Flexible automatic assembly manipulator

Abstract

The utility model discloses a flexible automatic assembly manipulator which comprises a device body, the device body comprises a mounting seat device, a positioning device and a clamping jaw actuator, the positioning device is mounted at the bottom of the mounting seat device, and the clamping jaw actuator is mounted at the bottom of the positioning device; the positioning device comprises a front-back floating plate, a left-right floating plate and a clamping jaw execution mounting seat, the left-right floating plate is mounted at the top of the front-back floating plate, the clamping jaw execution mounting seat is mounted at the bottom of the left-right floating plate, an up-down guide shaft is arranged in the clamping jaw execution mounting seat, and the top of the up-down guide shaft is connected with the bottom of the left-right floating plate; the outer sides of the up-down guide shafts are provided with up-down bushings, the up-down guide shafts are sleeved with up-down floating springs, the up-down floating springs are located below the up-down bushings, and the front ends of the left-right floating plates are provided with positioning pin fixing plates. The device can float front and back, left and right and up and down, and in the material taking or placing process of the mechanical arm, the spring floating mechanism is matched with the positioning pin to achieve accurate positioning grabbing and placing of products.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field, concretely is a kind of flexible automatic assembly manipulator. BACKGROUND

[0002] Manipulator can imitate the action function of hand and arm, to grasp, carry object or operate tool according to fixed program, and it is automatic operation device. Manipulator is the earliest industrial robot, and it is the earliest modern robot, it can replace the heavy labor of human to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and thus is widely used in mechanical manufacturing, metallurgy, electronics, light industry and atomic energy department.

[0003] Existing manipulator has the following defects:

[0004] Existing manipulator is prone to deviation during material taking or placing, so that it cannot be accurately positioned to the product material taking or placing position, affecting the operation of manipulator.

[0005] Therefore, a solution is needed. UTILITY MODEL CONTENT

[0006] (I) technical problem solved

[0007] In view of the deficiencies of the prior art, the utility model provides a kind of flexible automatic assembly manipulator to solve the problems raised in the above background art.

[0008] (II) technical scheme

[0009] To achieve the above purpose, the utility model is realized by the following technical scheme: a kind of flexible automatic assembly manipulator, including device body, the device body includes mounting seat device, positioning device and gripper executor, the positioning device is installed at mounting seat device bottom, the gripper executor is installed at the bottom of positioning device;The positioning device includes front and rear floating plate, left and right floating plate and gripper execution mounting seat, the left and right floating plate is installed at front and rear floating plate top, the gripper execution mounting seat is installed at the bottom of left and right floating plate, the inside of gripper execution mounting seat is equipped with up-down guide shaft, the top of up-down guide shaft is connected with the bottom of left and right floating plate, the outside of up-down guide shaft is equipped with upper and lower bushing, up-down floating spring is sleeved on the up-down guide shaft, and the up-down floating spring is located below the upper and lower bushing, the front end of left and right floating plate is equipped with positioning pin fixed plate, and the bottom of positioning pin fixed plate is equipped with positioning pin.

[0010] Preferably, the mounting seat device includes base and mounting flange, the base is concave-shaped structure, the mounting flange is rectangular structure, the base is located at the front end of mounting flange, the connecting place of base and mounting flange is equipped with reinforcing rib plate, and the reinforcing rib plate is L-shaped structure.

[0011] Preferably, front and rear floating guide shafts are arranged between the base and the front and rear floating plates, and front and rear floating bushings and front and rear floating springs are respectively sleeved on the front and rear floating guide shafts.

[0012] Preferably, the front end of the gripper executor is respectively provided with a first gripper and a second gripper.

[0013] (Three) beneficial effects

[0014] The utility model provides a flexible automatic assembly manipulator. Have following beneficial effect:

[0015] The flexible automatic assembly manipulator can float forward and backward, left and right and up and down, and the spring floating mechanism cooperates with the positioning pin to realize accurate positioning, picking and placing of products during picking or placing of the manipulator; the mechanism reduces the accuracy of the product position, and when the product position deviates within a certain range, the mechanism can accurately pick and place the product through the cooperation of the positioning pin, reduces the equipment manufacturing cost, increases the stability of the equipment and belongs to an advanced automatic production device. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 It is the whole structure schematic view of the utility model;

[0017] Fig. 2 It is the whole internal structure schematic view of the utility model;

[0018] Fig. 3 It is the structure schematic view of the positioning device of the utility model.

[0019] In the drawing, 1, device body; 2, mounting seat device; 3, positioning device; 4, gripper executor; 5, front and rear floating plate; 6, left and right floating plate; 7, gripper execution mounting seat; 8, up and down guide shaft; 9, up and down bushing; 10, up and down floating spring; 11, positioning pin fixed plate; 12, positioning pin; 13, base; 14, mounting flange; 15, reinforcing rib plate; 16, front and rear floating guide shaft; 17, front and rear floating bushing; 18, front and rear floating spring; 19, first gripper; 20, second gripper. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model and not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0021] Please refer toFigs. 1-3 The embodiment of the utility model provides a technical scheme:

[0022] Embodiment

[0023] For the above-mentioned problem 1 to be solved: the existing mechanical hand is easy to cause deviation in the process of taking or placing material, thereby cannot accurately position the product taking or placing position, influence mechanical hand operation problem.

[0024] The solution is as follows: a kind of flexible automatic assembly mechanical hand, including device body 1, the device body 1 includes mounting seat device 2, positioning device 3 and gripper executor 4, the positioning device 3 is installed at the bottom of mounting seat device 2, the gripper executor 4 is installed at the bottom of positioning device 3;The positioning device 3 includes front and rear floating plate 5, left and right floating plate 6 and gripper execution mounting seat 7, the left and right floating plate 6 is installed at the top of front and rear floating plate 5, the gripper execution mounting seat 7 is installed at the bottom of left and right floating plate 6, the inside of gripper execution mounting seat 7 is equipped with up-down guide shaft 8, the top of up-down guide shaft 8 is connected with the bottom of left and right floating plate 6, the outside of up-down guide shaft 8 is equipped with upper and lower bushings 9, the up-down guide shaft 8 is sleeved with up-down floating spring 10, the up-down floating spring 10 is below upper and lower bushings 9, the front end of left and right floating plate 6 is equipped with positioning pin fixed plate 11, the bottom of positioning pin fixed plate 11 is equipped with positioning pin 12, when using, the up-down guide shaft 8 between gripper execution mounting seat 7 and left and right floating plate 6, the up-down guide shaft 8 and up-down floating spring 10 that the up-down guide shaft 8 is sleeved with can make gripper realize up-down floating, up-down floating spring 10 provides balance force, through the cooperation of positioning pin 12 in the bottom of positioning pin fixed plate 11, positioning pin and taking and placing position upper bushing, realize the accurate positioning of the position of first gripper 19 and second gripper 20.

[0025] The mounting seat device 2 includes base 13 and mounting flange 14, the base 13 is recess-shaped structure, the mounting flange 14 is rectangular structure, the base 13 is located at the front end of mounting flange 14, the connecting place of base 13 and mounting flange 14 is equipped with reinforcing rib plate 15, the reinforcing rib plate 15 is L-shaped structure, when using, staff can install mounting flange 14 to mounting point out, and the reinforcing rib plate 15 between base 13 and mounting flange 14 is to improve the firmness and stability of structure between the two, and the base 13 is recess-shaped structure to facilitate the installation of front and rear floating plate 5.

[0026] The front and rear floating guide shafts 16 are respectively sleeved with front and rear floating bushings 17 and front and rear floating springs 18, the front and rear floating plates 5 drive the jaw executor 4 to move forward and backward and left and right through the guide shafts 16, the front and rear floating bushings 17 and the front and rear floating springs 18, and reach the floating purpose.

[0027] The first jaw 19 and the second jaw 20 are respectively arranged at the front end of the jaw executor 4, and the jaw executor 4 can control the first jaw 19 and the second jaw 20 to clamp the material.

[0028] Working principle: when working, the upper and lower guide shafts 8 between the jaw executor mounting seat 7 and the left and right floating plates 6 can make the jaw float up and down through the upper and lower guide bushings 9 and the upper and lower floating springs 10, the upper and lower floating springs 10 provide the balance force, the jaw executor mounting seat 7 can move up and down, the positioning pins 12 at the bottom of the positioning pin fixing plate 11 are matched with the bushings at the taking and placing position, the first jaw 19 and the second jaw 20 are accurately positioned, the front and rear floating plates 5 drive the jaw executor 4 to move forward and backward and left and right through the guide shafts 16, the front and rear floating bushings 17 and the front and rear floating springs 18, and reach the floating purpose, finally, the jaw executor 4 can control the first jaw 19 and the second jaw 20 to clamp the material.

[0029] The utility model discloses a 1, device body, 2, mounting seat device, 3, positioning device, 4, jaw executor, 5, front and rear floating plate, 6, left and right floating plate, 7, jaw executor mounting seat, 8, upper and lower guide shaft, 9, upper and lower bushing, 10, upper and lower floating spring, 11, positioning pin fixing plate, 12, positioning pin, 13, base, 14, mounting flange, 15, reinforcing rib board, 16, front and rear floating guide shaft, 17, front and rear floating bushing, 18, front and rear floating spring, 19, first jaw, 20, second jaw, parts are all general standard parts or the parts that the person skilled in the art knows, and the structure and principle are all known to the technical personnel and can be known through the conventional experimental method, the utility model solves the problems that the existing mechanical hand is easy to cause deviation in the taking or placing process, thereby cannot accurately position the product taking or placing position, and influences the mechanical hand operation problem, the utility model can float forward, left, right and up and down through the mutual combination of the above -mentioned parts, in the taking or placing process of the mechanical hand, the spring floating mechanism cooperates the positioning pin and realizes the accurate positioning of the product and places.

[0030] The basic principle and main features of the present application and the advantages of the present application are shown and described above, for those skilled in the art, obviously the present application is not limited to the details of the above exemplary embodiments, and can be realized in other specific forms without departing from the spirit or basic characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be considered as limiting the claims involved.

[0031] In addition, it should be understood that, although the present application is described in the form of embodiments, not every embodiment contains only one independent technical solution, the description of the specification is only for the sake of clarity, those skilled in the art should consider the specification as a whole, the technical solutions in each embodiment can also be combined appropriately to form other embodiments that those skilled in the art can understand.

Claims

1. A flexible automatic assembly robot, characterized by: Including device body (1), device body (1) includes mounting seat device (2), positioning device (3) and clamping jaw executor (4), positioning device (3) is installed at the bottom of mounting seat device (2), and clamping jaw executor (4) is installed at the bottom of positioning device (3); The positioning device (3) includes front and rear floating plates (5), left and right floating plates (6) and clamping jaw execution mounting seats (7), the left and right floating plates (6) are installed at the top of the front and rear floating plates (5), the clamping jaw execution mounting seats (7) are installed at the bottom of the left and right floating plates (6), the clamping jaw execution mounting seats (7) are provided with upper and lower guide shafts (8) inside, the upper and lower guide shafts (8) are connected with the bottom of the left and right floating plates (6) at the top, the outer side of the upper and lower guide shafts (8) is provided with upper and lower bushings (9), the upper and lower guide shafts (8) are provided with upper and lower floating springs (10) on the sleeve, the upper and lower floating springs (10) are located below the upper and lower bushings (9), the front end of the left and right floating plates (6) is provided with a positioning pin fixing plate (11), and the bottom of the positioning pin fixing plate (11) is provided with a positioning pin (12).

2. The flexible automatic assembly robot according to claim 1, characterized in that: The mounting seat device (2) includes a base (13) and a mounting flange (14), the base (13) is in a concave shape structure, the mounting flange (14) is in a rectangular structure, the base (13) is located at the front end of the mounting flange (14), the base (13) and the mounting flange (14) are provided with a reinforcing rib plate (15) at the connection, and the reinforcing rib plate (15) is in an L-shaped structure.

3. The flexible automatic assembly robot of claim 2, wherein: The base (13) and the front and rear floating plates (5) are provided with front and rear floating guide shafts (16), and the front and rear floating guide shafts (16) are respectively provided with front and rear floating bushings (17) and front and rear floating springs (18) on the sleeve.

4. The flexible automatic assembly robot of claim 1, wherein: The front end of the clamping jaw executor (4) is respectively provided with a first clamping jaw (19) and a second clamping jaw (20).

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