CN103395623B - A kind of cooperative mechanical hand realizes product automatic clamping and placing material mechanism - Google Patents
A kind of cooperative mechanical hand realizes product automatic clamping and placing material mechanism Download PDFInfo
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- CN103395623B CN103395623B CN201310303860.8A CN201310303860A CN103395623B CN 103395623 B CN103395623 B CN 103395623B CN 201310303860 A CN201310303860 A CN 201310303860A CN 103395623 B CN103395623 B CN 103395623B
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Abstract
The present invention relates to a kind of automatic clamping and placing material mechanism, connecting panel is equipped with in the front end of its manipulator, and connecting panel can be driven to rotate 180o; In succession adapter plate a and adapter plate b respectively for the front end of connecting panel, and affixed by pillar stiffener between adapter plate a, b; Product guiding mechanism and half-blank gripping body adapter plate a be equipped with; Finished product gripping body adapter plate b is equipped with; Camera testing agency of taking pictures is arranged in the middle of the adapter plate a back side; Adapter plate a is connected to cylinder, and cylinder is connected with half-blank gripping body, cylinder action guarantees that half-blank departs from from half-blank clamping device.Half-blank of the present invention is through correcting and after gripping, half-blank moves in the process of discharge position and connecting panel is rotated 180 ° by manipulator, then finished product by gripping out, connecting panel is rotated 180 ° by manipulator again, half-blank is put to discharge position by cylinder action, and last manipulator cooperation camera is taken pictures and confirmed that it is with or without being put into position.
Description
Technical field:
The present invention relates to a kind of product automatic clamping and placing material mechanism, relate to a kind of cooperative mechanical hand in particular and realize product automatic clamping and placing material mechanism.
Background technology:
When product picks and places material, pick and place material by hand and there are potential safety hazard and some labile factors, the positional precision of product can not be ensured, its inefficiency, degree of automation is low, thus add productive costs, in order to solve all hidden danger that manual blowing brings, be necessary to design a kind of product automatic clamping and placing material mechanism.
Summary of the invention:
The object of the invention is for the deficiencies in the prior art part, a kind of cooperative mechanical hand is provided to realize the mechanism of product automatic clamping and placing material, instead of manual blowing, solve potential safety hazard and some labile factors that handwork brings, ensure that the positional precision of product.
Technology solution of the present invention is as follows:
A kind of cooperative mechanical hand realizes product automatic clamping and placing material mechanism, it comprises manipulator, connecting panel, adapter plate a, adapter plate b, pillar stiffener, cylinder, product guiding mechanism, half-blank gripping body, finished product gripping body and camera and to take pictures testing agency, the front end of described manipulator is provided with connecting panel, and manipulator can drive connecting panel to rotate 180o; The front end of described connecting panel respectively connected adapter plate a and adapter plate b, and is fixed together by four pillar stiffeners between adapter plate a and adapter plate b; Described adapter plate a is connected with product guiding mechanism and half-blank gripping body, half-blank gripping body clips half-blank; Described adapter plate b is connected with finished product gripping body, finished product gripping body clips finished product; Described camera testing agency of taking pictures is arranged on the midway location at the adapter plate a back side; Described adapter plate a is connected to cylinder, and cylinder and half-blank gripping body link together, cylinder action guarantees that half-blank departs from from half-blank clamping device.
Described half-blank is through the correcting of product guiding mechanism, through half-blank gripping body, half-blank is mentioned, half-blank moves in the process of discharge position and connecting panel is rotated 180 ° by manipulator, then the finished product after machining takes out by finished product gripping body, connecting panel is rotated 180 ° by manipulator again, half-blank is put to discharge position, cylinder action guarantees that half-blank departs from from half-blank clamping device, last manipulator coordinates camera testing agency of taking pictures to take pictures detection to the half-blank after placing, and confirms that it is with or without being put into position.
As preferably, described product guiding mechanism is made up of four pieces of product guiding blocks, is fixedly mounted on respectively on adapter plate a, and lays respectively at the both sides of half-blank gripping body.
As preferably, described half-blank gripping body is identical with finished product gripping mechanism structure, is all made up of gripper cylinder and grip block, and gripper cylinder is connected on adapter plate a and adapter plate b, and grip block is arranged on gripper cylinder.
As preferably, described camera testing agency of taking pictures is made up of camera and camera connecting panel, and camera connecting panel is fixed on the adapter plate a back side, and camera is arranged on camera connecting panel.
Beneficial effect of the present invention is:
Its mechanism's commonality of the present invention is extensive, and the automatic clamping and placing, particularly punch press of applicable different field product, injection machine, hot press and some other craft pick and place material and there is potential safety hazard and the application in the higher place of position accuracy demand.Invention replaces manual blowing, solve potential safety hazard and some labile factors that handwork brings, ensure that the positional precision of product.
Accompanying drawing illustrates:
Below in conjunction with accompanying drawing, the present invention is described further:
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structure for amplifying schematic diagram at A place in Fig. 1;
Fig. 3 is the structural representation after Fig. 2 rotates to an angle;
In Fig. 1 ~ 3: I-product guiding mechanism; II-half-blank gripping body; III-finished product gripping body; IV-camera is taken pictures testing agency; 1-manipulator; 2-connecting panel; 3-adapter plate a; 4-adapter plate b; 5-pillar stiffener; 6-cylinder; 7-product guiding block; 8-gripper cylinder; 9-grip block; 10-camera; 11-camera connecting panel.
Detailed description of the invention:
Embodiment, see accompanying drawing 1 ~ 3, a kind of cooperative mechanical hand realizes product automatic clamping and placing material mechanism, it comprises manipulator 1, connecting panel 2, adapter plate a3, adapter plate b4, pillar stiffener 5, cylinder 6, product guiding mechanism I, half-blank gripping body II, finished product gripping body III and camera and to take pictures testing agency IV, the front end of described manipulator is provided with connecting panel, and manipulator can drive connecting panel to rotate 180o; The front end of described connecting panel respectively connected adapter plate a and adapter plate b, and is fixed together by four pillar stiffeners between adapter plate a and adapter plate b; Described adapter plate a is connected with product guiding mechanism I and half-blank gripping body II, half-blank gripping body clips half-blank; Described adapter plate b is connected with finished product gripping body III, finished product gripping body clips finished product; Described camera testing agency IV of taking pictures is arranged on the midway location at the adapter plate a back side; Described adapter plate a is connected to cylinder, and cylinder and half-blank gripping body link together, cylinder action guarantees that half-blank departs from from half-blank clamping device.
Described product guiding mechanism is made up of four pieces of product guiding blocks 7, is fixedly mounted on respectively on adapter plate a, and lays respectively at the both sides of half-blank gripping body, and the half-blank be placed on it like this is first by the correcting of four product guiding blocks, and then gripping.
Described half-blank gripping body is identical with finished product gripping mechanism structure, all be made up of gripper cylinder 8 and grip block 9, gripper cylinder is connected on adapter plate a and adapter plate b, grip block is arranged on gripper cylinder, adapter plate a of the present invention and adapter plate b is separately installed with four gripper cylinders, for clamping half-blank on adapter plate a, for clamping finished product on adapter plate b.
Described camera testing agency of taking pictures is made up of camera 10 and camera connecting panel 11, and camera connecting panel is fixed on the adapter plate a back side, and camera is arranged on camera connecting panel, and whether inspection half-blank of being convenient to take pictures is placed into discharge position and puts in place.
Described half-blank is through the correcting of product guiding mechanism, through half-blank gripping body, half-blank is mentioned, half-blank moves in the process of discharge position and connecting panel is rotated 180 ° by manipulator, then the finished product after machining takes out by finished product gripping body, connecting panel is rotated 180 ° by manipulator again, half-blank is put to discharge position, cylinder action guarantees that half-blank departs from from half-blank clamping device, last manipulator coordinates camera testing agency of taking pictures to take pictures detection to the half-blank after placing, and confirms that it is with or without being put into position.
Above-described embodiment is the specific descriptions of carrying out the present invention; just the present invention is further described; can not be interpreted as limiting the scope of the present invention, those skilled in the art makes some nonessential improvement according to the content of foregoing invention and adjustment all falls within protection scope of the present invention.
Claims (4)
1. a cooperative mechanical hand realizes product automatic clamping and placing material mechanism, it is characterized in that: it comprises manipulator, connecting panel, adapter plate a, adapter plate b, pillar stiffener, cylinder, product guiding mechanism, half-blank gripping body, finished product gripping body and camera and to take pictures testing agency, the front end of described manipulator is provided with connecting panel, and manipulator can drive connecting panel to rotate 180o; The front end of described connecting panel respectively connected adapter plate a and adapter plate b, and is fixed together by four pillar stiffeners between adapter plate a and adapter plate b; Described adapter plate a is connected with product guiding mechanism and half-blank gripping body, half-blank gripping body clips half-blank; Described adapter plate b is connected with finished product gripping body, finished product gripping body clips finished product; Described camera testing agency of taking pictures is arranged on the midway location at the adapter plate a back side; Described adapter plate a is connected to cylinder, and cylinder and half-blank gripping body link together, cylinder action guarantees that half-blank departs from from half-blank clamping device;
Described half-blank is through the correcting of product guiding mechanism, through half-blank gripping body, half-blank is mentioned, half-blank moves in the process of discharge position and connecting panel is rotated 180 ° by manipulator, then the finished product after machining takes out by finished product gripping body, connecting panel is rotated 180 ° by manipulator again, half-blank is put to discharge position, cylinder action guarantees that half-blank departs from from half-blank clamping device, last manipulator coordinates camera testing agency of taking pictures to take pictures detection to the half-blank after placing, and confirms that it is with or without being put into position.
2. a kind of cooperative mechanical hand according to claim 1 realizes product automatic clamping and placing material mechanism, it is characterized in that: described product guiding mechanism is made up of four pieces of product guiding blocks, be fixedly mounted on respectively on adapter plate a, and lay respectively at the both sides of half-blank gripping body.
3. a kind of cooperative mechanical hand according to claim 1 realizes product automatic clamping and placing material mechanism, it is characterized in that: described half-blank gripping body is identical with finished product gripping mechanism structure, all be made up of gripper cylinder and grip block, gripper cylinder is connected on adapter plate a and adapter plate b, and grip block is arranged on gripper cylinder.
4. a kind of cooperative mechanical hand according to claim 1 realizes product automatic clamping and placing material mechanism, it is characterized in that: described camera testing agency of taking pictures is made up of camera and camera connecting panel, camera connecting panel is fixed on the adapter plate a back side, and camera is arranged on camera connecting panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310303860.8A CN103395623B (en) | 2013-07-19 | 2013-07-19 | A kind of cooperative mechanical hand realizes product automatic clamping and placing material mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310303860.8A CN103395623B (en) | 2013-07-19 | 2013-07-19 | A kind of cooperative mechanical hand realizes product automatic clamping and placing material mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN103395623A CN103395623A (en) | 2013-11-20 |
| CN103395623B true CN103395623B (en) | 2015-09-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310303860.8A Active CN103395623B (en) | 2013-07-19 | 2013-07-19 | A kind of cooperative mechanical hand realizes product automatic clamping and placing material mechanism |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103771130B (en) * | 2013-12-27 | 2016-08-24 | 广州奥迪通用照明有限公司 | A kind of machinery upset hands |
| CN107150248A (en) * | 2017-04-25 | 2017-09-12 | 广东天机工业智能系统有限公司 | Manipulator |
| CN109095175B (en) * | 2018-08-27 | 2024-05-24 | 祁东县铭轩服装有限公司 | Multifunctional cloth clamping device |
| CN109186880B (en) * | 2018-08-30 | 2020-09-04 | 上海雷祥压铸有限公司 | Water-cooled machine shell atmoseal detection device |
| CN112917063B (en) * | 2021-03-11 | 2024-07-02 | 常州凯特工业机器人有限公司 | Automatic welding equipment for shaft products |
| CN115366158A (en) * | 2022-10-24 | 2022-11-22 | 四川易华智源科技有限公司 | Manipulator based on image recognition technology and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1489084A1 (en) * | 1987-04-27 | 1990-12-30 | M I Smirnov | Manipulator adaptive grip |
| SU1632779A1 (en) * | 1989-04-11 | 1991-03-07 | Украинский Научно-Исследовательский Институт Станков И Инструментов | Robot control member |
| CN201998169U (en) * | 2010-04-23 | 2011-10-05 | 北京航空航天大学 | Mechanical arm system for nuclear detecting and emergency processing robot |
| CN102815526A (en) * | 2012-07-19 | 2012-12-12 | 东莞市精丽制罐有限公司 | Turning, positioning and clamping mechanism for barrel |
| CN202668234U (en) * | 2012-06-29 | 2013-01-16 | 苏州久工自动化科技有限公司 | Material taking and placing system of manipulator |
| CN203392478U (en) * | 2013-07-19 | 2014-01-15 | 吴江市博众精工科技有限公司 | Mechanism matching with manipulator to achieve automatic product taking and placing |
-
2013
- 2013-07-19 CN CN201310303860.8A patent/CN103395623B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1489084A1 (en) * | 1987-04-27 | 1990-12-30 | M I Smirnov | Manipulator adaptive grip |
| SU1632779A1 (en) * | 1989-04-11 | 1991-03-07 | Украинский Научно-Исследовательский Институт Станков И Инструментов | Robot control member |
| CN201998169U (en) * | 2010-04-23 | 2011-10-05 | 北京航空航天大学 | Mechanical arm system for nuclear detecting and emergency processing robot |
| CN202668234U (en) * | 2012-06-29 | 2013-01-16 | 苏州久工自动化科技有限公司 | Material taking and placing system of manipulator |
| CN102815526A (en) * | 2012-07-19 | 2012-12-12 | 东莞市精丽制罐有限公司 | Turning, positioning and clamping mechanism for barrel |
| CN203392478U (en) * | 2013-07-19 | 2014-01-15 | 吴江市博众精工科技有限公司 | Mechanism matching with manipulator to achieve automatic product taking and placing |
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| CN103395623A (en) | 2013-11-20 |
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Address after: The Wujiang economic and Technological Development Zone West Road Wujiang District of Suzhou City, Jiangsu Province, No. 666 215200 Patentee after: BOZHON PRECISION INDUSTRY TECHNOLOGY Co.,Ltd. Address before: The Wujiang economic and Technological Development Zone West Road Wujiang District of Suzhou City, Jiangsu Province, No. 666 215200 Patentee before: BOZHONG (SUZHOU) PRECISION INDUSTRY TECHNOLOGY Co.,Ltd. |
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Address after: The Wujiang economic and Technological Development Zone West Road Wujiang District of Suzhou City, Jiangsu Province, No. 666 215200 Patentee after: BOZHONG (SUZHOU) PRECISION INDUSTRY TECHNOLOGY Co.,Ltd. Address before: Jiangsu Province, Suzhou City Lake Road 215200 Wujiang economic and Technological Development Zone East Science Park No. 558, No. 7 standard factory Patentee before: Wujiang BOZHON PRECISION INDUSTRY TECHNOLOGY CO.,LTD. |