CN105500392A - Manipulator capable of judging grabbing quantity of plates - Google Patents
Manipulator capable of judging grabbing quantity of plates Download PDFInfo
- Publication number
- CN105500392A CN105500392A CN201610073106.3A CN201610073106A CN105500392A CN 105500392 A CN105500392 A CN 105500392A CN 201610073106 A CN201610073106 A CN 201610073106A CN 105500392 A CN105500392 A CN 105500392A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- sheet material
- plates
- polished rod
- pressure sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator capable of judging a grabbing quantity of plates, which belongs to the technical field of grabbing manipulators. The manipulator capable of judging the grabbing quantity of the plates comprises a sucker installation frame and a vacuum sucker installed on the sucker installation frame, wherein the upper part of the vacuum sucker is connected with an unthreaded rod, the vacuum sucker is installed on the sucker installation frame in an up-down telescopic manner by virtue of the unthreaded rod, the top end of the unthreaded rod is provided with a pressure plate, and a pressure sensor installed on the sucker installation frame is also arranged below the pressure plate. According to the manipulator, after the vacuum sucker grabs the plates, the weight of the plates acts on the pressure sensor by virtue of the unthreaded rod and the pressure plate, the weight of the plates grabbed by the manipulator can be rapidly and accurately detected by virtue of the pressure sensor, so that whether one or more plates are grabbed by the manipulator can be determined, and convenience in recognition and distinguishing by a system can be realized; and moreover, the manipulator is simple in structure, easy to implement, relatively low in cost and high in judgment accuracy and efficiency.
Description
Technical field
The present invention relates to a kind of sucked type catching robot, more particularly, relate to a kind of manipulator that sheet material captures quantity that judges.
Background technology
Along with the fast development of science and technology, automated machine equipment replaces manual working just gradually.In the industries such as sheet fabrication, adopt sucking disc type mechanical hand to capture sheet material and used more and more extensive, there is the features such as operating efficiency is high, accuracy is good.
Some upper and lower surface all smoother sheet material superposition stack time, due to the factor of multiple effect, certain adhesive force can be produced between sheet material, when gripper of manipulator (suction) gets sheet material, may occur that multi-sheets is by the phenomenon drawn together, when carrying out automated production, the normal work of subsequent handling will be affected.Judge according to technical measures such as ultrasonic thickness measurements, cost is too high, and when sheet material is thinner, permissible accuracy is also just higher, and actuation time when performing thickness measuring is also longer, has a certain impact to production efficiency.
Summary of the invention
1. invent the technical problem that will solve
The object of the invention is to overcome existing machinery hand above shortcomings when capturing sheet material, a kind of manipulator that sheet material captures quantity that judges is provided, adopt technical scheme of the present invention, by the weight of pressure sensor quick and precisely inspecting manipuator crawl sheet material, thus what judge that manipulator captures is one piece or multi-sheets, is convenient to control system identification and distinguishes; And the structure of this manipulator is simple, easy to implement, accuracy of judgement and efficiency is high.
2. technical scheme
For achieving the above object, technical scheme provided by the invention is:
A kind of manipulator that sheet material captures quantity that judges of the present invention, comprise sucker installing rack and be installed on the vacuum cup on sucker installing rack, the top of described vacuum cup is connected with polished rod, vacuum cup can telescopically be installed on sucker installing rack by this polished rod up and down, and the top of this polished rod is provided with pressing plate, the below being positioned at pressing plate is also provided with the pressure sensor be arranged on sucker installing rack.
Further preferably, the below of described pressing plate is also provided with one and is sleeved on spring on polished rod.
Further preferably, described polished rod is installed on sucker installing rack by linear bearing.
3. beneficial effect
Adopt technical scheme provided by the invention, compared with existing known technology, there is following beneficial effect:
(1) a kind of manipulator that sheet material captures quantity that judges of the present invention, its vacuum cup can telescopically be installed on sucker installing rack by polished rod up and down, and the top of this polished rod is provided with pressing plate, the below being positioned at pressing plate is also provided with the pressure sensor be arranged on sucker installing rack; After vacuum cup captures sheet material, the weight of sheet material by polished rod and pressing plate function on pressure sensor, can detect that manipulator captures the weight of sheet material rapidly and accurately by pressure sensor, thus what judge that manipulator captures is one piece or multi-sheets, is convenient to control system identification and distinguishes; And the structure of this manipulator is simple, easy to implement, cost is lower, accuracy of judgement and efficiency is high;
(2) a kind of manipulator that sheet material captures quantity that judges of the present invention, the below of its pressing plate is also provided with one and is sleeved on spring on polished rod, spring can bear sheet material major part weight, reduce the pressurized of pressure sensor, thus the requirement reduced pressure sensor, and can ensure that manipulator grasping movement is more reliable and more stable;
(3) a kind of manipulator that sheet material captures quantity that judges of the present invention, its polished rod is installed on sucker installing rack by linear bearing, makes polished rod motion more smooth and easy, reduces the noise that manipulator grasping movement produces;
(4) a kind of manipulator that sheet material captures quantity that judges of the present invention, for different plates, by arranging different judgment value, do not affect by sheet material thickness, the scope of application is more extensive.
Accompanying drawing explanation
Fig. 1 is a kind of perspective view that sheet material captures the manipulator of quantity that judges of the present invention;
Fig. 2 is a kind of main TV structure schematic diagram that sheet material captures the manipulator of quantity that judges of the present invention.
Label declaration in schematic diagram:
1, vacuum cup; 2, linear bearing; 3, spring; 4, sucker installing rack; 5, pressing plate; 6, pressure sensor.
Detailed description of the invention
For understanding content of the present invention further, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment
Shown in composition graphs 1 and Fig. 2, the a kind of of the present embodiment judges the manipulator that sheet material captures quantity, the vacuum cup 1 comprising sucker installing rack 4 and be installed on sucker installing rack 4, sucker installing rack 4 is carried by two arms, and two groups of vacuum cups 1 are respectively installed at the two ends of sucker installing rack 4, for stably capturing sheet material class material, such as plank, floor, glass etc.The top of the vacuum cup 1 in the present embodiment is connected with polished rod, vacuum cup 1 can telescopically be installed on sucker installing rack 4 by this polished rod up and down, and, be provided with pressing plate 5 on the top of the polished rod of one group of vacuum cup 1, the below being positioned at pressing plate 5 is also provided with the pressure sensor 6 be arranged on sucker installing rack 4; After vacuum cup 1 captures sheet material, the weight of sheet material acts on pressure sensor 6 by polished rod and pressing plate 5, can detect that manipulator captures the weight of sheet material rapidly and accurately by pressure sensor 6, thus what judge that manipulator captures is one piece or multi-sheets, is convenient to control system identification and distinguishes; And the structure of this manipulator is simple, easy to implement, cost is lower, accuracy of judgement and efficiency is high.
Shown in hookup 1 and Fig. 2, in the present embodiment, the below of pressing plate 5 is also provided with one and is sleeved on spring 3 on polished rod; Polished rod is installed on sucker installing rack 4 by linear bearing 2.Particularly, spring 3 is installed between nut and linear bearing 2 by nut by the top of polished rod, and pressing plate 5 is between nut and spring 3, and polished rod is supported on certain altitude by spring 3.After vacuum cup 1 captures one block of sheet material, due to the Action of Gravity Field of sheet material, drive polished rod descending and Compress Spring 3, be with dynamic pressure plate 5 position to decline simultaneously, pressing plate 5 fully contacts with the pressure sensor 6 below it, thus indirectly can be reflected the weight of one block of sheet material by pressure sensor 6; When vacuum cup 1 capture be multi-sheets time, spring 3 compresses aggravation, the force value that pressing plate 5 and pressure sensor 6 act on can be larger, thus what judge that vacuum cup 1 captures is multi-sheets, in this case, pressure sensor 6 feeds back signal to control system, and the multi-sheets making manipulator abandon capturing re-starts grasping movement.After vacuum cup 1 abandons sheet material, the gravity of sheet material disappears, and spring 3 and pressing plate 5 reset rapidly, and manipulator can perform grasping movement next time.After arranging spring 3 in the present embodiment, spring 3 can bear sheet material major part weight, reduces the pressurized of pressure sensor 6, thus reduces the requirement to pressure sensor 6, and can ensure that manipulator grasping movement is more reliable and more stable; Polished rod is installed on sucker installing rack 4 by linear bearing 2, polished rod motion can be made more smooth and easy, reduce the noise that manipulator grasping movement produces.
A kind of manipulator that sheet material captures quantity that judges of the present invention, be widely used in sheet material material loading, by pressure sensor quick and precisely inspecting manipuator capture the weight of sheet material, thus what judge that manipulator captures is one piece or multi-sheets, is convenient to control system identification differentiation; And the structure of this manipulator is simple, easy to implement, cost is lower, accuracy of judgement and efficiency is high; And for different plates, by arranging different judgment value, do not affect by sheet material thickness, the scope of application is more extensive.
Below be schematically described the present invention and embodiment thereof, this description does not have restricted, and shown in accompanying drawing is also one of embodiments of the present invention, and actual structure is not limited thereto.So, if those of ordinary skill in the art enlightens by it, when not departing from the invention aim, without creatively designing the frame mode similar to this technical scheme and embodiment, all should protection scope of the present invention be belonged to.
Claims (3)
1. one kind can judge that sheet material captures the manipulator of quantity, comprise sucker installing rack (4) and be installed on the vacuum cup (1) on sucker installing rack (4), it is characterized in that: the top of described vacuum cup (1) is connected with polished rod, vacuum cup (1) can be telescopically installed on sucker installing rack (4) up and down by this polished rod, and the top of this polished rod is provided with pressing plate (5), the below being positioned at pressing plate (5) is also provided with the pressure sensor (6) be arranged on sucker installing rack (4).
2. according to claim 1ly a kind ofly judge that sheet material captures the manipulator of quantity, it is characterized in that: the below of described pressing plate (5) is also provided with one and is sleeved on spring (3) on polished rod.
3. a kind of manipulator that sheet material captures quantity that judges according to claim 1 and 2, is characterized in that: described polished rod is installed on sucker installing rack (4) by linear bearing (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610073106.3A CN105500392A (en) | 2016-02-02 | 2016-02-02 | Manipulator capable of judging grabbing quantity of plates |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610073106.3A CN105500392A (en) | 2016-02-02 | 2016-02-02 | Manipulator capable of judging grabbing quantity of plates |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105500392A true CN105500392A (en) | 2016-04-20 |
Family
ID=55708886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610073106.3A Pending CN105500392A (en) | 2016-02-02 | 2016-02-02 | Manipulator capable of judging grabbing quantity of plates |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105500392A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003096A (en) * | 2016-07-29 | 2016-10-12 | 苏州高通机械科技有限公司 | Substrate cooling conveying robot |
| CN106064385A (en) * | 2016-07-29 | 2016-11-02 | 苏州高通机械科技有限公司 | A kind of intelligent glass board carrying machine man-machine tool hands |
| CN106078782A (en) * | 2016-07-29 | 2016-11-09 | 苏州高通机械科技有限公司 | A kind of glass substrate carrying robot bar palisade mechanical hand |
| CN106078804A (en) * | 2016-07-29 | 2016-11-09 | 苏州高通机械科技有限公司 | There is the board carrying machine people of refrigerating function |
| CN106271826A (en) * | 2016-09-21 | 2017-01-04 | 东莞市晋拓自动化科技有限公司 | The automatic loading/unloading method of a kind of CNC processing glass and industrial robot |
| CN106743630A (en) * | 2017-03-24 | 2017-05-31 | 广州盛原成自动化科技有限公司 | Poly-bag grabbing device is packed for slim clothes |
| CN107814195A (en) * | 2017-11-28 | 2018-03-20 | 安徽工程大学 | A kind of full-automatic polytypic feeder of plastic drum lid |
| CN108972120A (en) * | 2018-09-18 | 2018-12-11 | 金石机器人常州股份有限公司 | Brake disc sorts handgrip |
| CN109822312A (en) * | 2019-03-13 | 2019-05-31 | 上海新灏机电设备有限公司 | A kind of EPB motor gear unit motor rear cover feeding device |
| CN111429952A (en) * | 2020-03-26 | 2020-07-17 | 梅州晶铠科技有限公司 | Method for determining number of optical discs |
| CN113400425A (en) * | 2021-05-10 | 2021-09-17 | 衡阳市嘉兴木业有限公司 | Middle plate splicing machine |
| CN114407066A (en) * | 2022-03-03 | 2022-04-29 | 苏州天准科技股份有限公司 | Material picking mechanism, device and method |
| CN117416740A (en) * | 2023-11-29 | 2024-01-19 | 广州赛志系统科技有限公司 | Cantilever corner turning machine |
| CN108972120B (en) * | 2018-09-18 | 2024-05-31 | 金石机器人常州股份有限公司 | Brake disc sorting gripper |
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| JP2000219344A (en) * | 1999-01-29 | 2000-08-08 | Kawamura Seiki Kk | Sucking device |
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| CN203371550U (en) * | 2013-08-06 | 2014-01-01 | 东旭集团有限公司 | Gripping tool used for substrate handling robot |
| CN203390939U (en) * | 2013-08-09 | 2014-01-15 | 上海发那科机器人有限公司 | Robot gripper for disassembling packaged stacks |
| CN203449312U (en) * | 2013-06-08 | 2014-02-26 | 邯郸汉光科技股份有限公司 | Anti-collision device for OPC production line robot grippers |
| CN203752154U (en) * | 2014-03-18 | 2014-08-06 | 苏州赛腾精密电子有限公司 | Battery adsorption mechanism |
| CN203877564U (en) * | 2014-05-30 | 2014-10-15 | 安徽鲲鹏装备模具制造有限公司 | Plate transferring device capable of preventing exceedingly heavy plate |
| CN205497509U (en) * | 2016-02-02 | 2016-08-24 | 江苏豪林自动化科技有限公司 | Can judge that panel snatchs manipulator of quantity |
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2016
- 2016-02-02 CN CN201610073106.3A patent/CN105500392A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2000219344A (en) * | 1999-01-29 | 2000-08-08 | Kawamura Seiki Kk | Sucking device |
| CN101656223A (en) * | 2009-07-29 | 2010-02-24 | 东莞宏威数码机械有限公司 | Intelligent gripping/releasing device with a plurality of tongs repeatedly gripping and releasing |
| CN203449312U (en) * | 2013-06-08 | 2014-02-26 | 邯郸汉光科技股份有限公司 | Anti-collision device for OPC production line robot grippers |
| CN203371550U (en) * | 2013-08-06 | 2014-01-01 | 东旭集团有限公司 | Gripping tool used for substrate handling robot |
| CN203390939U (en) * | 2013-08-09 | 2014-01-15 | 上海发那科机器人有限公司 | Robot gripper for disassembling packaged stacks |
| CN203752154U (en) * | 2014-03-18 | 2014-08-06 | 苏州赛腾精密电子有限公司 | Battery adsorption mechanism |
| CN203877564U (en) * | 2014-05-30 | 2014-10-15 | 安徽鲲鹏装备模具制造有限公司 | Plate transferring device capable of preventing exceedingly heavy plate |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106064385A (en) * | 2016-07-29 | 2016-11-02 | 苏州高通机械科技有限公司 | A kind of intelligent glass board carrying machine man-machine tool hands |
| CN106078782A (en) * | 2016-07-29 | 2016-11-09 | 苏州高通机械科技有限公司 | A kind of glass substrate carrying robot bar palisade mechanical hand |
| CN106078804A (en) * | 2016-07-29 | 2016-11-09 | 苏州高通机械科技有限公司 | There is the board carrying machine people of refrigerating function |
| CN106003096A (en) * | 2016-07-29 | 2016-10-12 | 苏州高通机械科技有限公司 | Substrate cooling conveying robot |
| CN106271826A (en) * | 2016-09-21 | 2017-01-04 | 东莞市晋拓自动化科技有限公司 | The automatic loading/unloading method of a kind of CNC processing glass and industrial robot |
| CN106743630A (en) * | 2017-03-24 | 2017-05-31 | 广州盛原成自动化科技有限公司 | Poly-bag grabbing device is packed for slim clothes |
| CN107814195A (en) * | 2017-11-28 | 2018-03-20 | 安徽工程大学 | A kind of full-automatic polytypic feeder of plastic drum lid |
| CN108972120B (en) * | 2018-09-18 | 2024-05-31 | 金石机器人常州股份有限公司 | Brake disc sorting gripper |
| CN108972120A (en) * | 2018-09-18 | 2018-12-11 | 金石机器人常州股份有限公司 | Brake disc sorts handgrip |
| CN109822312A (en) * | 2019-03-13 | 2019-05-31 | 上海新灏机电设备有限公司 | A kind of EPB motor gear unit motor rear cover feeding device |
| CN111429952A (en) * | 2020-03-26 | 2020-07-17 | 梅州晶铠科技有限公司 | Method for determining number of optical discs |
| CN113400425A (en) * | 2021-05-10 | 2021-09-17 | 衡阳市嘉兴木业有限公司 | Middle plate splicing machine |
| CN114770675A (en) * | 2021-05-10 | 2022-07-22 | 衡阳市嘉兴木业有限公司 | Middle plate splicing machine with three-section type cutter |
| CN114407066A (en) * | 2022-03-03 | 2022-04-29 | 苏州天准科技股份有限公司 | Material picking mechanism, device and method |
| CN117416740A (en) * | 2023-11-29 | 2024-01-19 | 广州赛志系统科技有限公司 | Cantilever corner turning machine |
| CN117416740B (en) * | 2023-11-29 | 2024-04-09 | 广州赛志系统科技有限公司 | Cantilever corner turning machine |
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Application publication date: 20160420 |