Robot floating mechanism

Abstract

The robot floating mechanism is connected between a robot and a gripper and comprises a base, a top plate, a first moving mechanism, a first stopping mechanism, a second moving mechanism, a second stopping mechanism and a locking mechanism, the top plate is arranged above the base in parallel, and the top plate is arranged above the base in parallel; the first moving mechanism and the first stopping mechanism are installed on the base, and the top plate is suitable for moving in the X direction along the first moving mechanism and stopping moving under the action of the first stopping mechanism and can move in the Y direction along the second moving mechanism and stopping moving under the action of the second stopping mechanism; the locking mechanism is suitable for connecting or disconnecting the top plate and the robot. According to the robot floating mechanism, when a product needs to be grabbed through the gripper, the gripper is separated from the robot to achieve more flexible grabbing, and when the product needs to be moved through the robot, the gripper is connected with the robot.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of automatic production manufacturing and processing, more particularly to a robot floating mechanism. BACKGROUND

[0002] On some production lines, an engineer will set a robot floating mechanism with small amplitude activity between a robot and a gripper to meet the flexible requirements of the gripper when grabbing products, and to meet the functions of the robot in transferring the products grabbed by the gripper.

[0003] Currently, a spherical bearing structure is used as a robot floating mechanism on a battery device production line, and due to the large volume and mass of the battery, when the robot floating mechanism moves, even a small angle of rotation will cause a large displacement of the battery.

[0004] Therefore, a robot floating mechanism with a novel structure is needed. SUMMARY

[0005] Therefore, the utility model provides a robot floating mechanism, which at least solves one or more of the above problems.

[0006] The robot floating mechanism according to one embodiment of the utility model is connected between a robot and a gripper, and comprises:

[0007] a base and a top plate, wherein the base is horizontally arranged, and the top plate is arranged above the base in parallel;

[0008] a first moving mechanism and a first stop mechanism, wherein the first moving mechanism and the first stop mechanism are installed on the base, and the top plate is arranged to move in an X direction along the first moving mechanism and stop moving under the action of the first stop mechanism;

[0009] a second moving mechanism and a second stop mechanism, wherein the top plate is arranged to move in a Y direction along the second moving mechanism and stop moving under the action of the second stop mechanism;

[0010] a locking mechanism, which is adapted to connect or separate the top plate and the robot.

[0011] Further, the base is fixed on the gripper, and the top plate is movably connected with the robot.

[0012] Further, the first moving mechanism comprises a pair of first guide rails arranged in parallel and a first sliding block which can slide along the first guide rails, the first guide rails are fixed on the base in the X direction, and the first stop mechanism is arranged between both ends of the stroke of the first guide rails. Further, the first moving mechanism comprises a pair of first guide rails arranged in parallel and a first sliding block which can slide along the first guide rails, the first guide rails are fixed on the base in the X direction, and the first stop mechanism is arranged between both ends of the stroke of the first guide rails.

[0013] Further, the first slider is horizontally provided with an intermediate plate, the second moving mechanism comprises a pair of second guide rails arranged in parallel and a second slider capable of sliding along the second guide rails, the second guide rails are fixed on the intermediate plate along the Y direction, the top plate is connected with the second slider, and the second stop mechanism is arranged between both ends of the stroke of the second guide rails.

[0014] Further, the first stop mechanism comprises a pair of first stop members arranged at intervals, the intermediate plate is provided with a first protruding member arranged to move between the pair of first stop members.

[0015] Further, the second stop member comprises a pair of second stop members arranged at intervals, the top plate is provided with a second protruding member arranged to move between the pair of second stop members.

[0016] Further, the locking mechanism comprises a locking pin and a first channel located below the top plate, the first channel is connected through the first opening on the top plate and the second opening on the robot, and the locking pin is arranged to move up and down along the first channel.

[0017] Further, the locking mechanism further comprises a driving cylinder arranged at the bottom of the base, and the locking pin is connected with the output rod of the driving cylinder.

[0018] Further, the first channel is further provided with a sensor.

[0019] It can be seen that the robot floating mechanism according to the embodiment of the present application can make the gripper freely move along the X direction and the Y direction within a certain range by arranging the first moving mechanism, the first stop mechanism, the second moving mechanism and the second stop mechanism, and can make the robot and the gripper connect or disconnect by arranging the locking mechanism, so that the connection between the robot and the gripper can be released when some operations in the disconnection scenario are needed (for example, when the gripper grasps the battery), so that the grasping action is more flexible; and the robot and the gripper are connected together when some operations in the connection scenario are needed (for example, when the battery needs to be moved), so that the robot controls the gripper, and then controls the movement of the product. BRIEF DESCRIPTION OF DRAWINGS

[0020] The preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings, so that the above and other features and advantages of the present application can be more clearly understood by those skilled in the art. In the drawings:

[0021] Figure 1 Fig. 1 shows a structural schematic diagram of a robot floating structure according to an embodiment of the present application;

[0022] Figure 2 Fig. 2 is a vertical sectional view of the robot floating structure according to another embodiment of the present application;

[0023] Figure 3 Fig. 3 is a schematic view of the robot floating structure and the robot according to another embodiment of the present application;

[0024] In the drawings, the reference signs are as follows:

[0025] 1 base 2 top plate 10 gripper

[0026] 20 robot 31 first guide rail 40 intermediate plate

[0027] 52 second guide rail 61 first stop 62 second stop

[0028] 71 locking pin 73 driving cylinder 80 sensor DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail by embodiments.

[0030] Figure 1 Fig. 1 is a schematic view of the robot floating structure according to an embodiment of the present application; Figure 2 Fig. 2 is a vertical sectional view of the robot floating structure according to another embodiment of the present application;

[0031] As shown in Figs. Figure 1 and Figure 2 , the robot floating mechanism comprises a base 1, a top plate 2, a first moving mechanism, a first stop mechanism, a second moving mechanism, a second stop mechanism and a locking mechanism, wherein the base 1 is horizontally arranged, and the top plate 2 is arranged in parallel above the base 1; the first moving mechanism and the first stop mechanism are mounted on the base 1, and the top plate 2 is adapted to move in the X direction along the first moving mechanism and stop moving under the action of the first stop mechanism; the top plate 2 is adapted to move in the Y direction along the second moving mechanism and stop moving under the action of the second stop mechanism; the locking mechanism is adapted to connect or separate the top plate 2 and the robot 20.

[0032] Based on the robot floating mechanism of the above embodiment, by arranging the first moving mechanism, the first stop mechanism, the second moving mechanism and the second stop mechanism, the gripper 10 can freely move in the X direction and the Y direction within a certain range; by arranging the locking mechanism, the top plate 2 and the robot are connected or separated, and the functional requirements in different scenes are realized.

[0033] Further, the base 1 is fixed on the gripper 10, and the top plate 2 is movably connected with the robot.

[0034] Based on the robot floating mechanism of the embodiment, a robot and the gripper 10 are connected so that when the product (for example, a battery) needs to be grabbed by the gripper 10, the top plate 2 is separated from the robot, and then the robot and the gripper 10 are separated, and the small range of movement of the robot floating mechanism in the X, Y direction makes the grabbing of the product by the gripper 10 more easy and flexible; when the product needs to be moved by the robot, the top plate 2 is connected with the robot, and then the robot and the gripper 10 are connected to realize the movement of the product by the robot.

[0035] Further, the first moving mechanism includes a pair of first guide rails 31 arranged in parallel and a first sliding block slidable along the first guide rails 31, the first guide rails 31 are fixed on the base 1 in the X direction, and the first stop mechanism is arranged between the two ends of the stroke of the first guide rails 31.

[0036] Further, the first sliding block is provided with a horizontally arranged intermediate plate 40, the second moving mechanism includes a pair of second guide rails 52 arranged in parallel and a second sliding block slidable along the second guide rails 52, the second guide rails 52 are fixed on the intermediate plate 40 in the Y direction, the top plate 2 is connected with the second sliding block, and the second stop mechanism is arranged between the two ends of the stroke of the second guide rails 52.

[0037] Based on the robot floating mechanism of the above embodiment, the base 1, the intermediate plate 40 and the top plate 2 are arranged from bottom to top, the first guide rails 31 are arranged on the base 1 in the X direction, the first sliding block is arranged on the first guide rails 31 in a sliding manner, the intermediate plate 40 is arranged on the first sliding block in a connected manner, the second guide rails 52 are arranged on the intermediate plate 40 in the Y direction, the second sliding block is arranged on the second guide rails 52 in a sliding manner, and the top plate 2 is arranged on the second sliding block in a connected manner, so that the top plate 2 of the robot floating mechanism can move along the second sliding block in the Y direction and move along the first sliding block with the intermediate plate 40.

[0038] Further, the first stop mechanism includes a pair of first stop pieces 61 arranged at intervals, the intermediate plate 40 is provided with a first protruding piece arranged to move between the pair of first stop pieces 61.

[0039] Further, the second stop piece 62 includes a pair of second stop pieces 62 arranged at intervals, the top plate 2 is provided with a second protruding piece arranged to move between the pair of second stop pieces 62.

[0040] Based on the robot floating mechanism of the above embodiment, by arranging a pair of first stoppers 61 on the base 1, for example, the pads fixed on the base 1 through connecting members (such as bolts and nuts), including a first end and a second end opposite along the X direction, a first protruding member is connected on the middle plate 40 through connecting members (such as bolts and nuts), and the first protruding member is located between the first end and the second end by default, so that when the middle plate 40 moves along the first slider in the X direction, the first protruding member also moves in the X direction and stops moving when reaching the first end or the second end, so that the middle plate 40 also stops moving, thereby realizing the movement range control in the X direction. By arranging a pair of second stoppers 62 on the base 1, for example, the pads fixed on the base 1 through connecting members (such as bolts and nuts), including a third end and a fourth end opposite along the Y direction, a second protruding member is connected on the top plate 2 through connecting members (such as bolts and nuts), and the second protruding member is located between the third end and the fourth end by default, so that when the top plate 2 moves along the second slider in the Y direction, the second protruding member also moves in the Y direction and stops moving when reaching the third end or the fourth end, so that the top plate 2 also stops moving, thereby realizing the movement range control in the Y direction.

[0041] Further, the distance between the two first stoppers is 30mm, and / or the distance between the two second stoppers is 30mm.

[0042] Further, the locking mechanism includes a locking pin 71 and a first channel located below the top plate 2, the first channel is connected through the first opening on the top plate 2, the second opening on the robot, and the locking pin 71 is arranged to move up and down along the first channel.

[0043] Through the embodiment, the positioning pin is vertically arranged below the top plate 2, can move upwards along the first channel below the top plate 2 to extend into the first opening and the second opening, thereby connecting the top plate 2 with the robot, or can move downwards along the first channel to at least leave the second opening, thereby separating the top plate 2 from the robot.

[0044] Further, the locking mechanism further includes a driving cylinder 73 arranged at the bottom of the base 1, and the locking pin 71 is connected with the output rod of the driving cylinder 73. Specifically, the driving cylinder 73 can be mounted on the lower end face of the base 1, and the tail of the output rod is connected with the locking pin 71 through connecting members (such as bolts and nuts).

[0045] Further, sensors 80 are arranged in the first channel. For example, two sensors 80 are horizontally symmetrically arranged.

[0046] Figure 3 It is a schematic view of the robot floating structure connected with the robot according to another embodiment of the present application;Figure 3 As shown, the robot, the gripper 10 can be applied to the battery production processing line on the setting and device, one end of the robot is movably installed on the track located above, the bottom of the robot is movably connected with the robot floating mechanism of the embodiment of the utility model. The lower part of the robot floating mechanism is fixed on the gripper 10, and the gripper 10 is a horizontally arranged support, for example, which is movably fixed on the two sides of the battery through mounting buckles and other mechanisms to realize the grabbing of the battery.

[0047] The above is only the preferred embodiment of the utility model, and is not used to limit the utility model, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A robot floating mechanism connected between a gripper (10) and a robot (20), characterized by, The robot floating mechanism comprises: a base (1) and a top plate (2), the base (1) is horizontally arranged, and the top plate (2) is arranged above the base (1) in parallel; a first moving mechanism and a first stop mechanism, the first moving mechanism and the first stop mechanism are mounted on the base (1), and the top plate (2) is arranged to be movable in an X direction along the first moving mechanism and to be stopped by the first stop mechanism; a second moving mechanism and a second stop mechanism, the top plate (2) is arranged to be movable in a Y direction along the second moving mechanism and to be stopped by the second stop mechanism; a locking mechanism adapted to connect or disconnect the top plate (2) and the robot (20).

2. The robotic floating mechanism of claim 1, wherein, The base (1) is fixed on the gripper (10), and the top plate (2) is movably connected with the robot (20).

3. A robotic floating mechanism according to claim 1 or 2, characterized in that, The first moving mechanism comprises a pair of first guide rails (31) arranged in parallel and a first sliding block slidable along the first guide rails (31), the first guide rails (31) are fixed on the base (1) in the X direction, and the first stop mechanism is arranged between both ends of the stroke of the first guide rails (31).

4. The robotic floating mechanism of claim 3, wherein, An intermediate plate (40) is horizontally arranged on the first sliding block, the second moving mechanism comprises a pair of second guide rails (52) arranged in parallel and a second sliding block slidable along the second guide rails (52), the second guide rails (52) are fixed on the intermediate plate (40) in the Y direction, the top plate (2) is connected with the second sliding block, and the second stop mechanism is arranged between both ends of the stroke of the second guide rails (52).

5. The robotic floating mechanism of claim 4, wherein, The first stop mechanism comprises a pair of first stop members (61) arranged at intervals, the intermediate plate (40) is provided with a first protruding member arranged to move between the pair of first stop members (61).

6. The robotic floating mechanism of claim 5, wherein, The second stop mechanism comprises a pair of second stop members (62) arranged at intervals, the top plate (2) is provided with a second protruding member arranged to move between the pair of second stop members (62).

7. The robotic floating mechanism of claim 1, wherein, The locking mechanism comprises a locking pin (71) and a first channel located below the top plate (2), the first channel is connected through a first opening on the top plate (2) and a second opening on the robot, and the locking pin (71) is arranged to be movable up and down along the first channel.

8. The robotic floating mechanism of claim 7, wherein, The locking mechanism further comprises a driving cylinder (73) arranged at the bottom of the base (1), and the locking pin (71) is connected with an output rod of the driving cylinder (73).

9. A robotic floating mechanism according to claim 7 or 8, characterised in that, A sensor (80) is further arranged in the first channel.

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