CN104308854A - Method for positioning carrier roller shaft and carrier roller drum in grabbing fingers - Google Patents
Method for positioning carrier roller shaft and carrier roller drum in grabbing fingers Download PDFInfo
- Publication number
- CN104308854A CN104308854A CN201410441074.9A CN201410441074A CN104308854A CN 104308854 A CN104308854 A CN 104308854A CN 201410441074 A CN201410441074 A CN 201410441074A CN 104308854 A CN104308854 A CN 104308854A
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- China
- Prior art keywords
- carrier roller
- manipulator
- positioning
- fingers
- grabbing
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- 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.)
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Abstract
The invention discloses a method for positioning a carrier roller shaft and a carrier roller drum in grabbing fingers, belongs to the technical field of manufacturing equipment for belt transport equipment, and is applied to a carrying manipulator in a belt conveyor carrier roller production line. The grabbing forms of the carrying manipulator in the belt conveyor carrier roller production line comprise automatic centering clamping, magnetic clamping and the like, those devices are not concentric with a clamp positioning mechanism in the processes of grabbing and releasing a part, and the positioning relationship of the grabbed part on fingers of the manipulator and the stability of the part in the carrying process are also related to positioning of two workstations before and after moving. By the method, decentraction of the manipulator and the clamp positioning mechanism in the carrying process is solved; according to the scheme, the grabbing process adopts two groups of fingers in opposite movement; after being closed, the fingers form two groups of V shapes in the same straight line; the part is fixed on a V-shaped positioning surface by virtue of self weight, so that the grabbed part can be taken down when the part is clamped by a clamp and is positioned; by the method provided by the invention, the positioning decentraction of the manipulator and the clamp is effectively solved.
Description
(1) technical field:
This programme art is the manufacturing equipment of belt transporting facility, is a kind of location technology about part clamping applied on hand at the handling machinery of belt transporting facility carrier roller production line.
(2) background technology:
China's carrier roller production line majority is rigidity production line, and automatic assembly line is fewer, and NC postprocessing automatic assembly line is just less, and conveying robot is the key equipment on automatic assembly line.In carrying roller part handling process, how whether positioning relation is firm in handling process to part on manipulator finger for crawled part, is also related to former and later two positions mobile and how locates, have a significant impact the speed of carrying and accuracy.The form that general conveying robot captures finger has: self-centering type clamping finger, frictionally clamp finger, by magnetic clamping finger, this several mode is all that rigidity captures.These fingers may occur and the clamp positioning mechanism generation decentraction on equipment in crawl with when placing part.
(3) summary of the invention:
This programme technical problem to be solved solves the clamp positioning mechanism generation decentraction of manipulator finger when capturing and place part and on relevant device, and when avoiding rigidity to capture, on manipulator finger and relevant device, part is located to produce and interfered.This programme have employed V-type location, realize flexible crawl, crawled part is located by the V-type of opening upwards, V-type is formed by two incline configuration, be arranged on two fingers, when two crawl fingers are grabbed and closed up, two inclined-planes capturing finger bottom form the V-type being connected or disconnecting in bottom, crawled part is tangent by deadweight and two inclined-planes, is positioned on two inclined-planes of the V-type that two fingers are formed.The feature of this localization method is, can by allowing the Central of the parts of location of manipulator finger a little less than the centre of location of associated clamps during application, the finger realizing manipulator is in closed configuration, part is in positioning states, crawled part is in crawl and put down two pieces position, the location of part submits to the location of fixture, realizes two kinds of location and does not clash.Namely can realize crawled part also by under the state of locating, manipulator just can be firmly grasped, also can after crawled part is located again, and manipulator can not unclamp.The localization method that this programme provides effectively solves the decentraction problem of manipulator and fixture location.
(4) accompanying drawing illustrates:
Accompanying drawing 1: the finger concrete structure layout drawing being manipulator.
1 is clamping executing agency, and 2,3 are respectively left and right manipulator captures finger, and it is symmetrical for capturing that finger is set up at cloth, and 4,5 is capture finger 2 and capture on finger 3 two inclined-planes for locating respectively.
(5) detailed description of the invention:
Accompanying drawing 1 is the concrete case that this programme is implemented, it is a kind of concrete structure layout drawing of manipulator finger, 1 is clamping executing agency, 2,3 left and right manipulator crawl finger is respectively, capturing finger, to be set up at cloth be symmetrical, and 4,5 is capture finger 2 and capture on finger 3 two inclined-planes for locating respectively.The width of inclined-plane 4,5 at crawled part axial can be designed according to the length of part, also some sections can be divided in the axis of crawled part, this example is pointed locating surface in the axial direction and is divided into 2 sections, better can retrain part gradient vertically after segmentation.This feature capturing finger is the finger of employing 2 groups of move toward one another; close up rear formation 2 groups 2 groups of V-types on one wire; part is fixed on V-arrangement locating surface by deadweight and frictional force; structure is reliably simple and convenient; achieve crawled part in clamp with by under the state of locating; the finger of manipulator can freely close up or open; such effect is that the finger of manipulator on the one hand can not be interfered with the positioner of fixture; on the other hand because the clamping of manipulator and the time of fixture can be overlapping, non-cutting time can be saved for transfer matic.
Claims (1)
1. one kind " roller carrier shaft and roller supporting tube are capturing the localization method in finger ", points in the crawl of two move toward one another forms of automatic assembly line manipulator for roller carrier shaft and roller supporting tube.It is characterized in that: locate crawled part by the V-type of opening upwards, when two crawl fingers are grabbed and are closed up, two inclined-planes capturing finger bottom form the V-type being connected or disconnecting in bottom, crawled part is positioned on two inclined-planes of the V-type that two fingers are formed by deadweight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410441074.9A CN104308854A (en) | 2014-09-01 | 2014-09-01 | Method for positioning carrier roller shaft and carrier roller drum in grabbing fingers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410441074.9A CN104308854A (en) | 2014-09-01 | 2014-09-01 | Method for positioning carrier roller shaft and carrier roller drum in grabbing fingers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104308854A true CN104308854A (en) | 2015-01-28 |
Family
ID=52364233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410441074.9A Pending CN104308854A (en) | 2014-09-01 | 2014-09-01 | Method for positioning carrier roller shaft and carrier roller drum in grabbing fingers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104308854A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109269826A (en) * | 2018-10-25 | 2019-01-25 | 上海方酋机器人有限公司 | Sampling apparatus and sampling robot suitable for robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4623183A (en) * | 1983-09-30 | 1986-11-18 | Kabushiki Kaisha Toshiba | Robot hand |
| DE4400354A1 (en) * | 1994-01-08 | 1995-07-13 | Gerhard H Kottemann | Bar holder for mounting on lathe capstan |
| CN101306532A (en) * | 2008-07-03 | 2008-11-19 | 南京农业大学 | Plug seedlings transplanting device and transplanting manipulator thereof |
| DE102007030035A1 (en) * | 2007-06-29 | 2009-01-02 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Gripping tool for use in industrial manufacturing for handling or installing articles, has driving device and gripping device with multiple gripping fingers, which are driven by driving device for conducting gripping movement |
| CN102431037A (en) * | 2011-09-30 | 2012-05-02 | 孙衡 | Bearing classification mechanical paw |
| CN202825848U (en) * | 2012-07-30 | 2013-03-27 | 深圳深蓝精机有限公司 | Manipulator for holding bar stock |
| DE202013103345U1 (en) * | 2013-07-25 | 2013-08-06 | Yan Zhang | Mechanical hand |
-
2014
- 2014-09-01 CN CN201410441074.9A patent/CN104308854A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4623183A (en) * | 1983-09-30 | 1986-11-18 | Kabushiki Kaisha Toshiba | Robot hand |
| DE4400354A1 (en) * | 1994-01-08 | 1995-07-13 | Gerhard H Kottemann | Bar holder for mounting on lathe capstan |
| DE102007030035A1 (en) * | 2007-06-29 | 2009-01-02 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Gripping tool for use in industrial manufacturing for handling or installing articles, has driving device and gripping device with multiple gripping fingers, which are driven by driving device for conducting gripping movement |
| CN101306532A (en) * | 2008-07-03 | 2008-11-19 | 南京农业大学 | Plug seedlings transplanting device and transplanting manipulator thereof |
| CN102431037A (en) * | 2011-09-30 | 2012-05-02 | 孙衡 | Bearing classification mechanical paw |
| CN202825848U (en) * | 2012-07-30 | 2013-03-27 | 深圳深蓝精机有限公司 | Manipulator for holding bar stock |
| DE202013103345U1 (en) * | 2013-07-25 | 2013-08-06 | Yan Zhang | Mechanical hand |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109269826A (en) * | 2018-10-25 | 2019-01-25 | 上海方酋机器人有限公司 | Sampling apparatus and sampling robot suitable for robot |
| CN109269826B (en) * | 2018-10-25 | 2023-08-29 | 上海方酋机器人有限公司 | Sampling device and sampling robot suitable for robot |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150128 |