CN103878765B - A kind of manipulator circular object automatic centering captured can placed - Google Patents
A kind of manipulator circular object automatic centering captured can placed Download PDFInfo
- Publication number
- CN103878765B CN103878765B CN201410124187.6A CN201410124187A CN103878765B CN 103878765 B CN103878765 B CN 103878765B CN 201410124187 A CN201410124187 A CN 201410124187A CN 103878765 B CN103878765 B CN 103878765B
- Authority
- CN
- China
- Prior art keywords
- clamp arm
- support bar
- tapered sleeve
- large object
- fixed
- 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.)
- Expired - Fee Related
Links
Abstract
A kind of manipulator circular object automatic centering captured can placed, its left clamp arm (1a) is connected with left semicircle tapered sleeve (13a) by the left front support bar (5a) on right side and the left back support bar (5b) on right side, and the front end of left clamp arm (1a) is provided with left bearing one (6a); Described right clamp arm (1b) is connected with right semi-circle tapered sleeve (13b) by the right back support bar (5d) in the right anterior branch strut (5c) on the left of it and left side thereof, and the front end of right clamp arm (1b) is provided with right bearing one (6b); Left semicircle tapered sleeve (13a) and large mouth relative with the inner headed face of right semi-circle tapered sleeve (13b) all down.Liftable support (10) is fixed with vertical rod (8) in the bottom at the center of left clamp arm (1a) hinged place and right clamp arm (1b) hinged place, and the bottom of vertical rod (8) is connected with the wide-mouth clamp (9) adaptive with locating dowel (7) forward.The circular object captured can be aimed at target location and place by this kind of manipulator automatically automatically, and its structure is simple, and make with maintenance cost low, good stability, reliability are strong.
Description
Technical field
The present invention relates to a kind of manipulator circular object automatic centering captured can placed.
Background technology
Full-fledged along with Robotics, often requires that in industrial production and athletic competition robot completes various grasping movement, and needs the object of crawl to be accurately placed in the target location of regulation or the predetermined member of target device.Be positioned on target substance or parts as circular object is accurately aimed at by needs, the manipulator of existing crawl circular object, its structure comprises postmedian to be articulated with left and right clamp arm on the liftable support of robot, the tail end of left clamp arm is articulated with on the lever of cylinder, the right side is stepped up arm and is articulated with on the thick stick cylinder of cylinder, also left and right synchronizing bar is hinged respectively for the tail end of left and right clamp arm, and the other end of left and right synchronizing bar is articulated with in the longitudinal chute on liftable support.It clamps the circular object clamping crawl under the driving of cylinder by left and right, then near robot motion to target location, again by the height alignment target location of liftable support by object, then cylinder reverse drive, left and right clamp arm unclamps the object capturing circle and is namely placed near target location.Because manipulator does not have the mechanism of auto-alignment placement location, need the situation of strict centering (as circular object is placed on Precision Machining facility by needs to placement location, carry out following process), usually reprocessabilty is needed repeatedly to operate control, repeatedly placing could be successful, wastes time and energy.Also the manipulator had arranges high-precision sensor by arrangement, accurate synchronous detection and FEEDBACK CONTROL is carried out to installing placement location, also auto-alignment can be realized, place operation, because high-precision sensor is expensive, perishable, the production of manipulator and maintenance cost are improved, also reduces the Stability and dependability of manipulator simultaneously.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of manipulator circular object automatic centering captured can placed, the circular object captured can be aimed at target location and place by this kind of manipulator automatically automatically, and its structure is simple, make with maintenance cost low, good stability, reliability are strong.
The present invention solves its technical problem, the technical scheme adopted is: a kind of manipulator circular object automatic centering captured can placed, comprise postmedian and be articulated with left and right clamp arm on robot liftable support, the rear end of left clamp arm is articulated with on the cylinder bar of cylinder, the rear end of right clamp arm is articulated with on the cylinder barrel of cylinder, the rear end of left and right clamp arm is also hinged with left and right synchronizing bar respectively, and the other end of left and right synchronizing bar is articulated with in the longitudinal chute on liftable support; It is characterized in that:
Described left clamp arm is connected with left semicircle tapered sleeve by the left front support bar on right side and the left back support bar on right side, and the front end of left clamp arm is provided with left bearing one; Described right clamp arm is connected with right semi-circle tapered sleeve by the right back support bar in the right anterior branch strut on the left of it and left side thereof, and the front end of right clamp arm is provided with right bearing one; Left semicircle tapered sleeve and large mouth relative with the inner headed face of right semi-circle tapered sleeve all down;
Described liftable support is fixed with vertical rod in the bottom at the center of left clamp arm hinged place and right clamp arm hinged place, the bottom of vertical rod be connected with forward with the wide-mouth clamp of locating dowel adaptation.
The course of work of the present invention and principle are:
Under the effect of cylinder, left and right clamp arm closes up, liftable support and the side that object is left front, the left bearing one on right anterior branch strut, right bearing one push against circular object, the bottom support of circular object is on left front, left back, right front, right back support bar simultaneously, and circular object is clenched by manipulator.Robot moves towards target location, when robot moves near target location also near the locating dowel preset, liftable support rises until locate the end face of bottom surface higher than locating dowel of tapered sleeve, robot is drawn close to locating dowel direction, wide-mouth clamp blocks locating dowel, realizes the preliminary centering of manipulator and locating dowel, and liftable support declines, location tapered sleeve packs into the top of locating dowel, guides the circular object and the further precise alignment of locating dowel that capture.Cylinder cylinder bar shrinks, and left and right clamp arm unclamps, and circular object and auto-alignment are accurately positioned over target location.As with holes in circular object center, for circular object centre bore is installed in locating dowel, then realizes locating dowel automatic centering and insert circular object centre bore.
Compared with prior art, the invention has the beneficial effects as follows:
The way of the mechanical self-adaptability adopting wide-mouth clamp and tapered sleeve to mate with the locating dowel that target location is preset realizes robot and captures circular object and the automatic centering of placement location is placed.This Adaptive Mechanical centering method accurately, reliably, efficiently can realize centering; Its structure is simple simultaneously, and cost of manufacture is low, easy to maintenance, also well ensure that the reliability and stability of manipulator.
The front end of described left clamp arm is also connected with the left front support bar of large object left, the end winding support of the left front support bar of large object has left bearing two, left clamp arm is fixed with the left back support bar of large object left at position, liftable support front, the end of left back support bar is also fixed with right baffle-plate upwards;
The head end of described right clamp arm is fixed with large object right anterior branch strut to the right, the end winding support of large object right anterior branch strut has left bearing two, right clamp arm is fixed with the right back support bar of large object to the right at position, liftable support front, the end of right back support bar is also fixed with right baffle plate upwards.
Like this, when needing to capture larger object, then can the more large-area bracing frame that forms of left front, left back, right front by large object, right back large object support bar, from the circular object that bottom supporting is larger.Meanwhile, from the side large circular object is clamped by the baffle plate on the left bearing two on left front, right front large object support bar, right bearing two and left back, right back large object support bar.And the centering of itself and locating dowel operates and the centering of principle and above wisp is just the same.
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the perspective view of embodiment of the present invention when not capturing object.
Perspective view when Fig. 2 is embodiment of the present invention crawl wisp.
Fig. 3 is the perspective view of embodiment of the present invention when capturing large object.
The wisp for capturing of label 15a in Fig. 2, the large object for capturing of label 15b in Fig. 3.
Detailed description of the invention
Embodiment
Fig. 1-3 illustrates, a kind of specific implementation of the present invention is, a kind of manipulator circular object automatic centering captured can placed, comprise postmedian and be articulated with left and right clamp arm 1a, 1b on robot liftable support 10, the rear end of left clamp arm 1a is articulated with on the cylinder bar 2a of cylinder, the rear end of right clamp arm 1b is articulated with on the cylinder barrel 2b of cylinder, the rear end of left and right clamp arm 1a, 1b is also hinged with left and right synchronizing bar 3a, 3b respectively, and the other end of left and right synchronizing bar 3a, 3b is articulated with in the longitudinal chute on liftable support 10.
The left clamp arm 1a of this example is connected with left semicircle tapered sleeve 13a by the left front support bar 5a on right side and the left back support bar 5b on right side, and the front end of left clamp arm 1a is provided with left bearing one 6a; Described right clamp arm 1b is connected with right semi-circle tapered sleeve 13b by the right back support bar 5d in the right anterior branch strut 5c on the left of it and left side thereof, and the front end of right clamp arm 1b is provided with right bearing one 6b; Left semicircle tapered sleeve 13a and large mouth relative with the inner headed face of right semi-circle tapered sleeve 13b all down;
The liftable support 10 of this example is fixed with vertical rod 8 in the bottom at the center of left clamp arm 1a hinged place and right clamp arm 1b hinged place, the bottom of vertical rod 8 be connected with forward with the wide-mouth clamp 9 of locating dowel 7 adaptation.
The front end of the left clamp arm 1a of this example is also connected with the left front support bar 11a of large object left, the end winding support of the left front support bar 11a of large object has left bearing two 12a, left clamp arm 1a is fixed with the left back support bar 11b of large object left at position, liftable support 10 front, the end of left back support bar 11b is also fixed with right baffle-plate 12b upwards;
The head end of the right clamp arm 1b of this example is fixed with large object right anterior branch strut 11c to the right, the end winding support of large object right anterior branch strut 11c has left bearing two 12c, right clamp arm 1b is fixed with the right back support bar 11d of large object to the right at position, liftable support 10 front, the end of right back support bar 11d is also fixed with right baffle plate 12d upwards.
Fig. 1-3 is the situation of installing 1 manipulator of the present invention on the liftable support 10 of robot.But in reality is implemented, the liftable support 10 of robot both can be installed a manipulator more than two manipulators also can be installed.
Claims (2)
1. the manipulator circular object automatic centering captured can placed, comprise postmedian and be articulated with a left side on robot liftable support (10), right clamp arm (1a, 1b), the rear end of left clamp arm (1a) is articulated with on the cylinder bar (2a) of cylinder, the rear end of right clamp arm (1b) is articulated with on the cylinder barrel (2b) of cylinder, left, right clamp arm (1a, rear end 1b) also respectively with a left side, right synchronizing bar (3a, 3b) hinged, left, right synchronizing bar (3a, other end 3b) is articulated with in the longitudinal chute on liftable support (10), it is characterized in that:
Described left clamp arm (1a) is connected with left semicircle tapered sleeve (13a) by the left front support bar (5a) on right side and the left back support bar (5b) on right side, and the front end of left clamp arm (1a) is provided with left bearing one (6a); Described right clamp arm (1b) is connected with right semi-circle tapered sleeve (13b) by the right back support bar (5d) in the right anterior branch strut (5c) on the left of it and left side thereof, and the front end of right clamp arm (1b) is provided with right bearing one (6b); Left semicircle tapered sleeve (13a) and large mouth relative with the inner headed face of right semi-circle tapered sleeve (13b) all down;
Described liftable support (10) is fixed with vertical rod (8) in the bottom at the center of left clamp arm (1a) hinged place and right clamp arm (1b) hinged place, and the bottom of vertical rod (8) is connected with the wide-mouth clamp (9) adaptive with locating dowel (7) forward.
2. a kind of manipulator circular object automatic centering captured can placed according to claim 1, is characterized in that:
The front end of described left clamp arm (1a) is also connected with the left front support bar of large object (11a) left, the end winding support of the left front support bar of large object (11a) has left bearing two (12a), left clamp arm (1a) is fixed with the left back support bar of large object (11b) left at liftable support (10) position, front, the end of the left back support bar of large object (11b) is also fixed with right baffle-plate (12b) upwards;
The head end of described right clamp arm (1b) is fixed with large object right anterior branch strut (11c) to the right, the end winding support of large object right anterior branch strut (11c) has left bearing two (12c), right clamp arm (1b) is fixed with the right back support bar of large object (11d) to the right at liftable support (10) position, front, the end of the right back support bar of large object (11d) is also fixed with right baffle plate (12d) upwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410124187.6A CN103878765B (en) | 2014-03-29 | 2014-03-29 | A kind of manipulator circular object automatic centering captured can placed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410124187.6A CN103878765B (en) | 2014-03-29 | 2014-03-29 | A kind of manipulator circular object automatic centering captured can placed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103878765A CN103878765A (en) | 2014-06-25 |
| CN103878765B true CN103878765B (en) | 2016-04-20 |
Family
ID=50948046
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410124187.6A Expired - Fee Related CN103878765B (en) | 2014-03-29 | 2014-03-29 | A kind of manipulator circular object automatic centering captured can placed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103878765B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107627259B (en) * | 2017-10-25 | 2019-08-09 | 北京航天发射技术研究所 | The adaptive centralising device in mechanical hydraulic servo position and method |
| CN113847438A (en) * | 2021-09-22 | 2021-12-28 | 江苏三力防腐管阀件有限公司 | Turbine butterfly valve with double-stage flow adjusting function and method thereof |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1013267A1 (en) * | 1982-03-16 | 1983-04-23 | Крымский Проектно-Конструкторский Технологический Институт Министерства Машиностроения Для Легкой И Пищевой Промышленности И Бытовых Приборов Ссср | Apparatus for indexing and retaining workpieces |
| CN2031338U (en) * | 1988-05-18 | 1989-01-25 | 吴连珠 | Cripping head |
| EP0265814B1 (en) * | 1986-10-22 | 1991-07-17 | Ab Asea-Atom | Retracting, aligning and fixing device |
| US6142487A (en) * | 1999-06-23 | 2000-11-07 | Xerox Corporation | Centering and holding apparatus and method using inclined surface |
| CN2435217Y (en) * | 2000-08-04 | 2001-06-20 | 桂林橡胶机械厂 | Manipulator centering device for tyre moulding vulcanizer |
| CN201872169U (en) * | 2010-12-06 | 2011-06-22 | 苏州塞维拉上吴电梯轨道系统有限公司 | Semi-automatic centering mechanical-hand device of T-shaped guide rail straightener |
| CN201962198U (en) * | 2011-01-20 | 2011-09-07 | 三瑞科技(江西)有限公司 | Three-dimensional emulation check gauge for mechanical grippers |
| DE102010020382A1 (en) * | 2010-05-12 | 2011-11-17 | Hans-Erich Maul | Pneumatic parallel guided linear point symmetric three-jaw gripper for use in automation of handling e.g. larger workpieces, has pivoting levers and sliding blocks that are guided into grooves of gripper jaws to move gripper jaws |
| CN203765610U (en) * | 2014-03-29 | 2014-08-13 | 西南交通大学 | Manipulator capable of automatically placing captured circular objects in alignment manner |
-
2014
- 2014-03-29 CN CN201410124187.6A patent/CN103878765B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1013267A1 (en) * | 1982-03-16 | 1983-04-23 | Крымский Проектно-Конструкторский Технологический Институт Министерства Машиностроения Для Легкой И Пищевой Промышленности И Бытовых Приборов Ссср | Apparatus for indexing and retaining workpieces |
| EP0265814B1 (en) * | 1986-10-22 | 1991-07-17 | Ab Asea-Atom | Retracting, aligning and fixing device |
| CN2031338U (en) * | 1988-05-18 | 1989-01-25 | 吴连珠 | Cripping head |
| US6142487A (en) * | 1999-06-23 | 2000-11-07 | Xerox Corporation | Centering and holding apparatus and method using inclined surface |
| CN2435217Y (en) * | 2000-08-04 | 2001-06-20 | 桂林橡胶机械厂 | Manipulator centering device for tyre moulding vulcanizer |
| DE102010020382A1 (en) * | 2010-05-12 | 2011-11-17 | Hans-Erich Maul | Pneumatic parallel guided linear point symmetric three-jaw gripper for use in automation of handling e.g. larger workpieces, has pivoting levers and sliding blocks that are guided into grooves of gripper jaws to move gripper jaws |
| CN201872169U (en) * | 2010-12-06 | 2011-06-22 | 苏州塞维拉上吴电梯轨道系统有限公司 | Semi-automatic centering mechanical-hand device of T-shaped guide rail straightener |
| CN201962198U (en) * | 2011-01-20 | 2011-09-07 | 三瑞科技(江西)有限公司 | Three-dimensional emulation check gauge for mechanical grippers |
| CN203765610U (en) * | 2014-03-29 | 2014-08-13 | 西南交通大学 | Manipulator capable of automatically placing captured circular objects in alignment manner |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103878765A (en) | 2014-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107116801B (en) | Automatic welding machine for cross-flow fan blades | |
| CN107175506B (en) | Vehicle-mounted lens production assembly line | |
| CN104070618B (en) | Mould embedded component automatic feeding system | |
| US10384258B2 (en) | Method and device for construction of a workpiece-related workpiece gripping device for press automation | |
| CN204584852U (en) | Materials device fetched and delivered by a kind of manipulator | |
| CN106239147B (en) | The torsional spring conveying erecting device of iron clamp kludge | |
| CN204546530U (en) | A kind of round brush handle feeding manipulator | |
| CN203679723U (en) | Detecting device for automatic assembly of bearing | |
| CN104768361A (en) | Component taking and inserting device and fully-automatic inserting machine | |
| CN104057582A (en) | Automatic nut placing hardware fixture applied to mechanical arm of injection molding machine | |
| CN205184237U (en) | Jump ring erection equipment | |
| CN105312895A (en) | Clamp spring mounting device | |
| CN103878765B (en) | A kind of manipulator circular object automatic centering captured can placed | |
| CN105197512A (en) | Feeding device for assembling detection gears in steering wheel power-assisted steering system | |
| CN108453485B (en) | mechanism for grabbing and assembling magnetic ring magnetic sheets of Hall element | |
| CN105149900A (en) | Magnetizing and assembling device applied to detection gears in steering wheel power-assisted steering system | |
| CN203765610U (en) | Manipulator capable of automatically placing captured circular objects in alignment manner | |
| CN207435348U (en) | Suitable for the robot clipping machine of detonator production | |
| CN109533962A (en) | A kind of automatic charging device of triangle foot prop | |
| CN105683435A (en) | Automatic needle placement machine and automatic placement method | |
| CN204997441U (en) | Automatic material system is got to material cage | |
| CN207431547U (en) | A kind of blanking device | |
| CN211532954U (en) | Automatic shoe tree clamping head | |
| CN108356524A (en) | A kind of automatic assembling of toy doll ejection gun barrel | |
| CN204584650U (en) | Head automatic installation apparatus in lighter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160420 Termination date: 20190329 |