Deep hole flexible mechanical arm
By combining X-axis, Y-axis, and Z-axis arm structures with a vision positioning device and a flexible adjustment mechanism, the problem of inaccurate positioning of traditional robotic arms in deep-hole containers has been solved, enabling stable loading and efficient production of products.
Patent Information
- Application Number
- CN202423239834.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2025-11-28
- Estimated Expiration
- 2034-12-27
AI Technical Summary
Traditional robotic arms struggle to achieve precise product positioning and stable loading in deep-hole containers, especially when the container's position is uncertain or its verticality and roundness are inaccurate. This results in a high risk of product damage, high noise levels, and low loading efficiency.
The robotic arm structure consists of X-axis, Y-axis, and Z-axis arms, combined with a vision positioning device and a deep-hole flexible material clamping mechanism, including pneumatic grippers and flexible adjustment mechanisms. Precise positioning is achieved through vision positioning, while flexible adjustment mechanisms such as long-range buffer rods and floating components ensure stable loading.
It enables precise positioning and stable loading of products in different deep-hole containers, reduces the risk of product damage, improves loading efficiency and quality, reduces noise, and meets the high standards of modern industrial production.
Smart Images
Figure CN223604370U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to mechanical arm technical field, especially relates to a deep hole flexible mechanical arm. BACKGROUND
[0002] With the rapid development of China's industry, automation demand is more and more diversified. The automatic line has relatively strict constraints on product specifications, dimensions, product positions and other conditions, however, many factories are trapped in the dilemma of having automation needs but being unable to meet the harsh requirements of product conditions and continue to adopt manual methods, which urgently needs the mechanical hand to have enough flexibility.
[0003] In the operation process of automatically putting the product into the deep hole container, in order to ensure the quality of the product, it is required that the product is not allowed to be suspended and dropped under the premise of meeting the basic motion parameters, collision is avoided, process noise is less than 30db, etc. Due to the factors such as uncertain position of the deep hole container and low manufacturing precision of the container itself, the perpendicularity and roundness of the deep hole of the container cannot be controlled within an accurate value, so that the traditional mechanical arm is difficult to achieve the required flexibility and accuracy, and improvement is urgently needed. UTILITY MODEL CONTENT
[0004] The utility model discloses a deep hole flexible mechanical arm, can realize the accurate positioning of product and deep hole container and can operate gently and stably in the product clamping and loading process, reduce the risk of product damage, effectively improve the loading efficiency and loading quality, reduce the noise in the operation process, improve the production efficiency, meet the high standard and strict requirement of modern industrial production.
[0005] The above technical purpose of the utility model is realized through the following technical scheme:
[0006] A deep hole flexible mechanical arm, including the X axle arm that is fixedly connected with the work platform, with X axle arm vertical and with X axle arm horizontal sliding cooperation Y axle arm and with Y axle arm vertical and with Y axle arm longitudinal sliding cooperation Z axle arm, X axle arm and Y axle arm and Y axle arm and Z axle arm are connected through mobile drive mechanism respectively, still include visual positioning device and deep hole flexible group material clamping mechanism, visual positioning device sets up on Z axle arm, deep hole flexible group material clamping mechanism includes pneumatic gripper and is used for driving pneumatic gripper gently loads product in deep hole container's flexible adjusting mechanism, pneumatic gripper is fixed in the bottom end of Z axle arm through flexible adjusting mechanism.
[0007] By adopting the technical scheme, the visual positioning device is used for capturing the positions of products on the work platform and the deep-hole container in real time, the control system controls the movements of the Y-axis arm and the Z-axis arm according to the position information, the movements of the Y-axis arm and the Z-axis arm drive the movement of the pneumatic gripper, so that the accurate positioning of the products in the deep-hole container after the products are gripped is realized, the deep-hole flexible material assembly clamping mechanism can realize the gripping of the products and the placing of the products in deep-hole containers with different perpendicularity and roundness, and can stably operate in the process of gripping and loading the products, so that the risk of product damage is reduced, the loading efficiency and loading quality are effectively improved, the noise and product damage risk in the operation process are reduced, the production efficiency is improved, and the high standards and strict requirements of modern industrial production are met.
[0008] The further setting of the utility model is that the flexible adjusting mechanism includes body support and long-range buffer rod which is axially slidably arranged in the body support, a compression spring is arranged between the lower end of the long-range buffer rod and the upper end of the spline shaft, the spline shaft is in key cooperation with the spline sleeve fixed at the bottom of the body support, and the lower end of the spline shaft is connected with the pneumatic gripper through the floating assembly.
[0009] By adopting the technical scheme, the long-range buffer rod cooperates with the compression spring, so that the compression spring can automatically adjust the force that the products bear when the pneumatic gripper grips the products and places the products in deep-hole containers with different depths, the stability and safety of the products in the process of gripping or loading are ensured, the product gripping failure, collision or suspended dropping and other conditions are effectively reduced, the product damage risk and the noise caused by collision in the process of placing the products are greatly reduced.
[0010] The setting of the floating assembly makes the pneumatic gripper have better adaptability in the process of gripping and placing, can adapt to the loading operation of deep-hole containers with different perpendicularity and roundness, ensures that the products can be coaxial with the deep-hole containers in the process of loading the products into deep-hole containers with different perpendicularity and roundness, and further improves the loading precision of the products.
[0011] The further setting of the utility model is that the floating assembly includes floating module seat, floating reset seat and floating head which are sequentially arranged from top to bottom, the floating module seat is fixed at the upper end of the floating reset seat, the floating module seat is provided with a through hole in axial sliding cooperation with the lower end of the spline shaft, the lower end of the spline shaft is fixedly connected with the lock nut after passing through the through hole of the floating module seat, the floating reset seat is provided with a cavity for accommodating the lock nut, the bottom of the cavity is provided with a conical hole for connecting with the floating head, the floating head includes a conical head in sliding cooperation with the conical hole and a seat body for fixedly connecting with the pneumatic gripper, and the conical head and the seat body are integrally formed.
[0012] By adopting the above technical scheme, the floating module seat can float up and down relative to the spline shaft after being axially matched with the spline shaft, the floating head can float up and down relative to the floating reset seat after being slidably matched with the conical hole at the bottom of the inner cavity of the floating reset seat, and the gap between the floating head and the wall of the conical hole changes synchronously during the up-and-down floating, so that the floating head can swing horizontally by 360 degrees, thereby driving the pneumatic clamping jaw fixedly connected with the floating head to realize flexible adaptive adjustment, ensuring that the product can be coaxial with the deep-hole container during the product loading operation on the deep-hole container with different perpendicularity and roundness, thereby flexibly adapting to the deep-hole container with different perpendicularity and roundity, greatly improving the accuracy and reliability of the pneumatic clamping jaw during the operation, and further reducing product damage caused by improper operation, thereby providing a powerful guarantee for efficient and stable automatic production.
[0013] The utility model discloses further provide as: the upper end of conical head is equipped with the accommodation cavity that extends downward, be equipped with the adjusting spring in the accommodation cavity, the upper end of adjusting spring and the bottom of spline shaft are resisted, the lower end of adjusting spring and the bottom of accommodation cavity are resisted.
[0014] By adopting the above technical scheme, the lower end of the adjusting spring is in contact with the bottom of the conical head, and the flexible adjustment of the up-and-down floating of the floating head can be realized through the elastic deformation of the spring, so that the pneumatic clamping jaw can automatically adjust the floating force of the floating head according to the weight of the product and the characteristics of the deep-hole container when grabbing and placing the product, ensuring the stability and accuracy of the product during the loading process, not only improving the loading efficiency, but also reducing the risk of product damage caused by improper operation, thereby bringing higher stability and reliability to the automatic production line.
[0015] The utility model discloses further provide as: the bottom surface of floating reset seat with the seat body top surface is equipped with a plurality of rotation stop spring, the both ends of rotation stop spring are fixed in the hole of floating reset seat bottom and seat body top respectively.
[0016] By adopting the above technical scheme, the rotation stop spring can provide appropriate resistance to prevent the floating head from rotating randomly relative to the floating reset seat during the clamping and loading operation of the pneumatic clamping jaw, thereby effectively ensuring the accuracy and stability of the clamping and loading operation.
[0017] The utility model discloses further provide as: the conical head with seat body between being equipped with a cylindrical extension, the diameter of cylindrical extension is less than the minimum diameter of conical hole.
[0018] By adopting the technical scheme, the cylindrical extension section is arranged for connecting the conical head and the seat body, thereby ensuring accurate alignment between the conical head and the floating reset seat and enabling the conical head to freely slide and swing relative to the floating reset seat, so that the pneumatic clamping jaw fixed to the base can be accurately aligned during operation, and fine operation control of the equipment is further achieved.
[0019] The utility model discloses further provide: the side wall of the body support is equipped with a proximity sensor, the spline shaft is equipped with the induction block for with proximity sensor cooperation realizes position detection on the opposite side of proximity sensor.
[0020] By adopting the technical scheme, in the process of loading products into the deep hole container, when the product bottom reaches the bottom of the deep hole container, the induction block is located below the proximity sensor, when the product bottom touches the bottom of the deep hole container and continues to advance downward, the product no longer descends, the pneumatic clamping jaw is pushed upward by the product reaction force with the floating head, and the floating head is squeezed when moving upward. The adjusting spring in contact with it, when the adjusting spring is squeezed, its rebound force will squeeze the spline shaft, so that the spline shaft slides upward relative to the spline sleeve, and the spline shaft moves upward during the process, driving the induction block fixedly connected therewith to move upward synchronously until reaching the position of the proximity sensor and triggering the proximity sensor. After receiving the signal, the proximity sensor feeds back the signal to the control system immediately, and the control system receives the signal and immediately continues to advance downward, realizing accurate control of the product placement depth and avoiding over-deep or over-shallow placement, ensuring the stability and safety of the product in the deep hole container.
[0021] The utility model discloses further provide: the long -range buffer rod, spline shaft and floating head all are equipped with the inner chamber of intercommunication, the side wall of long -range buffer rod and floating head all is equipped with with its inner chamber intercommunication's wire hole.
[0022] By adopting the technical scheme, the inner chamber and the wire hole are designed for orderly arrangement of the pipelines of the power components, thereby reducing the occupation of the external space of the equipment, improving the compactness of the overall structure, effectively preventing pipeline disorder and entanglement or wear, and further improving the reliability of the equipment operation.
[0023] The utility model discloses further provide: the mobile drive mechanism includes respectively setting in X axle arm, Y axle arm and Z axle arm on the slide seat and respectively fixed on the slide seat on driving motor, the slide seat on X axle arm and the slide rail sliding fit on X axle arm, the slide seat on Y axle arm and the slide rail sliding fit on Y axle arm, the slide seat on Z axle arm and the slide rail sliding fit on Z axle arm;
[0024] One end of the Y-axis arm is fixedly connected with the slide seat on the X-axis arm, and the slide seat on the Y-axis arm is fixedly connected with the slide seat on the Z-axis arm.
[0025] The output shaft of the driving motor on the sliding seat on the X-axis arm, Y-axis arm and Z-axis arm is fixedly provided with a driving gear, and the driving gear is engaged with the driving rack parallel to the sliding rail on the corresponding axis arm.
[0026] By adopting the above technical scheme, the driving motor on the sliding seat drives the driving gear fixedly connected with the output shaft to rotate, and the driving gear drives the sliding seat to move relative to the rack engaged therewith when rotating, and the independent or joint movement of the axis arms can be realized by starting the driving motor on the sliding seat on the axis arms, thereby ensuring the accurate positioning and operation of the pneumatic clamping jaw in the three-dimensional space.
[0027] The visual positioning device comprises a camera, a ring-shaped light source and a lens, the camera and the ring-shaped light source are fixed on the Z-axis arm, the lens is arranged on the camera, and the ring-shaped light source is located below the lens for irradiating the working platform.
[0028] By adopting the above technical scheme, the camera and the lens can clearly capture the accurate positions of the product and the deep-hole container on the working platform under the irradiation of the ring-shaped light source, thereby providing accurate position information for the control system and ensuring the high precision of the pneumatic clamping jaw when grabbing and placing the product, and realizing the high-efficiency production process.
[0029] The utility model discloses the beneficial effect is:
[0030] 1. The visual positioning device is used for capturing the positions of the product and the deep-hole container on the working platform in real time, the control system controls the movement of the Y-axis arm and the Z-axis arm according to the position information, and drives the pneumatic clamping jaw to move through the movement of the Y-axis arm and the Z-axis arm, so as to realize the accurate positioning of the product in the deep-hole container after clamping, the deep-hole flexible material assembling clamping mechanism can realize the clamping of the product and the placing of the product in the deep-hole container with different perpendicularity and roundness, and can be operated stably and gently during the clamping and loading of the product, reduces the potential damage risk, effectively improves the loading efficiency and loading quality, reduces the noise and product damage risk in the operation process, improves the production efficiency, and meets the high standards and strict requirements of modern industrial production.
[0031] 2. The long-range buffer rod in the flexible adjusting mechanism cooperates with the compression spring, so that the compression spring can automatically adjust the force of the product when the pneumatic clamping jaw clamps the product and places the product in the deep-hole container with different depths, thereby ensuring the stability and safety of the product during the clamping or loading process, effectively reducing the product clamping failure, collision or suspended drop, and greatly reducing the product damage risk and the noise caused by collision during the product placing process.
[0032] 3. The setting of the floating assembly makes the pneumatic clamping jaw have better adaptability in the grabbing and placing process, can adapt to the loading operation of deep hole containers with different perpendicularity and roundness, ensures that the product can be coaxial with the deep hole container in the product loading operation process of deep hole containers with different perpendicularity and roundness, thereby further improving the loading precision of the product.
[0033] 4. The floating module seat and the spline shaft are axially matched, and can float up and down relative to the spline shaft, the floating head and the inner cavity bottom tapered hole of the floating reset seat are slidingly matched, and can float up and down relative to the floating reset seat, and the gap between the floating head and the tapered hole wall changes synchronously in the up and down floating process, so that the floating head can swing horizontally by 360 degrees, thereby driving the pneumatic clamping jaw fixedly connected with the floating head to realize flexible adaptive adjustment, ensuring that the product can be coaxial with the deep hole container in the product loading operation process of deep hole containers with different perpendicularity and roundness, thereby flexibly adapting to deep hole containers with different perpendicularity and roundness, so that the precision and reliability of the pneumatic clamping jaw in the operation process are greatly improved, and product damage caused by improper operation is further reduced, thereby providing a powerful guarantee for efficient and stable automatic production.
[0034] 5. The design of the inner cavity and the wire hole in the long-range buffer rod, the spline shaft and the floating head is used for orderly arrangement of pipelines of various power components, thereby reducing the occupation of external space of the equipment, improving the compactness of the overall structure, and effectively preventing pipeline disorder and entanglement or wear, thereby further improving the reliability of equipment operation. BRIEF DESCRIPTION OF DRAWINGS
[0035] In order to more clearly illustrate the technical scheme in the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiment description, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to these drawings without creating creative labor.
[0036] Figure 1 It is the overall structure schematic diagram of a deep hole flexible mechanical arm of the utility model.
[0037] Figure 2 It is Figure 1 The local enlarged schematic diagram of A in
[0038] Figure 3 It is the sectional structure schematic diagram of a deep hole flexible material clamping mechanism in a deep hole flexible mechanical arm of the utility model when loading products.
[0039] Figure 4 It is Figure 3 The local enlarged schematic diagram of B in
[0040] Figure 5 is Figure 3 is a partial enlarged schematic view of C in the figure.
[0041] Figure 6 is a structural schematic view of a moving driving mechanism in a deep hole flexible mechanical arm.
[0042] Figure 7 is a cross-sectional structural schematic view of a deep hole flexible material assembly clamping mechanism in a deep hole flexible mechanical arm when loading products in deep hole containers with different perpendicularity.
[0043] In the figure, 1, working platform; 2, X-axis arm; 3, Y-axis arm; 4, Z-axis arm; 5, moving driving mechanism; 51, sliding seat; 52, driving motor; 53, sliding rail; 54, driving gear; 55, driving rack; 6, visual positioning device; 61, camera; 62, annular light source; 63, lens; 7, deep hole flexible material assembly clamping mechanism; 71, pneumatic clamping jaw; 72, flexible adjusting mechanism; 721, body support; 722, long-range buffer rod; 723, spline shaft; 724, compression spring; 725, spline sleeve; 8, deep hole container; 9, floating assembly; 91, floating module seat; 92, floating reset seat; 93, floating head; 94, through hole; 95, locking nut; 96, cavity; 97, conical hole; 98, conical head; 99, seat body; 90, cylindrical extension section; 10, containing cavity; 11, adjusting spring; 12, rotation-stopping spring; 13, proximity sensor; 14, inductive block; 15, wire hole. DETAILED DESCRIPTION
[0044] The technical solutions of the present application will be described clearly and completely below in conjunction with specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.
[0045] As Figure 1As shown in the figure, a deep hole flexible mechanical arm comprises an X-axis arm 2 fixedly connected with a work platform 1, a Y-axis arm 3 vertically connected with the X-axis arm 2 and horizontally slidingly fitted with the X-axis arm 2, and a Z-axis arm 4 vertically connected with the Y-axis arm 3 and longitudinally slidingly fitted with the Y-axis arm 3, the X-axis arm 2 and the Y-axis arm 3 and the Y-axis arm 3 and the Z-axis arm 4 are connected through a moving driving mechanism 5, further comprising a visual positioning device 6 and a deep hole flexible group material clamping mechanism 7, the visual positioning device 6 is arranged on the Z-axis arm 4, the deep hole flexible group material clamping mechanism 7 comprises a pneumatic clamping jaw 71 and a flexible adjusting mechanism 72 for driving the pneumatic clamping jaw 71 to gently load products in a deep hole container 8, the pneumatic clamping jaw 71 is fixed at the bottom end of the Z-axis arm 4 through the flexible adjusting mechanism 72.
[0046] Further, as shown in the figures, Figure 2 the flexible adjusting mechanism 72 comprises a body support 721 and a long-range buffer rod 722 axially slidingly arranged in the body support 721, a compression spring 724 is arranged between the lower end of the long-range buffer rod 722 and the upper end of a spline shaft 723, the spline shaft 723 is keyed with a spline sleeve 725 fixed at the bottom of the body support 721, and the lower end of the spline shaft 723 is connected with the pneumatic clamping jaw 71 through a floating assembly 9.
[0047] Further, as shown in the figures, Figure 3 and Figure 5 the floating assembly 9 comprises a floating module seat 91, a floating reset seat 92 and a floating head 93 arranged in sequence from top to bottom, the floating module seat 91 is fixed at the upper end of the floating reset seat 92, the floating module seat 91 is provided with a through hole 94 axially slidingly fitted with the lower end of the spline shaft 723, the lower end of the spline shaft 723 is fixedly connected with a locking nut 95 through the through hole 94 of the floating module seat 91, the floating reset seat 92 is provided with a cavity 96 for accommodating the locking nut 95, the bottom of the cavity 96 is provided with a tapered hole 97 for connecting with the floating head 93, the floating head 93 comprises a tapered head 98 slidingly fitted with the tapered hole 97 and a seat body 99 for fixedly connecting with the pneumatic clamping jaw 71, and the tapered head 98 and the seat body 99 are integrally formed.
[0048] Further, as shown in the figures, Figure 3 and Figure 5 the upper end of the tapered head 98 is provided with an accommodating cavity 10 extending downward, the accommodating cavity 10 is provided with an adjusting spring 11, the upper end of the adjusting spring 11 abuts against the bottom of the spline shaft 723, and the lower end of the adjusting spring 11 abuts against the bottom of the accommodating cavity 10.
[0049] Further, as shown in the figures, Figure 3 and Figure 5As shown, a plurality of rotation-stopping springs 12 are arranged between the bottom surface of the floating reset seat 92 and the top surface of the seat body 99, and the two ends of the rotation-stopping springs 12 are respectively fixed in the opposite holes in the bottom of the floating reset seat 92 and the top of the seat body 99.
[0050] Further, as shown in Figure 3 and Figure 5 , a cylindrical extension section 90 is arranged between the conical head 98 and the seat body 99, and the diameter of the cylindrical extension section 90 is smaller than the minimum diameter of the conical hole 97.
[0051] Further, as shown in Figure 3 and Figure 4 , a proximity sensor 13 is fixed on the side wall of the body bracket 721, and the side of the spline shaft 723 opposite the proximity sensor 13 is provided with a sensing block 14 for cooperating with the proximity sensor 13 to achieve position detection.
[0052] Further, as shown in Figure 3 and Figure 5 , the long-range buffer rod 722, the spline shaft 723 and the floating head 93 are all provided with internal cavities that are in communication with each other, and the side walls of the long-range buffer rod 722 and the floating head 93 are both provided with wire holes 15 that are in communication with the internal cavities thereof.
[0053] Further, as shown in Figure 1 and Figure 6 , the movement driving mechanism 5 includes sliding seats 51 arranged on the X-axis arm 2, the Y-axis arm 3 and the Z-axis arm 4 respectively, and driving motors 52 fixed on the sliding seats 51 respectively, the sliding seat 51 on the X-axis arm 2 is in sliding cooperation with the slide rail 53 on the X-axis arm 2, the sliding seat 51 on the Y-axis arm 3 is in sliding cooperation with the slide rail 53 on the Y-axis arm 3, and the sliding seat 51 on the Z-axis arm 4 is in sliding cooperation with the slide rail 53 on the Z-axis arm 4.
[0054] One end of the Y-axis arm 3 is fixedly connected with the sliding seat 51 on the X-axis arm 2, and the sliding seat 51 on the Y-axis arm 3 is fixedly connected with the sliding seat 51 on the Z-axis arm 4.
[0055] The output shafts of the driving motors 52 on the sliding seats 51 on the X-axis arm 2, the Y-axis arm 3 and the Z-axis arm 4 are all fixedly provided with driving gears 54, and the driving gears 54 are respectively in engagement with the driving racks 55 parallel to the slide rails 53 on the corresponding axis arms.
[0056] Further, as shown in Figure 1 and Figure 2As shown, the visual positioning device 6 comprises a camera 61, a ring light source 62 and a lens 63, the camera 61 and the ring light source 62 are fixed on the Z-axis arm 4, and the lens 63 is defined on the camera 61, and the ring light source 62 is located below the lens 63 for irradiating the workbench 1.
[0057] The working principle of the utility model: the visual positioning device 6 utilizes the camera 61 and the lens 63 to capture the accurate position of the product on the workbench 1 and the deep hole container 8 under the irradiation condition of the ring light source 62, so as to provide accurate position information for the control system, and the control system controls the movement of the Y-axis arm 3 and the Z-axis arm 4 according to the position information, drives the pneumatic gripper 71 to move through the movement of the Y-axis arm 3 and the Z-axis arm 4, so as to realize the loading of the product in the deep hole container 8 after clamping.
[0058] The long-range buffer rod 722 in the deep hole flexible assembly clamping mechanism 7 cooperates with the compression spring 724, so that the compression spring 724 can automatically adjust the force of the product when the pneumatic gripper 71 clamps the product and puts the product into the deep hole container 8 with different depths, ensuring the stability and safety of the product in the clamping or loading process, effectively reducing the product clamping failure, collision or suspended placement and other situations, greatly reducing the risk of product damage and the noise generated by collision during product placement;
[0059] The setting of the floating assembly 9 makes the pneumatic gripper 71 have better adaptability during the grabbing and placing process, that is, the floating module seat 91 in the floating assembly 9 can float up and down relative to the spline shaft 723 after being axially matched with the spline shaft 723, the floating head 93 can float up and down relative to the floating reset seat 92 after being slidingly matched with the conical hole 97 at the bottom of the inner cavity 96 of the floating reset seat 92, and the gap between the floating head 93 and the wall of the conical hole 97 changes synchronously during the up and down floating process, so that the floating head 93 can swing horizontally by 360°, thereby driving the pneumatic gripper 71 fixedly connected with the floating head 93 to realize flexible adaptive adjustment, ensuring that the product can be coaxial with the deep hole container 8 during the product loading operation on the deep hole container 8 with different perpendicularity and roundness, thereby flexibly adapting to the deep hole container 8 with different perpendicularity and roundness (such as Figure 3 and Figure 7 As shown), so that the accuracy and reliability of the pneumatic gripper 71 during the operation process are greatly improved, and the product damage caused by improper operation is further reduced, thereby providing a powerful guarantee for efficient and stable automatic production.
[0060] In the process of loading products into the deep hole container 8, when the bottom of the product reaches the bottom of the deep hole container 8, the induction block 14 is located below the proximity sensor 13, when the bottom of the product touches the bottom of the deep hole container 8 and continues to advance downward, the product no longer descends, the pneumatic clamping jaw 71 is pushed upward with the floating head 93 under the reaction force of the product, when the floating head 93 moves upward, it will squeeze the adjusting spring 11 in contact with it, when the adjusting spring 11 is squeezed, its rebound force will squeeze the spline shaft 723, so that the spline shaft 723 slides upward relative to the spline sleeve 725, the spline shaft 723 moves upward, the spline shaft 723 moves upward. The fixed connection with it synchronously moves upward until it reaches the same height as the proximity sensor 13 and triggers the proximity sensor 13, after the proximity sensor 13 receives the signal, it immediately feeds back the signal to the control system, after the control system receives the signal, it immediately continues to advance downward, realizing accurate control of the placement depth of the product, avoiding over-deep or over-shallow placement.
[0061] Through the deep hole flexible assembly clamping mechanism 7, the product can be clamped and placed in the deep hole container 8 with different verticality and roundness, and the product can be operated gently and stably during clamping and loading, reducing the risk of product damage, effectively improving the loading efficiency and loading quality, reducing the noise and product damage risk during operation, improving the production efficiency, meeting the high standards and strict requirements of modern industrial production.
Claims
1. A deep hole flexible mechanical arm, comprising an X-axis arm (2) fixedly connected with a working platform (1), a Y-axis arm (3) perpendicular to the X-axis arm (2) and horizontally slidingly fitted with the X-axis arm (2), and a Z-axis arm (4) perpendicular to the Y-axis arm (3) and longitudinally slidingly fitted with the Y-axis arm (3), characterized in that: X-axis arm (2) and Y-axis arm (3) and Y-axis arm (3) and Z-axis arm (4) are connected through movement driving mechanism (5), also includes visual positioning device (6) and deep hole flexible group material clamping mechanism (7), visual positioning device (6) is arranged on Z-axis arm (4), deep hole flexible group material clamping mechanism (7) includes pneumatic gripper (71) and be used for gently load product in deep hole container (8) with pneumatic gripper (71) flexible adjusting mechanism (72), pneumatic gripper (71) is fixed in the bottom end of Z-axis arm (4) through flexible adjusting mechanism (72).
2. The flexible deep hole robot of claim 1, wherein: The flexible adjusting mechanism (72) includes a body support (721) and a long-range buffer rod (722) axially slidingly disposed in the body support (721), a compression spring (724) is provided between the lower end of the long-range buffer rod (722) and the upper end of the spline shaft (723), the spline shaft (723) is keyed with the spline sleeve (725) fixed at the bottom of the body support (721), and the lower end of the spline shaft (723) is connected with the pneumatic gripper (71) through the floating assembly (9).
3. The flexible deep hole robot of claim 2, wherein: The floating assembly (9) includes a floating module seat (91), a floating reset seat (92) and a floating head (93) arranged in sequence from top to bottom, the floating module seat (91) is fixed at the upper end of the floating reset seat (92), the floating module seat (91) is provided with a through hole (94) axially slidingly matched with the lower end of the spline shaft (723), the lower end of the spline shaft (723) is fixedly connected with the lock nut (95) after passing through the through hole (94) of the floating module seat (91), the floating reset seat (92) is provided with a cavity (96) for accommodating the lock nut (95), the bottom of the cavity (96) is provided with a tapered hole (97) for connecting with the floating head (93), the floating head (93) includes a tapered head (98) slidingly matched with the tapered hole (97) and a seat body (99) for fixedly connecting with the pneumatic gripper (71), and the tapered head (98) and the seat body (99) are integrally formed.
4. The flexible deep hole robot of claim 3, wherein: The upper end of the tapered head (98) is provided with a receiving cavity (10) extending downward, the receiving cavity (10) is provided with an adjusting spring (11), the upper end of the adjusting spring (11) abuts against the bottom of the spline shaft (723), and the lower end of the adjusting spring (11) abuts against the bottom of the receiving cavity (10).
5. The flexible deep hole robot of claim 3, wherein: A plurality of rotation stopping springs (12) are provided between the bottom surface of the floating reset seat (92) and the top surface of the seat body (99), and the two ends of the rotation stopping spring (12) are fixed in the opposite holes in the bottom of the floating reset seat (92) and the top of the seat body (99), respectively.
6. The flexible deep hole robot of claim 3, wherein: A cylindrical extension (90) is provided between the tapered head (98) and the seat body (99), and the diameter of the cylindrical extension (90) is smaller than the minimum diameter of the tapered hole (97).
7. The flexible deep hole robot of claim 3, wherein: A proximity sensor (13) is fixed on the side wall of the body support (721), and a sensing block (14) for cooperating with the proximity sensor (13) to realize position detection is provided on the side opposite to the proximity sensor (13) of the spline shaft (723).
8. The flexible deep hole robot of claim 3, wherein: The long-range buffer rod (722), the spline shaft (723) and the floating head (93) are all provided with inner cavities in communication with each other, and the side walls of the long-range buffer rod (722) and the floating head (93) are both provided with wire holes (15) in communication with the inner cavities.
9. The flexible deep hole robot of claim 1, wherein: The movement driving mechanism (5) comprises sliding seats (51) arranged on the X-axis arm (2), the Y-axis arm (3) and the Z-axis arm (4) respectively and driving motors (52) fixed on the sliding seats (51) respectively, the sliding seat (51) on the X-axis arm (2) is in sliding fit with the slide rail (53) on the X-axis arm (2), the sliding seat (51) on the Y-axis arm (3) is in sliding fit with the slide rail (53) on the Y-axis arm (3), and the sliding seat (51) on the Z-axis arm (4) is in sliding fit with the slide rail (53) on the Z-axis arm (4); One end of the Y-axis arm (3) is fixedly connected with the sliding seat (51) on the X-axis arm (2), and the sliding seat (51) on the Y-axis arm (3) is fixedly connected with the sliding seat (51) on the Z-axis arm (4); The output shafts of the driving motors (52) on the sliding seats (51) on the X-axis arm (2), the Y-axis arm (3) and the Z-axis arm (4) are all fixedly provided with driving gears (54), and the driving gears (54) are in mesh with the driving racks (55) parallel to the slide rails (53) on the corresponding shaft arms respectively.
10. The flexible deep hole robotic arm of claim 1, wherein: The visual positioning device (6) comprises a camera (61), a ring-shaped light source (62) and a lens (63), the camera (61) and the ring-shaped light source (62) are fixed on the Z-axis arm (4), the lens (63) is defined on the camera (61), and the ring-shaped light source (62) is located below the lens (63) for irradiating the work platform (1).