CN103586873B - Automatic tracking material grasping mechanical hand device - Google Patents
Automatic tracking material grasping mechanical hand device Download PDFInfo
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- CN103586873B CN103586873B CN201310638801.6A CN201310638801A CN103586873B CN 103586873 B CN103586873 B CN 103586873B CN 201310638801 A CN201310638801 A CN 201310638801A CN 103586873 B CN103586873 B CN 103586873B
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- 239000000463 material Substances 0.000 title claims abstract description 9
- 238000004519 manufacturing process Methods 0.000 claims abstract description 31
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 238000001179 sorption measurement Methods 0.000 claims description 4
- 239000004033 plastic Substances 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 239000011241 protective layer Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract 4
- 239000000047 product Substances 0.000 description 41
- 238000000034 method Methods 0.000 description 6
- 239000000203 mixture Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 239000006227 byproduct Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The invention discloses an automatic tracking material grasping mechanical hand device. The automatic tracking material grasping mechanical hand device comprises a machine frame, a horizontally-moving assembly, a lifting assembly and a grasping assembly, wherein the horizontally-moving assembly horizontally moves and is connected with the machine frame, the lifting assembly moves up and down and is connected with the horizontally-moving assembly, and the grasping assembly is connected with the lifting assembly. The grasping assembly comprises an installation plate and at least one set of mechanical hands on the installation plate, the number of the mechanical hands in each set is two, the mechanical hands in the same set are located on the two sides of the installation plate and oppositely arranged, and the mechanical hands are movably connected with the installation plate. When the automatic tracking material grasping mechanical hand device is adopted, automatic tracking and grasping work can be conducted on products, the products of different specifications and in different shapes can be grasped, the grasped products are diversified in specifications, the products of different specifications can be produced in one production line in a mixed mode, the capacity of the production line for adapting to the products is improved, the potentiality of the production line is given into full play, and meanwhile cost is greatly reduced.
Description
Technical field
The present invention relates to a kind of robot device, specifically, relate to a kind of multiple spot multiaspect from motion tracking materials-taking machine tool arm device.
Background technology
The production line of current production outcase of refrigerator (U shell sheet metal component), in process of production, the specification of production is more single, and can not mixture manufacturing, and namely same production line can not the product of production plurality of specifications simultaneously; Again because U shell wall is thinner, easily be out of shape under not loading inner bag state, and the shape of distortion is multiple, U shell surface paint has been handled well simultaneously, scrap as long as surface is caused distortion or scratched once colliding with, made do not have enterprise to be bold enough to do the automatic capturing equipment of U shell.Existing U shell capture apparatus is all the semi-automatic form under artificial visual manual operation, and specification is unification very, and even so, this type of capture apparatus use amount is also little.
Separately, in order to realize mixture manufacturing, be all often that many production lines join multiple U shell capture apparatus.But many production lines are joined multiple U shell capture apparatus and made the cost of whole production line greatly improve, and it is large to take up room.
Therefore, a kind of energy multiple spot multiaspect is needed badly from motion tracking materials-taking machine tool hand to serve the automatic material grasping work of Thin-shell product.
Summary of the invention
For solving the problems of the technologies described above, the object of the present invention is to provide one can realize production line mixture manufacturing, capture product specification variation, save space, reduce costs from motion tracking materials-taking machine tool arm device.
For achieving the above object, technical scheme of the present invention is as follows: a kind of from motion tracking materials-taking machine tool arm device, comprise frame, move horizontally connect described frame translation assembly, move up and down the lifting assembly connecting described translation assembly and the grabbing assembly connecting described lifting assembly, described grabbing assembly comprises installing plate and is arranged at least one group of manipulator on described installing plate, the number often organizing manipulator is two, manipulator in same group lays respectively at the both sides of described installing plate and is oppositely arranged, installing plate described in described manipulator mobile link.
Further, the cylinder that described manipulator comprises crawl arm, the rectification arm of the described crawl arm that is rotatably connected is connected described rectification arm with driving.
Further, the end of described crawl arm is provided with the sucker for adsorption production, corrects arm and rotate and make the outer wall of product be affixed to described sucker described in described air cylinder driven.
Further, described crawl arm is also provided with the displacement transducer for responding to product space, institute's displacement sensors is proximity switch.
Further, the rectification end of described rectification arm is in " C " type.
Further, the rectification end of described rectification arm is provided with correction unit, and the outer surface of described correction unit is provided with protective layer, or the material of described correction unit is rubber or plastics.
Further, describedly also PLC is comprised from motion tracking materials-taking machine tool arm device, cylinder and proximity switch described in described PLC control connection.
Adopt technique scheme, the beneficial effect of technical solution of the present invention is: the setting of translation assembly and lifting assembly, automatically product can be placed into assigned address after making grabbing assembly capture product; Grabbing assembly comprises installing plate and is arranged at least one group of manipulator on installing plate, the number often organizing manipulator is two, manipulator in same group lays respectively at the both sides of installing plate and is oppositely arranged, manipulator mobile link installing plate, product is made to be positioned in the middle of two manipulators, the shell wall of product both sides is captured by multiple manipulator respectively, realize multiple spot multiaspect from motion tracking and crawl work; The distance between two manipulators can be regulated simultaneously, the product that can be applicable to different size and specification captures, reach and capture product specification variation and capture working automation, production line mixture manufacturing can be realized, overcome the shortcoming of conventional hybrid need of production many covers capture apparatus simultaneously, improve the adaptive capacity of production line to product, given full play to the potential of production line, also greatly reduced cost.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in embodiment of the present invention technology, be briefly described to the accompanying drawing used required in the description of embodiment technology below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation from motion tracking materials-taking machine tool arm device of the present invention;
Fig. 2 is the front view of a kind of grabbing assembly in motion tracking materials-taking machine tool arm device of the present invention;
Fig. 3 is a kind of crawl schematic diagram from motion tracking materials-taking machine tool arm device of the present invention;
Fig. 4 is the structural representation of a kind of manipulator in motion tracking materials-taking machine tool arm device of the present invention;
Fig. 5 is the stereogram of a kind of grabbing assembly in motion tracking materials-taking machine tool arm device of the present invention.
Wherein, 1. frame, 2, translation assembly, 3, lifting assembly 4, installing plate, 41, slide rail, 42, cylinder, 5, manipulator, 51, crawl arm, 52, correct arm, 53, cylinder, 54, sucker, 55, correction unit, 56, proximity switch, 57, location-plate, 6, product.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment 1
As Figure 1-5, a kind of from motion tracking materials-taking machine tool arm device, comprise frame 1, move horizontally the translation assembly 2 of connection frame 1, move up and down the lifting assembly 3 connecting translation assembly 2 and the grabbing assembly connecting lifting assembly 3, two groups of manipulators 5 that grabbing assembly comprises installing plate 4 and is arranged on installing plate 4, two groups of manipulators 5 are arranged side by side, the number often organizing manipulator 5 is two, manipulator 5 in same group lays respectively at the both sides of installing plate 4 and is oppositely arranged, manipulator 5 mobile link installing plate 4, installing plate 4 is provided with slide rail 41, manipulator 5 is slidably connected slide rail 41, utilize cylinder 42 driving device hand 5 to move around on slide rail 41 simultaneously.
Translation assembly 2 is arranged at the top of frame 1, and grabbing assembly is arranged at one end of lifting assembly 3, and is fixedly connected with lifting assembly 3; Wherein, translation assembly 2 realizes moving along frame 1 by motor and Timing Belt; Lifting assembly 3 is connected with translation assembly 2 by slide rail, and realizes oscilaltion by the cylinder in lifting assembly 3.
Manipulator 5 comprises crawl arm 51, the rectification arm 52 of the crawl arm 51 that is rotatably connected is connected with driving the cylinder 53 correcting arm 52, and crawl arm 51 is installed on installing plate 4 with crossing location-plate 57.The end of crawl arm 51 is provided with the sucker 54 for adsorption production, and cylinder 53 drives to be corrected arm 52 and rotate and make product 6(U shell) outer wall be affixed to sucker 54, correct the rectification end of arm 52 in " C " type, the rectification end correcting arm 52 is provided with correction unit 55, crawl arm 51 is also provided with the displacement transducer for responding to product space, displacement transducer is proximity switch 56, when two manipulators 5 are respectively when two outer wall of product 6, proximity switch 56 will sense and send signal and cylinder 53 is worked, rectification arm 52 is driven to rotate, the rectification end of rectification arm 52 is made to rotate towards crawl arm 51 direction and press close to, until correction unit 55 contact product 6 outer wall make product 6 and sucker 54 fit, final sucker 54 utilizes absorption affinity to be adsorbed by product 6, realize whole crawl work, as shown in Figure 3.Wherein, the outer surface of correction unit 55 is provided with protective layer, or the material of correction unit 55 is rubber or plastics, such setting, makes, in the process capturing product 6, can not destroy the surface of product 6.
Also comprise PLC from motion tracking materials-taking machine tool arm device, make whole process implementation automation, the above-mentioned multiple cylinder of PLC control connection and proximity switch 56.After manipulator 5 has captured product 6, by translation assembly 2 and lifting assembly 3, product 6 can be delivered to specific position from motion tracking materials-taking machine tool arm device, complete whole feeding and the work of putting material, next carry out next crawl work, circulate always.
The product of different size, namely the product 6 of different size is when capturing, and two manipulators 5 independent can adjust respective distance from motion tracking product space, reach the variation capturing product 6, are not defined as one.
Embodiment 2
All the other are same as the previously described embodiments, and difference is, the manipulator 5 on installing plate 4 is one group, or other many groups, or capture two even multiple products simultaneously, be not construed as limiting, determine according to the concrete condition of production.
By technique scheme, the beneficial effect of technical solution of the present invention is: the setting of translation assembly and lifting assembly, automatically product can be placed into assigned address after making grabbing assembly capture product, grabbing assembly comprises installing plate and is arranged at least one group of manipulator on installing plate, the number often organizing manipulator is two, manipulator in same group lays respectively at the both sides of installing plate and is oppositely arranged, manipulator mobile link installing plate, product is made to be positioned in the middle of two manipulators, each manipulator has separately independently power set, each manipulator can self-movement be gone to find the shell wall position of product, after each manipulator all detects product shell wall position, the rectification arm of each manipulator rotates under cylinder thrust, the shell wall of product both sides is fitted after each sucker pick up by correcting the rectification of arm, then by lifting assembly and translation assembly, product clip is got other assigned address, so realize multiple spot multiaspect from motion tracking and crawl work, two manipulators carry out automatic adjustable range by respective independently automatic tracking function simultaneously, the product that can be applicable to different size and specification captures, reach and capture product specification variation and capture working automation, production line mixture manufacturing can be realized, overcome the shortcoming of conventional hybrid need of production many covers capture apparatus simultaneously, improve the adaptive capacity of production line to product, given full play to the potential of production line, also greatly reduced cost.
Pass through technique scheme, the beneficial effect of technical solution of the present invention also comprises: the setting of correcting arm, the sucker of auxiliary grip arm can carry out absorption work, even if product is soft and thin, and be easily out of shape, the rectification end correcting arm also can make the outer wall of product be affixed to the sucker of crawl arm, makes sucker firmly adsorption production, afterwards product is delivered to ad-hoc location, successfully complete the whole crawl work of product.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (6)
1. one kind from motion tracking materials-taking machine tool arm device, it is characterized in that, comprise frame, move horizontally connect described frame translation assembly, move up and down the lifting assembly connecting described translation assembly and the grabbing assembly connecting described lifting assembly, described grabbing assembly comprises installing plate and is arranged at least one group of manipulator on described installing plate, the number often organizing manipulator is two, manipulator in same group lays respectively at the both sides of described installing plate and is oppositely arranged, installing plate described in described manipulator mobile link; The cylinder that described manipulator comprises crawl arm, the rectification arm of the described crawl arm that is rotatably connected is connected described rectification arm with driving.
2. according to claim 1ly it is characterized in that from motion tracking materials-taking machine tool arm device, the end of described crawl arm is provided with the sucker for adsorption production, corrects arm and rotate and make the outer wall of product be affixed to described sucker described in described air cylinder driven.
3. according to claim 2ly it is characterized in that from motion tracking materials-taking machine tool arm device, described crawl arm is also provided with the displacement transducer for responding to product space, institute's displacement sensors is proximity switch.
4. according to the arbitrary claim of claim 1-3 from motion tracking materials-taking machine tool arm device, it is characterized in that, the rectification end of described rectification arm is in " C " type.
5. according to claim 4ly it is characterized in that from motion tracking materials-taking machine tool arm device, the rectification end of described rectification arm is provided with correction unit, and the outer surface of described correction unit is provided with protective layer, or the material of described correction unit is rubber or plastics.
6. according to claim 5ly to it is characterized in that from motion tracking materials-taking machine tool arm device, describedly also comprise PLC from motion tracking materials-taking machine tool arm device, cylinder and proximity switch described in described PLC control connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310638801.6A CN103586873B (en) | 2013-12-04 | 2013-12-04 | Automatic tracking material grasping mechanical hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310638801.6A CN103586873B (en) | 2013-12-04 | 2013-12-04 | Automatic tracking material grasping mechanical hand device |
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| Publication Number | Publication Date |
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| CN103586873A CN103586873A (en) | 2014-02-19 |
| CN103586873B true CN103586873B (en) | 2015-07-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310638801.6A Expired - Fee Related CN103586873B (en) | 2013-12-04 | 2013-12-04 | Automatic tracking material grasping mechanical hand device |
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| CN (1) | CN103586873B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105366353B (en) * | 2014-08-25 | 2016-08-31 | 海南大学 | A kind of rubber dryness production line unloads glue mechanical hand |
| CN104596352A (en) * | 2015-02-15 | 2015-05-06 | 苏州鸿普精密模具有限公司 | Lifting and grasping mechanism of chemical condenser cleaning machine for vehicles |
| CN105599929A (en) * | 2016-01-19 | 2016-05-25 | 苏州诚亭自动化设备有限公司 | Automated lifting device of plastic recycling and box filling machine |
| CN105500384A (en) * | 2016-02-02 | 2016-04-20 | 江苏豪林自动化科技有限公司 | Manipulator sucker operating signal trigger device |
| CN107263462B (en) * | 2016-04-08 | 2023-06-27 | 广州双鱼体育用品集团有限公司 | Automatic tracking manipulator |
| CN108081251B (en) * | 2016-11-23 | 2023-05-12 | 海南大学 | Rubber unloading manipulator for natural rubber drying production line |
| CN107471244A (en) * | 2017-09-30 | 2017-12-15 | 武汉库柏特科技有限公司 | A kind of logistics captures the method for material with flexible multi-finger manipulator and with it |
| CN109177044B (en) * | 2018-09-19 | 2023-05-23 | 金石机器人常州股份有限公司 | Injection molding machine pull rod position tracking mechanism and grabbing method thereof |
| CN110225697B (en) * | 2019-04-23 | 2020-09-04 | 芜湖黑特新能源汽车科技有限公司 | Automatic production line of PTC heating plate |
| CN110712994A (en) * | 2019-10-22 | 2020-01-21 | 三峡大学 | Automatic loading attachment of tray material supply type |
| CN111633680B (en) * | 2020-06-09 | 2022-12-09 | 浙江雪村制冷设备有限公司 | Freezer box manipulator |
| CN112192591B (en) * | 2020-09-24 | 2021-09-24 | 长虹美菱股份有限公司 | Manipulator clamp for turning inner container of box body |
| CN113086640B (en) * | 2021-04-12 | 2022-09-13 | 上海先惠自动化技术股份有限公司 | Holding device and method for correcting thin-wall parts |
| CN113500148A (en) * | 2021-07-16 | 2021-10-15 | 安徽森源环境技术有限公司 | Transfer riveting system of inner frame forming automatic production line |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2371170Y (en) * | 1999-05-06 | 2000-03-29 | 怡锋工业设备（深圳）有限公司 | Lifter with suction means |
| CN201410662Y (en) * | 2009-06-12 | 2010-02-24 | 北京物资学院 | Flexible grabbing system for case |
| CN201625980U (en) * | 2010-02-26 | 2010-11-10 | 滁州市鑫隆机电有限公司 | Material grabbing mechanical hand operated in three-dimensional space |
| CN201842288U (en) * | 2010-10-22 | 2011-05-25 | 青岛诺力达工业装备有限公司 | High speed hand grip for bag and mechanical arm |
| CN202572398U (en) * | 2012-05-07 | 2012-12-05 | 宁德新能源科技有限公司 | Flexible manipulator |
| CN203650536U (en) * | 2013-12-04 | 2014-06-18 | 苏州怡丰工业设备有限公司 | Automatic tracking and material grabbing mechanical arm device |
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- 2013-12-04 CN CN201310638801.6A patent/CN103586873B/en not_active Expired - Fee Related
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| CN103586873A (en) | 2014-02-19 |
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Granted publication date: 20150701 |