CN102874595A - Combined type material picking hand device - Google Patents
Combined type material picking hand device Download PDFInfo
- Publication number
- CN102874595A CN102874595A CN2012104320989A CN201210432098A CN102874595A CN 102874595 A CN102874595 A CN 102874595A CN 2012104320989 A CN2012104320989 A CN 2012104320989A CN 201210432098 A CN201210432098 A CN 201210432098A CN 102874595 A CN102874595 A CN 102874595A
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- type material
- connecting panel
- sucker
- hand device
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- 239000000463 material Substances 0.000 title claims abstract description 19
- 210000000078 claw Anatomy 0.000 claims description 11
- 230000002146 bilateral effect Effects 0.000 claims description 10
- 150000001875 compounds Chemical class 0.000 claims description 9
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 239000007779 soft material Substances 0.000 abstract 1
- 241000252254 Catostomidae Species 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000013022 venting Methods 0.000 description 1
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Abstract
The invention relates to a manipulator device, in particular to a combined type material picking hand device. The combined type material picking handle device comprises a double-side connecting flange which is arranged above the combined type material picking handle device, wherein a nonstandard connecting plate is fixed below the double-side connecting flange; two or more clamping jaw subassemblies and at least one sucker subassembly are arranged on the lower surface of the nonstandard connecting plate. According to the combined type material picking hand device, the clamping jaw subassemblies and the sucker subassembly are matched to pick the picked material, in particular to pick the soft material along with accurate positioning; and moreover; the combined type material picking hand device is simple to install and convenient to use and improves the production efficiency.
Description
Technical field
The present invention relates to a kind of robot device, especially a kind of compound type material taking hand device.
Background technology
At present, known automatic production line has been brought into play huge effect in industry-by-industry, when enhancing productivity, reduce personnel's labour intensity and reduce cost, but, the mode of feeding directly affects the automatic production line design, and user's requirement, and existing material taking hand is problem demanding prompt solution in the industry to the accuracy rate of object gripping always, especially the comparatively soft object of material, the accuracy rate of existing material taking hand gripping and success ratio are all lower.
Summary of the invention
For the deficiency that above-mentioned prior art exists, the purpose of this invention is to provide a kind of Effective Raise to the accuracy rate of gentle right object gripping and the compound type material taking hand device of success ratio.
To achieve these goals, the technical solution adopted in the present invention is:
It comprises that one is positioned at the bilateral butt flange of top, and a nonstandard connecting panel is fixed in described bilateral butt flange below, is provided with two or more clip claw assemblies and at least one Suction cup assembly on the nonstandard connecting panel lower surface.
Preferably, described clip claw assembly comprises the Pneumatic clamping jaw that is fixed in nonstandard connecting panel below and the flexible jaw that is connected in the Pneumatic clamping jaw below.
Preferably, described Suction cup assembly comprises a cylinder, one-sided airtight tracheae and sucker, and described cylinder is by one-sided airtight tracheae connecting sucker, and one-sided airtight air pipe sleeve connects a spring.
Preferably, described cylinder and sucker lay respectively at the above and below of nonstandard connecting panel, and described one-sided airtight tracheae passes nonstandard connecting panel and connects cylinder and sucker.
Preferably, the described nonstandard connecting panel position that is positioned at one-sided airtight tracheae outlet below is provided with an adapter sleeve and by a compressing tablet adapter sleeve is fixed on the nonstandard connecting panel.
After adopting said structure, the present invention is compared with existing technology the advantage that has and is: by the interoperation of clip claw assembly and Suction cup assembly, to being carried out gripping by the gripping object, especially gripping that can soft object accurate positioning, and install simply, easy to use, production efficiency improves.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples:
Fig. 1 is the construction profile scheme drawing of the embodiment of the invention;
Fig. 2 is the forward cross section structure scheme drawing of embodiments of the invention.
Among the figure: by gripping object a, bilateral butt flange 1, nonstandard connecting panel 2, Pneumatic clamping jaw 3, flexible jaw 4, cylinder 5, one-sided airtight tracheae 6, sucker 7, spring 8, adapter sleeve 9, compressing tablet 10.
The specific embodiment
The following stated only is preferred embodiment of the present invention, does not therefore limit protection scope of the present invention.
As depicted in figs. 1 and 2, a is by the gripping object, the compound type material taking hand device of present embodiment comprises that one is positioned at the bilateral butt flange 1 of top, a nonstandard connecting panel 2 is fixed in described bilateral butt flange 1 below, be provided with two clip claw assemblies and a Suction cup assembly on nonstandard connecting panel 2 lower surfaces, present embodiment comes description architecture with two clip claw assemblies and a Suction cup assembly, can adjust as required the quantity of clip claw assembly and Suction cup assembly during practical application, owing to comprise a Suction cup assembly and two clip claw assemblies in the present embodiment, so as shown in the figure, in the present embodiment, Suction cup assembly is positioned at the center of nonstandard connecting panel, clip claw assembly is positioned at the two ends of nonstandard connecting panel, thereby guarantees that gripping and absorption are to by the application of force balance of gripping object a.
In the present embodiment, described clip claw assembly comprises the Pneumatic clamping jaw 3 that is fixed in nonstandard connecting panel below and the flexible jaw 4 that is connected in Pneumatic clamping jaw 3 belows; Described Suction cup assembly comprises a cylinder 5, one-sided airtight tracheae 6 and sucker 7, and described cylinder 5 is by one-sided airtight tracheae 6 connecting suckers 7, one-sided airtight tracheae 6 outer socket one springs 8.
For each parts rational deployment of Suction cup assembly, in the present embodiment, described cylinder 5 and sucker 7 lay respectively at the above and below of nonstandard connecting panel 2, and described one-sided airtight tracheae 6 passes nonstandard connecting panel 2 and connects cylinder 5 and sucker 7.As shown in the figure, because cylinder 5 is located at the upper surface center of nonstandard connecting panel 2, and bilateral butt flange 1 also is positioned at the upper surface center of nonstandard connecting panel 2, and bilateral butt flange 1 is hollow structure, so in the present embodiment, described cylinder 5 is positioned at bilateral butt flange 1 inside.
In addition, because Suction cup assembly carries out frequently air-breathing and venting action, for the installation of parts stability, in the present embodiment, the position that described nonstandard connecting panel 2 is positioned at one-sided airtight tracheae 6 outlet belows is provided with an adapter sleeve 9 and by a compressing tablet 10 adapter sleeve 9 is fixed on the nonstandard connecting panel 2.
During work, after being put in place by the motion of gripping object, this covering device enters into mode of operation, at first, this covering device is moved to the control position of appointment, and Pneumatic clamping jaw 3 is opened flexible jaw 4, and cylinder 5 promotes suckers 7 downwards simultaneously, sucker 7 fills negative-pressure gas, picked workpiece is held, and cylinder 5 is returning to original position, and at this moment flexible jaw 4 clamps under the driving of Pneumatic clamping jaw 3 by gripping object a, sucker 7 interior negative pressure are opened, and minimizing is stressed by the gripping object.After being moved to assigned address by gripping object and this cover feeding arm device, sucker 7 fills negative-pressure gas, absorption is by gripping object a, simultaneously flexible jaw 4 is opened cylinder 5 actions, the object that pushes sucker 7 and adsorb, flexible jaw 4 closures, to be put by the gripping object and put in place, sucker 7 unclamps, and has finished by gripping Articles transfer machine and has picked up.Because flexible jaw 4 is in closure state, so can be owing to sucker 7 interior remaining negative pressure are adsorbed drive by the gripping object.
The above only is the preferred embodiments of the present invention; be not so limit claim of the present invention; every equivalent structure or equivalent flow process conversion that utilizes specification sheets of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (5)
1. compound type material taking hand device, it is characterized in that: comprise that one is positioned at the bilateral butt flange of top, a nonstandard connecting panel is fixed in described bilateral butt flange below, is provided with two or more clip claw assemblies and at least one Suction cup assembly on the nonstandard connecting panel lower surface.
2. compound type material taking hand device as claimed in claim 1 is characterized in that: described clip claw assembly comprises the Pneumatic clamping jaw that is fixed in nonstandard connecting panel below and the flexible jaw that is connected in the Pneumatic clamping jaw below.
3. compound type material taking hand device as claimed in claim 2, it is characterized in that: described Suction cup assembly comprises a cylinder, one-sided airtight tracheae and sucker, and described cylinder is by one-sided airtight tracheae connecting sucker, and one-sided airtight air pipe sleeve connects a spring.
4. compound type material taking hand device as claimed in claim 3, it is characterized in that: described cylinder and sucker lay respectively at the above and below of nonstandard connecting panel, and described one-sided airtight tracheae passes nonstandard connecting panel and connects cylinder and sucker.
5. compound type material taking hand device as claimed in claim 4 is characterized in that: the position that described nonstandard connecting panel is positioned at one-sided airtight tracheae outlet below is provided with an adapter sleeve and by a compressing tablet adapter sleeve is fixed on the nonstandard connecting panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012104320989A CN102874595A (en) | 2012-11-01 | 2012-11-01 | Combined type material picking hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012104320989A CN102874595A (en) | 2012-11-01 | 2012-11-01 | Combined type material picking hand device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102874595A true CN102874595A (en) | 2013-01-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012104320989A Pending CN102874595A (en) | 2012-11-01 | 2012-11-01 | Combined type material picking hand device |
Country Status (1)
| Country | Link |
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| CN (1) | CN102874595A (en) |
Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104370109A (en) * | 2014-11-18 | 2015-02-25 | 苏州赛腾精密电子有限公司 | Elastic sucking claw |
| CN105397440A (en) * | 2015-12-04 | 2016-03-16 | 苏州索力旺新能源科技有限公司 | Assembling equipment for conductive strip |
| CN105776040A (en) * | 2016-04-27 | 2016-07-20 | 重庆九扬机器人产业有限公司 | Conveying device for materials |
| CN106826895A (en) * | 2017-03-31 | 2017-06-13 | 苏州御北辰精工科技有限公司 | A kind of automatic robot skipping-baiting apparatus for the detection of LCD circuit plate |
| CN107671222A (en) * | 2017-11-23 | 2018-02-09 | 江阴方圆环锻法兰有限公司 | Full-automatic ring forging pipeline |
| CN107695767A (en) * | 2017-11-23 | 2018-02-16 | 江阴方圆环锻法兰有限公司 | Full-automatic ring forging dispatching frame |
| CN107934495A (en) * | 2017-11-23 | 2018-04-20 | 江阴方圆环锻法兰有限公司 | Full-automatic ring forging matches somebody with somebody line sending |
| CN107973113A (en) * | 2017-11-23 | 2018-05-01 | 江阴方圆环锻法兰有限公司 | Full-automatic ring forging carriage |
| CN108016856A (en) * | 2017-11-23 | 2018-05-11 | 楚兵 | Full-automatic flange ring dispatching frame |
| CN108082933A (en) * | 2017-11-23 | 2018-05-29 | 徐晓蓉 | Novel flange carriage |
| CN108082839A (en) * | 2017-11-23 | 2018-05-29 | 楚兵 | Novel flange ring dispenses frame |
| CN108082953A (en) * | 2017-11-23 | 2018-05-29 | 楚兵 | Novel flange ring carriage |
| CN108147037A (en) * | 2017-11-23 | 2018-06-12 | 徐晓蓉 | Full-automatic flange ring delivery system |
| CN108147006A (en) * | 2017-11-23 | 2018-06-12 | 楚兵 | Full-automatic flange ring carriage |
| CN108163459A (en) * | 2017-11-23 | 2018-06-15 | 徐晓蓉 | Flange ring dispenses frame automatically |
| CN108190363A (en) * | 2017-11-23 | 2018-06-22 | 徐晓蓉 | Flange ring Automatic Carriage |
| CN108190503A (en) * | 2017-11-23 | 2018-06-22 | 徐晓蓉 | Novel flange dispenses frame |
| CN108190387A (en) * | 2017-11-23 | 2018-06-22 | 徐晓蓉 | Flange dispenses frame |
| CN108190362A (en) * | 2017-11-23 | 2018-06-22 | 徐晓蓉 | Annulus carriage |
| CN108217067A (en) * | 2017-11-23 | 2018-06-29 | 徐晓蓉 | Full-automatic flange ring transport system |
| CN108217115A (en) * | 2017-11-23 | 2018-06-29 | 徐晓蓉 | Annulus dispenses frame |
| CN108820908A (en) * | 2017-11-23 | 2018-11-16 | 徐晓蓉 | Flange carriage |
| CN108838924A (en) * | 2018-07-11 | 2018-11-20 | 江苏新惕姆智能装备有限公司 | Filter assembles clamp system and clamping means |
| CN109202946A (en) * | 2018-11-16 | 2019-01-15 | 中国工程物理研究院化工材料研究所 | Assimilating type energetic material product safety picks and places intelligent gripper |
| CN110641991A (en) * | 2019-09-06 | 2020-01-03 | 佛山科学技术学院 | A composite fixture for pipe fittings |
| CN110641990A (en) * | 2019-09-06 | 2020-01-03 | 佛山科学技术学院 | Pipe fitting transfer device |
| CN112722841A (en) * | 2021-01-15 | 2021-04-30 | 中国工程物理研究院机械制造工艺研究所 | Suction means of part |
| CN112743561A (en) * | 2021-02-07 | 2021-05-04 | 金进精密科技(深圳)有限公司 | Product shaping treatment equipment and shaping treatment method |
| CN112960395A (en) * | 2021-03-18 | 2021-06-15 | 中国工程物理研究院机械制造工艺研究所 | Multipurpose end face positioning type vacuum suction device |
| CN113086285A (en) * | 2021-04-19 | 2021-07-09 | 张小刚 | A snatch mechanism for automizing apple cover net box packing machine |
| CN113352740A (en) * | 2021-06-18 | 2021-09-07 | 连云港市金信包装有限公司 | Metal bottle cap printing equipment |
| CN115417142A (en) * | 2022-09-06 | 2022-12-02 | 常州遂智智能装备有限公司 | Suction clamp integrated pipe material clamping mechanism |
| CN115520648A (en) * | 2022-09-27 | 2022-12-27 | 珠海格力智能装备有限公司 | a transfer fixture |
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| CN2789192Y (en) * | 2005-01-26 | 2006-06-21 | 云南紫金科贸有限公司 | Unstacker robot suction disc clamp with auxiliary clasp |
| US20080000203A1 (en) * | 2006-06-29 | 2008-01-03 | Smart Motion Robotics, Inc. | Robotic packaging device and method |
| CN202828939U (en) * | 2012-11-01 | 2013-03-27 | 宁波摩科机器人科技有限公司 | Combined material taking hand device |
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| CN2789192Y (en) * | 2005-01-26 | 2006-06-21 | 云南紫金科贸有限公司 | Unstacker robot suction disc clamp with auxiliary clasp |
| US20080000203A1 (en) * | 2006-06-29 | 2008-01-03 | Smart Motion Robotics, Inc. | Robotic packaging device and method |
| CN202828939U (en) * | 2012-11-01 | 2013-03-27 | 宁波摩科机器人科技有限公司 | Combined material taking hand device |
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104370109A (en) * | 2014-11-18 | 2015-02-25 | 苏州赛腾精密电子有限公司 | Elastic sucking claw |
| CN105397440A (en) * | 2015-12-04 | 2016-03-16 | 苏州索力旺新能源科技有限公司 | Assembling equipment for conductive strip |
| CN105776040A (en) * | 2016-04-27 | 2016-07-20 | 重庆九扬机器人产业有限公司 | Conveying device for materials |
| CN106826895A (en) * | 2017-03-31 | 2017-06-13 | 苏州御北辰精工科技有限公司 | A kind of automatic robot skipping-baiting apparatus for the detection of LCD circuit plate |
| CN108190362A (en) * | 2017-11-23 | 2018-06-22 | 徐晓蓉 | Annulus carriage |
| CN108217067A (en) * | 2017-11-23 | 2018-06-29 | 徐晓蓉 | Full-automatic flange ring transport system |
| CN107934495A (en) * | 2017-11-23 | 2018-04-20 | 江阴方圆环锻法兰有限公司 | Full-automatic ring forging matches somebody with somebody line sending |
| CN107973113A (en) * | 2017-11-23 | 2018-05-01 | 江阴方圆环锻法兰有限公司 | Full-automatic ring forging carriage |
| CN108016856A (en) * | 2017-11-23 | 2018-05-11 | 楚兵 | Full-automatic flange ring dispatching frame |
| CN108082933A (en) * | 2017-11-23 | 2018-05-29 | 徐晓蓉 | Novel flange carriage |
| CN108082839A (en) * | 2017-11-23 | 2018-05-29 | 楚兵 | Novel flange ring dispenses frame |
| CN108082953A (en) * | 2017-11-23 | 2018-05-29 | 楚兵 | Novel flange ring carriage |
| CN108147037A (en) * | 2017-11-23 | 2018-06-12 | 徐晓蓉 | Full-automatic flange ring delivery system |
| CN108147006A (en) * | 2017-11-23 | 2018-06-12 | 楚兵 | Full-automatic flange ring carriage |
| CN108163459A (en) * | 2017-11-23 | 2018-06-15 | 徐晓蓉 | Flange ring dispenses frame automatically |
| CN108190363A (en) * | 2017-11-23 | 2018-06-22 | 徐晓蓉 | Flange ring Automatic Carriage |
| CN108190503A (en) * | 2017-11-23 | 2018-06-22 | 徐晓蓉 | Novel flange dispenses frame |
| CN108190387A (en) * | 2017-11-23 | 2018-06-22 | 徐晓蓉 | Flange dispenses frame |
| CN107671222A (en) * | 2017-11-23 | 2018-02-09 | 江阴方圆环锻法兰有限公司 | Full-automatic ring forging pipeline |
| CN107695767A (en) * | 2017-11-23 | 2018-02-16 | 江阴方圆环锻法兰有限公司 | Full-automatic ring forging dispatching frame |
| CN108217115A (en) * | 2017-11-23 | 2018-06-29 | 徐晓蓉 | Annulus dispenses frame |
| CN108820908A (en) * | 2017-11-23 | 2018-11-16 | 徐晓蓉 | Flange carriage |
| CN108838924A (en) * | 2018-07-11 | 2018-11-20 | 江苏新惕姆智能装备有限公司 | Filter assembles clamp system and clamping means |
| CN109202946A (en) * | 2018-11-16 | 2019-01-15 | 中国工程物理研究院化工材料研究所 | Assimilating type energetic material product safety picks and places intelligent gripper |
| CN109202946B (en) * | 2018-11-16 | 2020-08-18 | 中国工程物理研究院化工材料研究所 | Intelligent gripper for safely taking and placing suction type energetic material product |
| CN110641991A (en) * | 2019-09-06 | 2020-01-03 | 佛山科学技术学院 | A composite fixture for pipe fittings |
| CN110641990A (en) * | 2019-09-06 | 2020-01-03 | 佛山科学技术学院 | Pipe fitting transfer device |
| CN112722841A (en) * | 2021-01-15 | 2021-04-30 | 中国工程物理研究院机械制造工艺研究所 | Suction means of part |
| CN112743561A (en) * | 2021-02-07 | 2021-05-04 | 金进精密科技(深圳)有限公司 | Product shaping treatment equipment and shaping treatment method |
| CN112743561B (en) * | 2021-02-07 | 2024-10-22 | 金进精密科技(深圳)有限公司 | Product shaping processing equipment and shaping processing method |
| CN112960395A (en) * | 2021-03-18 | 2021-06-15 | 中国工程物理研究院机械制造工艺研究所 | Multipurpose end face positioning type vacuum suction device |
| CN113086285A (en) * | 2021-04-19 | 2021-07-09 | 张小刚 | A snatch mechanism for automizing apple cover net box packing machine |
| CN113352740A (en) * | 2021-06-18 | 2021-09-07 | 连云港市金信包装有限公司 | Metal bottle cap printing equipment |
| CN113352740B (en) * | 2021-06-18 | 2022-11-25 | 连云港市金信包装有限公司 | Metal bottle cap printing equipment |
| CN115417142A (en) * | 2022-09-06 | 2022-12-02 | 常州遂智智能装备有限公司 | Suction clamp integrated pipe material clamping mechanism |
| CN115520648A (en) * | 2022-09-27 | 2022-12-27 | 珠海格力智能装备有限公司 | a transfer fixture |
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Application publication date: 20130116 |