications have evolved from handling and palletizing, which require minimal precision, to high-precision assembly scenarios such as splicing and polishing. High-precision assembly often requires the robot's end-of-line tooling to have excellent tolerances. Currently, most robots on the market are floating robots, some of which also use sensors to achieve assembly goals. However, existing floating mechanisms have the following main issues: 1. A single structure typically achieves floating using elastic components such as springs. This structure has poor compatibility, and different products or different product departments may require different floating forces, which a spring structure cannot meet. 2. Floating heads made of elastic materials are difficult to manufacture and expensive, often relying on the material's inherent elasticity to achieve floating. The floating amount is very small, 1-2mm, and cannot meet the needs of assembly scenarios requiring large tolerances.

[0003] In summary, how to improve the compatibility of the floating mechanism is an urgent problem to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, an object of the present invention is to provide a floating mechanism with adjustable force, which has stronger compatibility.

[0005] Another object of the present utility model is to provide a robot comprising the above-mentioned floating mechanism with adjustable force.

[0006] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0007] A floating mechanism with adjustable force, comprising:

[0008] The outer shell is a hollow component, and a through hole is provided on the outer shell;

[0009] The support rod is a T-shaped component, the support rod is arranged in the through hole and is used to connect with the end flange of the robot;

[0010] a limiting plate, provided on the support rod and used to limit the support rod in the through hole;

[0011] a metal block, arranged on a side wall inside the outer shell;

[0012] An electromagnet is provided on the support rod, and the electromagnet is used to be connected to a power source, and the power source can adjust the electromagnetic force between the electromagnet and the metal block according to the output power.

[0013] Preferably, there are two limit plates and both limit plates are arranged on the support rod, the two limit plates are arranged inside and outside the outer shell respectively, and the two limit plates are arranged perpendicular to the support rod.

[0014] Preferably, the limiting plate is provided with a plurality of circular grooves, which are evenly distributed on the outer circumference of the limiting plate. A ball is provided in each of the circular grooves, and the ball is provided on the side of the limiting plate facing the outer shell and is abutted against the outer shell.

[0015] Preferably, a locking mechanism is provided on the limiting plate, and the locking mechanism is used to achieve the clamping and limiting of the limiting plate and the outer shell.

[0016] Preferably, the locking mechanism includes a locking cylinder and a positioning pin shaft, the output end of the locking cylinder is fixedly connected to the positioning pin shaft, and the outer shell is provided with a through hole corresponding to the locking cylinder.

[0017] Preferably, the support rod is a hollow tubular member, both ends of the support rod are provided with through holes, and wires are provided inside the support rod, and the wires are used to connect the electromagnet with the power supply.

[0018] Preferably, a bottom mounting plate and a floating block are provided on the side of the support rod away from the limiting plate, the electromagnet is provided inside the floating block, the floating block is fixed to the support rod, and the bottom mounting plate is fixedly connected to the outer shell.

[0019] Preferably, the cross-section of the outer shell is a tubular component with an opening at one end and a closed end, the limit plate is a disc-shaped component, and the through hole is provided between the boss of the support rod and the limit plate and inside the floating block.

[0020] Preferably, it further comprises a control system, wherein the control system is used to be connected to the power supply and to control the output current and output voltage of the power supply.

[0021] A robot comprises a floating mechanism with adjustable force, wherein the floating mechanism with adjustable force is any one of the above-mentioned floating mechanisms with adjustable force.

[0022] The utility model provides a floating mechanism with adjustable force. The outer shell of the floating mechanism is a hollow structure, and a through hole is provided on the outer shell. A support rod is provided in the through hole. The support rod is used to be fixedly connected to the end flange of the robot. The support rod is arranged in the through hole through a limit plate. The limit plate can prevent the support rod from separating from the outer shell. The metal block is arranged on the inner side wall of the outer shell. An electromagnet fixed to the support rod is also provided in the outer shell. The electromagnet is connected to the power supply. By regulating the output power of the power supply, the suction force of the electromagnet can be regulated, thereby changing the floating force. When subjected to a stuck force, the floating mechanism can easily float and shake, guide the assembly or grasping component angle to return to the correct position, and continue normal operation. It is suitable for a variety of environments, facilitates the completion of assembly work, and improves the compatibility of the floating mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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 merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0024] Figure 1 This is a schematic diagram of the structure of the floating mechanism with adjustable force provided by the utility model;

[0025] Figure 2 A schematic diagram of the internal structure of the floating mechanism with adjustable force provided by the utility model;

[0026] Figure 3 A schematic structural diagram of the support rod and limit plate connection member provided by the present invention;

[0027] Figure 4 A schematic structural diagram of the limiting plate provided by the utility model;

[0028] Figure 5 A schematic diagram of the internal structure of the force-adjustable floating mechanism provided by the present invention from another perspective;

[0029] Figure 6 This is a schematic diagram of the structure of the electric wire, bottom mounting plate, metal block and electromagnet assembly provided by the utility model;

[0030] Figure 7 This is a structural diagram of the connection between the floating mechanism with adjustable force provided by the utility model and the flange at the end of the robot.

[0031] Reference numerals:

[0032] 1-Outer shell; 2-Support rod; 3-Limiting plate; 4-Metal block; 5-Electromagnet; 6-Ball; 7-Locking cylinder; 8-Wire; 9-Bottom mounting plate; 10-Floating block; 11-Location pin. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] The core of the utility model is to provide a floating mechanism with adjustable force. The floating mechanism with adjustable force can be applied to a variety of environments, is convenient for completing assembly work, and improves the compatibility of the floating mechanism.

[0035] Another core of the present invention is to provide a robot comprising the above-mentioned floating mechanism with adjustable force.

[0036] It should be noted that the directions or positional relationships indicated by “upper”, “lower”, “front”, “back”, etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on this application.

[0037] The present application provides a floating mechanism with adjustable force, comprising: an outer shell 1, a support rod 2, a limit plate 3, a metal block 4 and an electromagnet 5;

[0038] The outer shell 1 is a hollow component, and a through hole is provided on the outer shell 1;

[0039] The support rod 2 is a T-shaped component, which is arranged in the through hole and is used to connect with the end flange of the robot;

[0040] The limiting plate 3 is provided on the support rod 2 and is used to limit the support rod 2 in the through hole;

[0041] The metal block 4 is provided on the side wall inside the outer shell 1;

[0042] The electromagnet 5 is provided on the support rod 2 and is used to be connected to a power source. The power source can adjust the electromagnetic force between the electromagnet 5 and the metal block 4 according to the output power.

[0043] For details, please refer to the attached Figure 2 , Attachment Figure 3 With attached Figure 7The support rod 2 is a T-shaped component. An electromagnet 5 is installed at the end of the support rod 2 that extends into the outer shell 1. The electromagnet 5 is fixedly connected to a floating block 10. A metal block 4 is installed on the inner sidewall of the outer shell 1. The electromagnet 5 is electrically connected to a power supply. By controlling the voltage and current output by the power supply, suction is achieved between the electromagnet 5 and the metal block 4. When most industrial robots need to operate through holes, they often get stuck, triggering alarms and halting operations due to slight deviations in the angle of insertion for assembly or gripping components. By adding this floating component, the robot can easily float and sway when subjected to a jamming force, guiding the assembly or gripping component back to the correct angle and allowing normal operation to resume.

[0044] Optionally, the metal block 4 may be an iron block, which has low cost and is convenient for mass production.

[0045] Optionally, the electromagnet 5 can be replaced by a coil, which can still utilize the electromagnetic induction phenomenon to output force and achieve floating.

[0046] Based on the above embodiment, two limit plates 3 are provided and both limit plates 3 are provided on the support rod 2 . The two limit plates 3 are respectively provided inside and outside the outer shell 1 , and both limit plates 3 are provided perpendicular to the support rod 2 .

[0047] Specifically, the two limit plates 3 are perpendicular to the support rod, and the sizes of the two limit plates 3 are larger than the through holes on the outer shell 1. The two limit plates 3 are respectively arranged on the support rod 2 on the side outside and the side inside the outer shell 1. It should be noted that since the through holes are circular holes, the support rod 2 is preferably a circular component, which can ensure the limiting effect.

[0048] Optionally, the shape of the limiting plate 3 may be a square, etc., but it must be ensured that it cannot pass through the through hole.

[0049] Based on the above embodiment, a plurality of circular grooves are provided on the limiting plate 3, and the plurality of circular grooves are evenly distributed on the outer periphery of the limiting plate 3. A ball 6 is provided in each circular groove, and the ball 6 is provided on the side of the limiting plate 3 facing the outer shell 1 and is abutted against the outer shell 1.

[0050] Specifically, as attached Figure 4 As shown, circular grooves are provided on both limit plates 3, the opening direction of the circular grooves is toward the upper top of the outer shell 1, and balls 6 are provided in the circular grooves. The balls 6 are spherical components, and each ball 6 can roll in the circular grooves. The balls 6 are all arranged in contact with the top of the outer shell 1, and rolling friction is used during the rolling process of the balls 6 to minimize friction.

[0051] On the basis of the above embodiment, a locking mechanism is provided on the limiting plate 3 , and the locking mechanism is used to achieve the clamping and limiting of the limiting plate 3 and the outer shell 1 .

[0052] Specifically, a locking mechanism is provided on the limit plate 3. When the floating force is not needed, the locking mechanism is closed, and all components of the entire floating mechanism are engaged with each other to keep their relative positions fixed. When the floating force is needed, the locking mechanism is opened, so that the limit plate 3 and the outer shell 1 can rotate relative to each other, which is convenient for adjustment using the floating force.

[0053] Based on the above embodiment, the locking mechanism includes a locking cylinder 7 and a positioning pin 11 . The output end of the locking cylinder 7 is fixedly connected to the positioning pin 11 , and a through hole corresponding to the locking cylinder 7 is provided on the outer shell 1 .

[0054] Specifically, the locking cylinder 7 is arranged on the outer peripheral edge of the limit plate 3, and the output end of the locking cylinder 7 is set downward, that is, toward the upper end surface of the outer shell 1. The output end of the locking cylinder 7 is fixedly connected to the positioning pin shaft 11. By extending the locking cylinder 7, the positioning pin shaft 11 can be inserted into the through hole at the upper end of the outer shell 1, so that the limit plate and the outer shell 1 are clamped and fixed.

[0055] In some embodiments, the support rod 2 is a hollow tubular member, and a plurality of through holes are provided at both ends of the support rod 2. An electric wire 8 is provided inside the support rod 2, and the electric wire 8 is used to connect the electromagnet 5 with a power source.

[0056] Specifically, the support rod 2 is set to be hollow, which is convenient for installing the wire 8 and can improve the integration of the equipment. Figure 5 With attached Figure 6 As shown, generally, four electromagnets 5 are provided and evenly distributed on the support rod 2 , and each electromagnet 5 is connected to the power supply via a wire 8 . Each electromagnet 5 is connected to the power supply in parallel to avoid mutual interference.

[0057] Based on the above embodiment, a bottom mounting plate 9 and a floating block 10 are provided on the side of the support rod 2 away from the limit plate 3, the electromagnet 5 is arranged inside the floating block 10, the floating block 10 is fixed to the support rod 2, and the bottom mounting plate 9 is fixedly connected to the outer shell 1.

[0058] Specifically, the support rod 2 is arranged in contact with the bottom mounting plate 9, and the floating block 10 is sleeved on the outer periphery of the support rod 2. The floating block 10 is provided with multiple grooves for storing the electromagnets 5, and multiple electromagnets 5 are all arranged in the grooves. The rotation of the electromagnets 5 can drive the rotation of the floating block 10.

[0059] Based on the above embodiment, the cross-section of the outer shell 1 is a tubular component with an opening at one end and a closed end. The limit plate 3 is a disc-shaped component, and the through hole is provided between the boss of the support rod 2 and the limit plate 3 and inside the floating block 10.

[0060] Specifically, between the boss of the support rod 2 and the limiting plate 3, that is, the Figure 1 A through hole is provided at the upper end of the support rod 2, and the through hole at the lower end of the support rod 2 is arranged corresponding to the floating block 10, which can avoid affecting the connection between the wire 8 and the power supply when the boss of the support rod 2 is connected to the end of the robot, thereby improving the integration of the equipment.

[0061] Based on the above embodiment, a control system is further included, which is used to connect to the power supply and control the output current and output voltage of the power supply.

[0062] Specifically, by controlling the power supply through the control system, the difficulty of operation can be reduced and the control accuracy of the output current and output voltage of the power supply can be improved, so as to facilitate the regulation of the suction force of the electromagnet 5.

[0063] In addition to the above-mentioned floating mechanism with adjustable force, the present invention also provides a robot including the floating mechanism with adjustable force disclosed in the above-mentioned embodiment. For the structures of other parts of the robot, please refer to the prior art and will not be described in detail herein.

[0064] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0065] The above is a detailed introduction to the floating mechanism and robot with adjustable force provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A floating mechanism with adjustable force, characterized in that: include: The outer shell (1) is a hollow component, and a through hole is provided on the outer shell (1); The support rod (2) is a T-shaped component, the support rod (2) is arranged in the through hole and the support rod (2) is used to connect with the end flange of the robot; A limiting plate (3) is provided on the support rod (2) and is used to limit the position of the support rod (2) in the through hole; A metal block (4) is provided on a side wall inside the outer shell (1); An electromagnet (5) is provided on the support rod (2), and the electromagnet (5) is used to be connected to a power source, and the power source can adjust the electromagnetic force between the electromagnet (5) and the metal block (4) according to the output power.

2. The floating mechanism with adjustable force according to claim 1, characterized in that: Two limiting plates (3) are provided, and both limiting plates (3) are provided on the support rod (2). The two limiting plates (3) are provided inside and outside the outer shell (1), respectively. Both limiting plates (3) are provided perpendicularly to the support rod (2).

3. The floating mechanism with adjustable force according to claim 2, characterized in that: The limiting plate (3) is provided with a plurality of circular grooves, which are evenly distributed on the outer periphery of the limiting plate (3). A ball (6) is provided in each of the circular grooves. The ball (6) is provided on the side of the limiting plate (3) facing the outer shell (1) and is arranged in contact with the outer shell (1).

4. The floating mechanism with adjustable force according to claim 3, characterized in that: A locking mechanism is provided on the limiting plate (3), and the locking mechanism is used to achieve the clamping and limiting of the limiting plate (3) and the outer shell (1).

5. The floating mechanism with adjustable force according to claim 4, characterized in that: The locking mechanism comprises a locking cylinder (7) and a positioning pin (11), the output end of the locking cylinder (7) is fixedly connected to the positioning pin (11), and the outer shell (1) is provided with a through hole corresponding to the locking cylinder (7).

6. The floating mechanism with adjustable force according to claim 1, characterized in that: The support rod (2) is a hollow tubular member, and a plurality of through holes are provided at both ends of the support rod (2). An electric wire (8) is provided inside the support rod (2), and the electric wire (8) is used to connect the electromagnet (5) to the power supply.

7. The floating mechanism with adjustable force according to claim 6, characterized in that: A bottom mounting plate (9) and a floating block (10) are provided on a side of the support rod (2) away from the limiting plate (3); the electromagnet (5) is provided inside the floating block (10); the floating block (10) is fixed to the support rod (2); and the bottom mounting plate (9) is fixedly connected to the outer shell (1).

8. The floating mechanism with adjustable force according to claim 7, characterized in that: The cross section of the outer shell (1) is a tubular component with an opening at one end and a closed end at the other end; the limit plate (3) is a disc-shaped component; and the through hole is provided between the boss of the support rod (2) and the limit plate (3) and inside the floating block (10).

9. The floating mechanism with adjustable force according to any one of claims 1 to 8, characterized in that: The system also includes a control system, which is used to connect to the power supply and control the output current and output voltage of the power supply.

10. A robot comprising a floating mechanism with adjustable force, characterized in that: The floating mechanism with adjustable force is the floating mechanism with adjustable force as described in any one of claims 1 to 9.

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