CN103481279A - Multi-freedom-degree manipulator fixture - Google Patents

Multi-freedom-degree manipulator fixture Download PDF

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Publication number
CN103481279A
CN103481279A CN201210197496.7A CN201210197496A CN103481279A CN 103481279 A CN103481279 A CN 103481279A CN 201210197496 A CN201210197496 A CN 201210197496A CN 103481279 A CN103481279 A CN 103481279A
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CN
China
Prior art keywords
gripping
cylinder
handgrip
freedom degree
mechanical hand
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CN201210197496.7A
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Chinese (zh)
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CN103481279B (en
Inventor
敬俊娥
程芳玲
鲁宁
魏京利
李翊
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CSR Qingdao Sifang Locomotive and Rolling Stock Co Ltd
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CSR Qingdao Sifang Locomotive and Rolling Stock Co Ltd
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Priority to CN201210197496.7A priority Critical patent/CN103481279B/en
Publication of CN103481279A publication Critical patent/CN103481279A/en
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Publication of CN103481279B publication Critical patent/CN103481279B/en
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Abstract

The invention relates to a multi-freedom-degree manipulator fixture, which comprises a manipulator main machine, a clamping mechanism, a connecting arm which is used for connecting the manipulator main machine and the clamping mechanism, and a controller. The clamping mechanism comprises a pair of rotatable grips which is used for clamping a workpiece, a clamping device which is used for adjusting X-axis distance between the two grips, and a moving device which is used for driving the grips to move along a Y-axis, wherein the clamping device and the moving device are electrically connected with the controller. The multi-freedom-degree manipulator fixture has the advantages that the structure is simple, the multi-freedom-degree clamping of workpieces with different sizes and shapes can be realized, the operation is safe and convenient to perform, the universality is high, the grips can move linearly along the Y-axis, the requirement on the fine adjustment of the workpieces during clamping and placing, the 180-degree turnover of the workpieces can be realized, the clamping force of the grips can also be adjusted and the requirement on different clamping force for clamping different workpieces is met.

Description

Multi freedom degree mechanical hand fixture
Technical field
The present invention relates to a kind of fixture, particularly a kind of multi freedom degree mechanical hand fixture.
Background technology
Existing boosting manipulator pawl folder clamp mechanism, mostly be special fixture, and versatility is little, and generally can have following problem: one, mechanism freedom is little, is difficult to adapt to the needs of sizes workpiece.Two, workpiece is difficult to realize upset, even realize upset, more accurately locate the position that also is difficult to workpiece is placed, and causes, to after workpiece turning, need reapposing gripping again, and gripping efficiency is not high, and consuming time, is difficult to operation.Three, be difficult to regulate the gripping power to workpiece, different workpiece, the quality requirement of surface of the work, the rigidity of workpiece are different, gripping power to manipulator fixture has proposed different requirements, the general gripping power of existing manipulator is fixed, even realize that gripping power changes, also can cause mechanism's complexity, therefore be difficult to meet the production actual requirement.
Summary of the invention
Main purpose of the present invention is to address the above problem and is not enough, provides a kind of simple in structure, highly versatile, multi freedom degree mechanical hand fixture safe and convenient to use.
For achieving the above object, technical scheme of the present invention is:
A kind of multi freedom degree mechanical hand fixture, comprise Robotic Host, gripping body, linking arm and controller for connecting described Robotic Host and gripping body, described gripping body comprises a pair of rotatable handgrip for the gripping workpiece, for the clamp device of regulating X axis distance between two described handgrips, for driving the described handgrip mobile device moving along y-axis shift, described clamp device and mobile device are electrically connected to described controller.
Further, in described gripping body, also comprise for regulating the adjusting device of described handgrip gripping power.
Further, also comprise the mechanical arm of pair of opposing in described gripping body, described handgrip is connected on described mobile device, and described mobile device is fixed on described mechanical arm, and described mechanical arm is connected with described clamp device.
Further: described clamp device is flexible gripping cylinder, and two described mechanical arms are fixed on the two ends of described flexible gripping cylinder, by a pair of described mechanical arm of the flexible drive of described flexible gripping cylinder, are relatively moved and are realized the gripping of workpiece and unclamp.
Further, described flexible gripping cylinder connects a cylinder pressure regulator valve, and described cylinder pressure regulator valve is electrically connected to described controller.
Further, described mobile device is the telescopic moving cylinder, and the described handgrip of described telescopic moving air cylinder driven is done rectilinear motion along described mechanical arm.
Further, the rotation of described handgrip is driven by the rotary cylinder be connected with described handgrip, and described rotary cylinder is connected on described mobile device, and described rotary cylinder is electrically connected to described controller.
Further, on described linking arm, be provided with for manually operated handle.
Further, described Robotic Host comprises a cantilever crane, in the cantilever lower end of described cantilever crane, is rotationally connected described linking arm.
Further, the cantilever of described cantilever crane is realized the lifting on vertical direction by telescopic cylinder.
Content to sum up, a kind of multi freedom degree mechanical hand fixture of the present invention, simple in structure, can realize the multivariant gripping to the workpiece of different size, shape, easy-to-operate, highly versatile, handgrip can be done the rectilinear motion of Y-axis, the requirement of fine setting while meeting workpiece holding and placement, and can realize the 180 degree upsets to workpiece, the present invention can also be regulated the gripping power of handgrip, while meeting the different workpieces gripping to the requirement of different gripping power.
The accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is gripping body structural representation of the present invention.
As depicted in figs. 1 and 2, Robotic Host 1, gripping body 2, linking arm 3, control panel 4, cantilever crane 5, cantilever 6, column 7, bearing pin 8, telescopic cylinder 9, connecting rod 10, expansion link 11, mechanical arm 12, handgrip 13, flexible gripping cylinder 14, cylinder pressure regulator valve 15, telescopic moving cylinder 16, rotary cylinder 17, handle 18.
The specific embodiment
Below in conjunction with accompanying drawing and the specific embodiment, the present invention is described in further detail:
As shown in Figure 1, a kind of multi freedom degree mechanical hand fixture, comprise Robotic Host 1, gripping body 2, for connecting linking arm 3, the controller of Robotic Host 1 and gripping body 2.
Wherein, as shown in Figure 1, Robotic Host 1 comprises a center steering formula cantilever crane 5, cantilever crane 5 is centered by a steel column 7, column 7 is fixed on the ground in workshop, cantilever 6 is done 360 degree rotations around column 7, cantilever 6 is connected by bearing pin 8 with the top of column 7, cantilever 6 is realized the lifting on vertical direction by telescopic cylinder 9, telescopic cylinder 9 is fixed on column 7, cantilever 6 is connected with the expansion link 11 of telescopic cylinder 9 by connecting rod 10, and telescopic cylinder 9 is connected with controller, is controlled the height of cantilever 6 by controller.
The bottom of the top of linking arm 3 and cantilever 6 realizes that by rotating shaft and bearing 360 degree are rotationally connected, and the bottom of linking arm 3 is connected with gripping body 2.
As shown in Figure 2, gripping body 2 comprises a pair of for the rotatable handgrip 13 of gripping workpiece, a pair of mechanical arm 12 be oppositely arranged, the corresponding handgrip 13 of each mechanical arm 12, between two mechanical arms 12, by clamp device, connect, clamp device is controlled two relative motions of mechanical arm 12 on X-direction, be fixedly connected with a mobile device on each mechanical arm 12, rotatable handgrip 13 is connected with mobile device, and mobile device drives handgrip 13 to do rectilinear motion on Y-axis.
In the present embodiment, clamp device adopts flexible gripping cylinder 14, flexible gripping cylinder 14 is controlled flexible to both sides by controller, the bottom of linking arm 3 is fixed on flexible gripping cylinder 14, two mechanical arms 12 are fixed on the two ends of flexible gripping cylinder 14, the a pair of mechanical arm 12 of flexible drive by flexible gripping cylinder 14 is done relative traveling priority on X-direction, two mechanical arms 12 or the relatively close gripping realized workpiece, or relatively away from the placement of unclamping realized workpiece.
In gripping body 2, also comprise for regulating the adjusting device of handgrip 13 gripping power, in the present embodiment, the adjusting device of gripping power adopts cylinder pressure regulator valve 15, control the power output of flexible gripping cylinder 14 by adjusting cylinders pressure regulator valve 15, according to different workpiece, require the output valve by setting cylinder pressure regulator valve 15 to reach the gripping power of controlling 12 pairs of workpiece of mechanical arm.
Mobile device adopts telescopic moving cylinder 16, handgrip 13 connects a rotary cylinder 17, rotary cylinder 17 is connected with telescopic moving cylinder 16, telescopic moving cylinder 16 and rotary cylinder 17 are electrically connected to controller, telescopic moving cylinder 16 is fixed on mechanical arm 12, mechanical arm 12 is when motion, and telescopic moving cylinder 16, rotary cylinder 17 and handgrip 13 be motion thereupon also.Telescopic moving cylinder 16 drives rotary cylinder 17 and handgrip 13 to do rectilinear motion on Y-axis under the control of controller, when needed, rotary cylinder 17 drives handgrip 13 to rotate in 180 degree scopes under the control of controller, and then the workpiece of drive handgrip 13 grippings overturns in 180 degree scopes.
After gripping or gripping during place work piece, by driving telescopic moving cylinder 16, make handgrip 13 do rectilinear motion along mechanical arm 12 on Y-axis, with the gripping position to gripping body 2, finely tuned, realize the reorientation of handgrip 13, guarantee gripping body 2 active accurately gripping and place work piece.
For convenience of operating personnel's operation, be provided with control panel 4 in controller, the operator can regulate arbitrarily according to the workpiece by gripping, to control the output valve of telescopic cylinder 9, flexible gripping cylinder 14, telescopic moving cylinder 16, rotary cylinder 17 and setting cylinder pressure regulator valve 15, and then accomplish accurate gripping and place work piece.
In the present embodiment, on linking arm 3, be provided with for manually operated handle 18, for the ease of operating personnel's operation, control panel 4 is arranged on handle 18 places.
Below describe the course of work of this handling erecting device in detail:
Placement location according to workpiece, operating personnel promote operating grip 18, cantilever 6 is around column 7 rotations, linking arm 3 is around cantilever 6 rotations, gripping body 2 is moved to the position that workpiece is placed, the telescopic cylinder 9 that operating personnel control in Robotic Host 1 by operation control panel 4, make gripping body 2 liftings to suitable height.
Position with reference to workpiece, when workpiece can't grab by operating grip 18, operating personnel start telescopic moving cylinder 16 by operation control panel 4, make handgrip 13 do rectilinear motion on mechanical arm 12, and then the gripping position of a pair of handgrip 13 is finely tuned, after determining and can realizing the accurate crawl to workpiece, start flexible gripping cylinder 14 by operation control panel 4, drive a pair of mechanical arm 12 and do in the X-axis linear relative movement, the gripping of realization to workpiece, make the suitable position of handgrip 13 grippings at workpiece, guarantee that the workpiece of gripping can not come off.Simultaneously, operating personnel set the output pressure value of cylinder pressure regulator valve 15 according to the requirement of different workpieces by operation control panel 4, and then set the gripping power of handgrip 13, under the prerequisite of defective work piece not, further, guarantee that gripping is firm, thereby guarantee the accurate gripping of workpiece.
After determining gripping of workpiece, by operating grip 18, travelling workpiece is to needing the position of placing.When will be to workpiece turning, start rotary cylinders 17 by operation control panel 4, realize the 180 degree upsets to workpiece.After workpiece turning, operating grip 18, the control panel of auxiliary operation simultaneously 4 starts telescopic moving cylinder 16, and workpiece is accurately moved on the workbench position.After workpiece is determined position, start flexible gripping cylinder 14 by operation control panel 4, drive a pair of mechanical arm 12 to two side shiftings to unclamp the crawl to workpiece.Last operation handle 18, remove whole gripping body 2.
As mentioned above, given scheme content, can derive similar technical scheme by reference to the accompanying drawings.In every case be the content that does not break away from technical solution of the present invention, any simple modification, equivalent variations and the modification above embodiment done according to technical spirit of the present invention, all still belong in the scope of technical solution of the present invention.

Claims (10)

1. a multi freedom degree mechanical hand fixture, it is characterized in that: comprise Robotic Host, gripping body, linking arm and controller for connecting described Robotic Host and gripping body, described gripping body comprises a pair of rotatable handgrip for the gripping workpiece, for the clamp device of regulating X axis distance between two described handgrips, for driving the described handgrip mobile device moving along y-axis shift, described clamp device and mobile device are electrically connected to described controller.
2. multi freedom degree mechanical hand fixture according to claim 1, is characterized in that: in described gripping body, also comprise for regulating the adjusting device of described handgrip gripping power.
3. multi freedom degree mechanical hand fixture according to claim 1, it is characterized in that: the mechanical arm that also comprises pair of opposing in described gripping body, described handgrip is connected on described mobile device, described mobile device is fixed on described mechanical arm, and described mechanical arm is connected with described clamp device.
4. multi freedom degree mechanical hand fixture according to claim 3, it is characterized in that: described clamp device is flexible gripping cylinder, two described mechanical arms are fixed on the two ends of described flexible gripping cylinder, by a pair of described mechanical arm of the flexible drive of described flexible gripping cylinder, are relatively moved and are realized the gripping of workpiece and unclamp.
5. multi freedom degree mechanical hand fixture according to claim 4, it is characterized in that: described flexible gripping cylinder connects a cylinder pressure regulator valve, and described cylinder pressure regulator valve is electrically connected to described controller.
6. multi freedom degree mechanical hand fixture according to claim 3, it is characterized in that: described mobile device is the telescopic moving cylinder, the described handgrip of described telescopic moving air cylinder driven is done rectilinear motion along described mechanical arm.
7. multi freedom degree mechanical hand fixture according to claim 3, it is characterized in that: the rotation of described handgrip is driven by the rotary cylinder be connected with described handgrip, described rotary cylinder is connected on described mobile device, and described rotary cylinder is electrically connected to described controller.
8. multi freedom degree mechanical hand fixture according to claim 1, is characterized in that: on described linking arm, be provided with for manually operated handle.
9. multi freedom degree mechanical hand fixture according to claim 1, it is characterized in that: described Robotic Host comprises a cantilever crane, in the cantilever lower end of described cantilever crane, is rotationally connected described linking arm.
10. multi freedom degree mechanical hand fixture according to claim 9, it is characterized in that: the cantilever of described cantilever crane is realized the lifting on vertical direction by telescopic cylinder.
CN201210197496.7A 2012-06-14 2012-06-14 Multi-freedom-degreemanipulator manipulator fixture Active CN103481279B (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104016193A (en) * 2014-06-13 2014-09-03 东华大学 Chemical fiber filament package placing device
CN106005555A (en) * 2016-06-17 2016-10-12 项金凤 Grabbing device for end covers of tubing
CN106182035A (en) * 2016-08-31 2016-12-07 宁波中大力德智能传动股份有限公司 Plane joint manipulator
CN106945010A (en) * 2017-03-10 2017-07-14 苏州市汉诺威升降台有限公司 A kind of packet capturing manipulator
CN107244564A (en) * 2017-07-25 2017-10-13 芜湖超源力工业设计有限公司 A kind of turnover robot palletizer of fixture
CN108213982A (en) * 2017-12-28 2018-06-29 安徽荣达阀门有限公司 A kind of comprehensive valve processing unit (plant)
CN108356728A (en) * 2018-03-03 2018-08-03 佛山市投纸软件有限公司 A kind of laboratory clamping device
CN106197509B (en) * 2016-07-06 2019-05-21 中车青岛四方机车车辆股份有限公司 A kind of fixation device of multisensor
CN111921322A (en) * 2020-08-13 2020-11-13 广东清之源环保科技有限公司 Waste gas purification device

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0999170A1 (en) * 1998-11-06 2000-05-10 Fibro GmbH Gripping system
DE202005000351U1 (en) * 2005-01-11 2005-06-16 Fortrend Engineering Corporation, Sunnyvale End effector used in the manufacture of integrated circuits comprises a gripper bearing rail for attaching to an arm of a pod opener, a pair of gripper arms arranged on opposite ends of the gripper bearing rail
CN200995341Y (en) * 2006-12-15 2007-12-26 大连机床集团有限责任公司 Automatic linear turnover apparatus
CN201410662Y (en) * 2009-06-12 2010-02-24 北京物资学院 Flexible grabbing system for case
JP2011189418A (en) * 2010-03-12 2011-09-29 Ihi Corp Robot hand
CN202656185U (en) * 2012-06-14 2013-01-09 南车青岛四方机车车辆股份有限公司 Multiple-freedom-degree mechanical arm clamp
CN202668545U (en) * 2012-06-04 2013-01-16 盐城市昱博自动化设备有限公司 Novel vacuum carrying manipulator

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0999170A1 (en) * 1998-11-06 2000-05-10 Fibro GmbH Gripping system
DE202005000351U1 (en) * 2005-01-11 2005-06-16 Fortrend Engineering Corporation, Sunnyvale End effector used in the manufacture of integrated circuits comprises a gripper bearing rail for attaching to an arm of a pod opener, a pair of gripper arms arranged on opposite ends of the gripper bearing rail
CN200995341Y (en) * 2006-12-15 2007-12-26 大连机床集团有限责任公司 Automatic linear turnover apparatus
CN201410662Y (en) * 2009-06-12 2010-02-24 北京物资学院 Flexible grabbing system for case
JP2011189418A (en) * 2010-03-12 2011-09-29 Ihi Corp Robot hand
CN202668545U (en) * 2012-06-04 2013-01-16 盐城市昱博自动化设备有限公司 Novel vacuum carrying manipulator
CN202656185U (en) * 2012-06-14 2013-01-09 南车青岛四方机车车辆股份有限公司 Multiple-freedom-degree mechanical arm clamp

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104016193A (en) * 2014-06-13 2014-09-03 东华大学 Chemical fiber filament package placing device
CN106005555A (en) * 2016-06-17 2016-10-12 项金凤 Grabbing device for end covers of tubing
CN106197509B (en) * 2016-07-06 2019-05-21 中车青岛四方机车车辆股份有限公司 A kind of fixation device of multisensor
CN106182035A (en) * 2016-08-31 2016-12-07 宁波中大力德智能传动股份有限公司 Plane joint manipulator
CN106945010A (en) * 2017-03-10 2017-07-14 苏州市汉诺威升降台有限公司 A kind of packet capturing manipulator
CN107244564A (en) * 2017-07-25 2017-10-13 芜湖超源力工业设计有限公司 A kind of turnover robot palletizer of fixture
CN108213982A (en) * 2017-12-28 2018-06-29 安徽荣达阀门有限公司 A kind of comprehensive valve processing unit (plant)
CN108356728A (en) * 2018-03-03 2018-08-03 佛山市投纸软件有限公司 A kind of laboratory clamping device
CN111921322A (en) * 2020-08-13 2020-11-13 广东清之源环保科技有限公司 Waste gas purification device

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Address after: Jihongtan town Chengyang District Shandong city Qingdao province Jinhong road 266111 No. 88

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