Floating mechanism and floating clamping jaw device

Abstract

The utility model discloses a floating mechanism. The floating mechanism comprises a power part sleeve and a floating part sleeve, wherein the floating part sleeve is connected with the power part sleeve and can be switched between a complete positioning mode and an incomplete positioning mode. The power part sleeve comprises an air cylinder, the floating part sleeve comprises a positioning assembly, and the air cylinder acts to drive the power part sleeve and the positioning assembly to be connected in a matched mode or release the matched state. One end of the positioning assembly is fixed to the floating part sleeve, the other end of the positioning assembly is connected to the power part sleeve in a sliding mode, and the positioning assembly comprises a positioning rhombic pin and a positioning column pin which is arranged with the positioning rhombic pin in a spaced mode. The utility model further discloses a floating clamping jaw device. The floating mechanism is simple in mechanical structure, low in cost and easy to maintain, and can be easily switched between a complete positioning state and an incomplete positioning state; according to the floating clamping jaw device, a clamping jaw can be in a multi-degree-of-freedom state in the grabbing step and is accurately controlled in the releasing step, and it is guaranteed that the installation position of a workpiece is accurate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machinery, in particular to a floating mechanism for a mechanical claw and a floating claw device. BACKGROUND

[0002] In the automation industry, the claw is an indispensable part of the automatic production line and the robot operation due to its unique function and advantage.

[0003] The claw is used in the links of automatic sorting, carrying and storage, when the claw contacts the object, the claw or the clamp is closed by applying pressure to clamp the object, when the clamping needs to be released, the claw releases the pressure applied to the object, and the claw or the clamp is opened to release the object.

[0004] In the grabbing step, the claw is usually required to ensure the accuracy and stability of grabbing, and the claw is precisely controlled and positioned, but due to the machining error of the workpiece and the positioning error during transmission, the claw often fails to grab or damages the workpiece, which is easy to cause the workpiece to deviate or deform.

[0005] In the prior art, in order to make the claw have strong adaptability to the shape and position of the grabbed workpiece, and in the release step, the claw can be precisely controlled to stably and accurately fix the object at the required position, a complex transmission mechanism and multiple sensors are usually installed to monitor the state of the claw and the position of the object in real time, which causes the problem of complex claw mechanism, high cost and difficult maintenance. CONTENT OF THE INVENTION

[0006] Therefore, the present application provides a floating mechanism with simple mechanical structure, low cost and easy maintenance, and capable of easily switching between the completely positioned state and the incompletely positioned state, and provides a floating claw device capable of realizing the multi-degree-of-freedom state of the claw in the grabbing step and being precisely controlled in the release step.

[0007] In one aspect, the floating mechanism provided by the present application comprises a power part sleeve and a floating part sleeve connected with the power part sleeve and capable of switching between the completely positioned state and the incompletely positioned state.

[0008] Preferably, the power part sleeve comprises a gas cylinder, the floating part sleeve comprises a positioning assembly, and the action of the gas cylinder drives the power part sleeve to be connected with or disconnected from the positioning assembly.

[0009] Preferably, one end of the positioning assembly is fixed to the floating part sleeve, and the other end is slidably connected to the power part sleeve, and the positioning assembly comprises a positioning diamond pin and a positioning column pin arranged at intervals with the positioning diamond pin.

[0010] The positioning diamond pin outer periphery has a symmetrical circular arc positioning surface.

[0011] Preferably, the power part sleeve further comprises a guide rod, a support plate and a moving plate.

[0012] The moving plate has diamond pin positioning holes and pin positioning holes corresponding to the positioning diamond pin and the positioning pin.

[0013] Preferably, the lower part of the guide rod is fixedly connected with the piston rod of the air cylinder, the middle part penetrates through the support plate and is fixedly connected with the support plate, and the upper part penetrates through and is slidably connected with the moving plate.

[0014] Further comprising a cylinder fixing plate, a fixing shaft and a stroke adjusting assembly, the cylinder fixing plate is fixedly arranged on the end face of the side where the piston of the air cylinder extends; the lower end of the fixing shaft is fixedly connected with the cylinder fixing plate, the middle part penetrates through and is slidably connected with the support plate, and the upper part penetrates through and is connected with the moving plate; the stroke adjusting assembly is arranged on the outer circumferential surface of the end head of the fixing shaft and can change the position of the fixing shaft.

[0015] Preferably, the middle part of the fixing shaft is provided with a stepped base which is integrally formed with the fixing shaft or is separately arranged, and the stepped base is fixedly connected with the support plate by screw fastening from below.

[0016] An external thread is arranged on the outer circumference of the end head of the upper part of the fixing shaft, and the stroke adjusting assembly is a nut which is screwed on the end head.

[0017] Preferably, the floating part sleeve further comprises a floating plate and a hemispherical clamp assembly which is arranged in multiple degrees of freedom and in contact with the floating plate.

[0018] Preferably, the hemispherical clamp assembly comprises an upper mounting plate which is fixedly mounted on the upper side of the support plate, and a lower mounting plate which is fixedly mounted on the lower side of the support plate, and the upper mounting plate and the lower mounting plate are symmetrically arranged.

[0019] An upper spherical member is fixedly arranged on one end of the upper mounting plate close to the floating plate, and a lower spherical member is fixedly arranged on one end of the lower mounting plate close to the floating plate.

[0020] Further comprising an upper pressing shaft and a lower pressing shaft which are symmetrically fixedly arranged on the support plate, and the upper pressing shaft and the lower pressing shaft are coaxially arranged with the upper spherical member and the lower spherical member.

[0021] Preferably, the hemispherical clamp assembly further comprises a claw mounting plate, and a connecting vertical shaft which is fixedly connected with the support plate at the upper end and is fixedly connected with the claw mounting plate at the lower end.

[0022] In another aspect, the application also provides a floating jaw device, comprising the floating mechanism as described above, and further comprising a pneumatic jaw fixedly connected with the jaw mounting plate.

[0023] The floating mechanism according to the technical solution of the application has a simple mechanical structure, and can accurately and easily realize the conversion between the engaged state and the disengaged state of the floating sleeve and the power sleeve by matching the positioning pins with different matching precision levels with the positioning holes and by setting a proper matching height. The power comes from the air cylinder, so that the state conversion is easy to control, and the cost of the power sleeve is low and easy to maintain. The floating jaw device of the application uses the under-positioned state of the floating sleeve of the floating mechanism to grab the workpiece during the grabbing process, so that the grabbing position is more flexible. Even if the placement position of the workpiece is slightly deviated or the workpiece has a machining error, the pneumatic jaw can well adapt to these errors, so that the workpiece can be avoided from being damaged. During the process of releasing the workpiece, the fully positioned state of the floating sleeve is used, so that the pneumatic jaw can accurately place the workpiece in place.

[0024] Other features and advantages of the application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0025] The accompanying drawings, which form a part of the present application, are intended to provide further understanding of the present application and are incorporated herein for explanation. In the drawings:

[0026] Figure 1 is a three-dimensional schematic view of the floating mechanism;

[0027] Figure 2 is a front view of the floating mechanism;

[0028] Figure 3 is a top view of the floating mechanism;

[0029] Figure 4 is a three-dimensional schematic view of the positioning diamond pin;

[0030] Figure 5 is a CAD partial sectional view of the positioning diamond pin;

[0031] Figure 6 is a three-dimensional schematic view of the positioning column pin;

[0032] Figure 7 is a CAD partial sectional view of the positioning column pin;

[0033] Figure 8 is a schematic view of the matching position of the positioning pin and the positioning hole;

[0034] Figure 9 is a three-dimensional schematic view of the power sleeve;

[0035] Figure 10 This is the front view of the power unit assembly;

[0036] Figure 11 A sectional view of the power unit sleeve along line AA;

[0037] Figure 12 This is a front view of the power unit assembly;

[0038] Figure 13 This is a three-dimensional schematic diagram of the floating sleeve;

[0039] Figure 14 This is a sectional view of the floating part.

[0040] Figure 15 A three-dimensional schematic diagram of the upper or lower spherical component;

[0041] Figure 16 This is a three-dimensional schematic diagram of a pneumatic gripper.

[0042] Figure 17 This is a front view of the pneumatic gripper.

[0043] Figure 18 This is a cross-sectional view of the pneumatic chuck along the BB direction;

[0044] Figure 19 This is a three-dimensional schematic diagram of the floating gripper device.

[0045] Figure Numbers: 100-Pneumatic gripper; 110-Power unit; 111-Cylinder; 112-Guide rod; 113-Cylinder fixing plate; 114-Support plate; 115-Moving plate; 116-Fixed shaft; 117-Stroke adjustment assembly; 118-Stepped base; 120-Floating unit; 121-Floating plate; 122-Positioning assembly; 1221-Positioning diamond pin; 1222-Positioning column pin; 1223-Diamond pin positioning hole; 1224-Column pin positioning hole; 123-Hemispherical clamp assembly; 1231-Upper spherical component; 1232-Upper pressure shaft; 1233-Lower pressure shaft; 1234-Lower spherical component; 1235-Upper mounting plate; 1236-Lower mounting plate; 1237-Connecting vertical shaft; 1238-Gripper mounting plate; Detailed Implementation

[0046] To more clearly illustrate the embodiments of this utility model or the technical solutions in the prior art, the drawings used in the specific embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0047] The technical solution of this application will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0048] According to the floating mechanism of the specific embodiment of the present application, the floating mechanism includes a power part sleeve 110 and a floating part sleeve 120 which can be switched between the two positioning modes of complete positioning and incomplete positioning. The power part sleeve 110 includes a cylinder 111, the floating part sleeve 120 includes a positioning assembly 122, and the action of the cylinder 111 drives the power part sleeve 110 to be connected or disconnected with the positioning assembly 122 in a cooperative manner.

[0049] As shown in Figure 1 , Figure 2 In the specific embodiment, the power part sleeve 110 and the floating part sleeve 120 of the present application are designed in a symmetrical structure. The power part sleeve is composed of two sleeves which are symmetrically arranged on the two sides of the overall mechanism. One positioning hole which cooperates with the positioning assembly 122 is arranged on each of the two sleeves. The positioning assembly 122 cooperates with the positioning hole to realize the complete positioning of the floating part sleeve 120. The power of the power part sleeve 110 comes from the cylinder 111 which is easy to use and maintain.

[0050] As shown in Figure 3 , one end of the positioning assembly 122 is fixed to the floating part sleeve 120, and the other end is slidably connected to the power part sleeve 110. The positioning assembly 122 includes a positioning diamond pin 1221 and a positioning column pin 1222 which is arranged in a spaced manner with the positioning diamond pin 1221.

[0051] As shown in Figure 4 , Figure 5 , the positioning diamond pin 1221 has a symmetrical arc-shaped positioning surface on the outer periphery.

[0052] In the specific embodiment, the positioning column pin 1222 is arranged in a spaced manner with the positioning diamond pin 1221 at an interval of 180 degrees. The arc-shaped positioning surface of the positioning diamond pin 1221 and the cylindrical outer peripheral surface of the lower part jointly form a positioning surface C which has a roughness level of 6 and has a high perpendicularity requirement between the C surface and the mounting surface D.

[0053] As shown in Figure 6 , Figure 7 , the cylindrical outer peripheral surface of the positioning column pin 1222 forms a positioning surface E which has a roughness level of 6 and has a high perpendicularity requirement between the E surface and the mounting surface B.

[0054] The cooperation between the positioning column pin 1222 and the positioning hole mainly limits the degree of freedom of the floating part sleeve 120. The gap value of the tolerance cooperation is small. In the specific embodiment, the cooperation level of H7 / h8 is selected.

[0055] The cooperation of the positioning diamond pin 1221 and the positioning hole plays an auxiliary role in limiting the degree of freedom of the floating part sleeve 120. The gap value is slightly larger in the tolerance cooperation. In the specific embodiment, the H7 / f8 cooperation level is selected.

[0056] As shown in Figure 9 , the power part sleeve 110 further includes a guide rod 112, a support plate 114, and a moving plate 115. The moving plate 115 is provided with diamond pin positioning holes 1223 and pin positioning holes 1224 corresponding to the positioning diamond pin 1221 and the positioning pin 1222.

[0057] The C surface and the mounting surface D surface are perpendicular to each other, which ensures that the positioning diamond pin 1221 and the diamond pin positioning hole 1223 can be coaxial after assembly. In addition, the C surface and the mounting surface D surface have a relatively smooth processing surface, which effectively ensures that the cooperation and disengagement of the positioning diamond pin 1221 and the diamond pin positioning hole 1223 can be accurately and accurately executed.

[0058] The E surface and the mounting surface B surface are perpendicular to each other, which ensures that the positioning pin 1222 and the pin positioning hole 1224 can be coaxial after assembly. In addition, the E surface and the mounting surface B surface have a relatively smooth processing surface, which effectively ensures that the cooperation and disengagement of the positioning pin 1222 and the pin positioning hole 1224 can be accurately and accurately executed.

[0059] The cooperation area of the positioning diamond pin 1221 and the diamond pin positioning hole 1223 is smaller than the cooperation area of the positioning pin 1222 and the pin positioning hole 1224. The cooperation of the positioning diamond pin 1221 and the diamond pin positioning hole 1223 mainly plays a role in limiting the Z-axis rotation degree of freedom of the floating part sleeve 120, and can prevent the floating part sleeve 120 from being separated from the centering state with the power part sleeve 110.

[0060] As shown in Figure 8 , Figure 9 , the cooperation height of the positioning diamond pin 1221 and the diamond pin positioning hole 1223 and the cooperation height of the positioning pin 1222 and the pin positioning hole 1224 are A, and the range of A is set to 2mm-3mm. Too small cooperation height cannot play a positioning role, and too large cooperation height causes the process of disengaging the degree of freedom of the floating part sleeve 120 and the power part sleeve 110 to be not smooth.

[0061] As shown in Figure 10 , Figure 11 , Figure 12As shown, the lower part of the guide rod 112 is fixedly connected with the piston rod of the cylinder 111, the middle part penetrates through the support plate 114 and is fixedly connected with the support plate 114, and the upper part penetrates through and is slidably connected with the moving plate 115; further comprising a cylinder fixing plate 113, a fixed shaft 116 and a stroke adjusting assembly 117, the cylinder fixing plate 113 is fixedly arranged on the end face of the side where the piston of the cylinder 111 extends out; the lower end of the fixed shaft 116 is fixedly connected with the cylinder fixing plate 113, the middle part penetrates through and is slidably connected with the support plate 114, the upper part penetrates through and is connected with the moving plate 115, and the stroke adjusting assembly 117 is arranged on the outer circumferential surface of the end head of the fixed shaft 116 and can change the position of the fixed shaft 116.

[0062] Through the above connection mode, the guide rod 112 is fixedly integrated with the cylinder piston and the support plate 114, and the fixed shaft 116 is fixedly integrated with the cylinder fixing plate 113, the moving plate 115 and the stroke adjusting assembly 117. The moving plate 115 is clamped between the fixed shaft 116 and the stroke adjusting assembly 117. Because the fixed shaft 116 can slide relative to the support plate 114, when the upper chamber of the cylinder 111 is inflated in use, the piston rod is fixedly connected with the support plate 114 and is therefore stationary, and instead the cylinder body moves towards the support plate 114, thereby driving the cylinder fixing plate 113 and the fixed shaft 116 to slide upwards in the hole of the support plate 114, so that the moving plate 115 is no longer in contact with the support plate 114 and a gap B is generated. The gap B is slightly larger than the fitting height A, so as to ensure that the power part sleeve 110 and the floating part sleeve 120 can smoothly release the constraint, that is, the power part sleeve 110 and the floating part sleeve 120 can smoothly switch between the two positioning modes of complete positioning and incomplete positioning.

[0063] In the specific embodiment of the present application, the middle part of the fixed shaft 116 is provided with a step base 118 which is separately arranged from the fixed shaft 116, and the step base 118 is fixedly connected with the support plate 114 by screw fastening from below;

[0064] An external thread is arranged on the outer circumferential surface of the end head of the upper part of the fixed shaft 116, and the stroke adjusting assembly 117 is a double nut which is screwed on the end head.

[0065] The gap B between the moving plate 115 and the support plate 114 is controlled by rotating the double nut. The double nut structure also has the function of preventing loosening.

[0066] As shown in Figure 13 , Figure 14 , Figure 15 In the specific embodiment of the present application, the floating part sleeve 120 further comprises a floating plate 121 and a hemispherical clamp assembly 123 which is arranged in multiple degrees of freedom and in contact with the floating plate 121.

[0067] Specifically, the hemispherical clamp assembly 123 includes an upper mounting plate 1235 fixedly mounted on the upper side of the support plate 114, and a lower mounting plate 1236 fixedly mounted on the lower side of the support plate 114. The upper mounting plate 1235 and the lower mounting plate 1236 are symmetrically arranged. In this specific embodiment, the upper mounting plate 1235 consists of two pieces: a lower short plate fixed to the support plate 114, and an upper long plate stacked on top of the short plate and fixedly mounted on the support plate 114. The upper long plate has an extension extending above the floating plate 121, and an upper spherical member 1231 is provided in the extension. The lower mounting plate 1236 consists of two pieces: an upper short plate fixed to the support plate 114, and a lower long plate stacked below the short plate and fixedly mounted on the support plate 114. The lower long plate has an extension extending above the floating plate 121, and a lower spherical member 1234 is provided in the extension.

[0068] It also includes an upper pressure shaft 1232 and a lower pressure shaft 1233 that are symmetrically fixed on the support plate 114, and the upper pressure shaft 1232, the lower pressure shaft 1233, the upper spherical component 1231, and the lower spherical component 1234 are coaxially arranged.

[0069] During operation, when air is introduced into the upper chamber of cylinder 111, the cylinder body moves towards the support plate 114, causing the moving plate 115 to separate from the support plate 114. The floating plate 121 then loses its fixed position and can move flexibly and slightly between the four sets of spherical components. The contact between the upper spherical component 1231 and the lower spherical component 1234 and the upper and lower pressure shafts 1232 and 1233 is a point-to-surface contact, resulting in low friction. The four sets of floating sleeves 120 are symmetrically arranged circumferentially, ensuring that the floating mechanism of this application has supporting force while reducing the resistance during the movement of the floating plate.

[0070] like Figure 16 , Figure 17 , Figure 18 , Figure 19 As shown, in this specific embodiment, the hemispherical clamp assembly 123 further includes a claw mounting plate 1238 and a connecting shaft 1237 whose upper end is fixed to the support plate 114 and whose lower end is fixed to the claw mounting plate 1238.

[0071] This specific embodiment also provides a floating gripper device, including a pneumatic gripper 100 fixedly connected to a gripper mounting plate 1238. The pneumatic gripper 100 is mounted below the floating mechanism. The under-positioned state of the pneumatic gripper 100 allows for greater freedom and flexibility when gripping workpieces. During gripping, friction is effectively reduced by the hemispherical clamp assembly 123. After the pneumatic gripper 100 successfully grips the workpiece, the electrical control system controls the cylinder 111 to fall back, restoring the engagement between the positioning pin and the positioning hole, generating centering, and restoring the pneumatic gripper 100 to its fully positioned state, ensuring that the gripper can place the workpiece in the precise required position when placing it.

[0072] The preferred embodiments of the present application are described in detail above, but the present application is not limited to the specific details of the above-described embodiments. Various simple modifications can be made to the technical solutions of the present application within the scope of the technical concept of the present application, and these simple modifications all belong to the protection scope of the present application.

[0073] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again in the present application.

[0074] In addition, various different embodiments of the present application can also be combined in any manner, as long as the idea of the present application is not violated, and should also be considered as disclosed by the present application.

Claims

1. A floating mechanism, characterized by, The floating mechanism comprises a power part sleeve (110) and a floating part sleeve (120) which can be connected to the power part sleeve (110) in full positioning or non-full positioning.

2. The float mechanism of claim 1, wherein, The power part sleeve (110) comprises a cylinder (111), and the floating part sleeve (120) comprises a positioning assembly (122), and the cylinder (111) drives the power part sleeve (110) to be connected or disconnected with the positioning assembly (122).

3. The float mechanism of claim 2, wherein, One end of the positioning assembly (122) is fixed to the floating part sleeve (120), and the other end is slidably connected to the power part sleeve (110), and the positioning assembly (122) comprises a positioning diamond pin (1221) and a positioning column pin (1222) which is arranged in a spaced manner with the positioning diamond pin (1221). The positioning diamond pin (1221) has a symmetrical circular arc positioning surface on the outer periphery.

4. The float mechanism of claim 3, wherein, The power part sleeve (110) further comprises a guide rod (112), a support plate (114) and a moving plate (115). The moving plate (115) is provided with a diamond pin positioning hole (1223) and a column pin positioning hole (1224) corresponding to the positioning diamond pin (1221) and the positioning column pin (1222).

5. The floating mechanism according to claim 4, wherein The lower part of the guide rod (112) is fixedly connected with the piston rod of the cylinder (111), the middle part penetrates through the support plate (114) and is fixedly connected with the support plate (114), and the upper part penetrates through and is slidably connected with the moving plate (115). Further comprising a cylinder fixing plate (113), a fixed shaft (116) and a stroke adjusting assembly (117), the cylinder fixing plate (113) is fixedly arranged on the end face of the side where the piston of the cylinder (111) extends; the lower end of the fixed shaft (116) is fixedly connected with the cylinder fixing plate (113), the middle part penetrates through and is slidably connected with the support plate (114), the upper part penetrates through and is connected with the moving plate (115), and the stroke adjusting assembly (117) which can change the position of the fixed shaft (116) is arranged on the outer peripheral surface of the end head of the fixed shaft (116).

6. The floating mechanism of claim 5, wherein, The middle part of the fixed shaft (116) is provided with a stepped base (118) which is integrally formed with the fixed shaft (116) or is separately arranged, and the stepped base (118) is screw fastened and fixedly connected with the support plate (114) from below. The outer periphery of the end head of the upper part of the fixed shaft (116) is provided with external threads, and the stroke adjusting assembly (117) is a nut which is screwed on the end head.

7. The floating mechanism according to claim 2 or 6, characterized in that The floating part sleeve (120) further comprises a floating plate (121) and a hemisphere clamp assembly (123) which is arranged in multiple degrees of freedom and in contact with the floating plate (121).

8. The float mechanism of claim 7, wherein, The hemispherical clamp assembly (123) comprises an upper mounting plate (1235) fixedly mounted on the upper side of the support plate (114) and a lower mounting plate (1236) fixedly mounted on the lower side of the support plate (114), and the upper mounting plate (1235) and the lower mounting plate (1236) are symmetrically arranged; An upper spherical member (1231) is fixedly arranged at one end of the upper mounting plate (1235) close to the floating plate (121), and a lower spherical member (1234) is fixedly arranged at one end of the lower mounting plate (1236) close to the floating plate (121); Further comprising upper and lower pressing shafts (1232 and 1233) fixedly arranged on the support plate (114) symmetrically, and the upper and lower pressing shafts (1232 and 1233) are coaxially arranged with the upper and lower spherical members (1231 and 1234).

9. The float mechanism of claim 8, wherein, The hemispherical clamp assembly (123) further comprises a clamping jaw mounting plate (1238) and a connecting vertical shaft (1237) with the upper end fixedly connected to the support plate (114) and the lower end fixedly connected to the clamping jaw mounting plate (1238).

10. Floating dog device, characterized in that The floating mechanism according to any one of claims 1-9, further comprising a pneumatic clamping jaw (100) fixedly connected to the clamping jaw mounting plate (1238).

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