CN104493822A - Chuck gripper device of stacking robot for complex surface - Google Patents
Chuck gripper device of stacking robot for complex surface Download PDFInfo
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- CN104493822A CN104493822A CN201510005809.8A CN201510005809A CN104493822A CN 104493822 A CN104493822 A CN 104493822A CN 201510005809 A CN201510005809 A CN 201510005809A CN 104493822 A CN104493822 A CN 104493822A
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- longitudinal
- adsorbing mechanism
- sucker
- lateral adjustment
- sponge
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Abstract
The invention provides a chuck gripper device of a stacking robot for a complex surface. The device comprises a connecting flange, a mounting frame, a transverse adjusting mechanism, longitudinal adjusting mechanisms, an absorbing mechanism, a human-computer control interface and an electrical protection device; the transverse adjusting device is used for adjusting the width of the absorbing mechanism through a motor driving a bidirectional rotating lead screw; the longitudinal adjusting mechanisms are of a symmetric design and are respectively mounted at two sides of the bidirectional rotating lead screw to lift and lower down the absorbing mechanism; the absorbing mechanism is connected with a sponge chuck by a hinging manner, which effectively avoids the phenomenon of failure of absorbing on an uneven surface; the absorbing mechanism can be in match with the transverse and longitudinal moving mechanisms to adapt to the change on the size of materials. The device is suitably used for gripping objects with different size and surface forms and has the characteristics of being simple in structure, convenient to drive, steady and reliable, high in generality, and flexible to operate.
Description
Technical field
The present invention relates to a kind of Stacking Robots sucking disc tongs device field, be specifically related to a kind of Stacking Robots sucking disc tongs device that can be used for different size complex surface form material and draw.
Background technology
Along with development and the production-scale expansion of national economy, and the raising of automation level, Stacking Technology is robot Stacking Technology particularly, it is gradually extensive for making it apply with it in frame for movement, the scope of application, the equipment advantage of taking up an area in space, flexibility, cost and maintenance etc., and becomes a kind of development trend.At present, Stacking Robots has been widely used in the numerous areas such as medicine, petrochemical industry, food, household electrical appliances and agricultural.As one of the important component part of Stacking Robots, the integral working of Grasping skill to Stacking Robots of stack mechanical arm has very important significance.
In stack mechanical arm, sucker gripper is most widely used.Sucker gripper is widely used in various packaging, stacking production line, along with improving constantly of enterprise's processing automaticity, demand for mechanical gripper is more and more higher, and the specifications and models capturing object are different and diversified, just require that handgrip has versatility as much as possible.Traditional sucker gripper is that simple sucker unit is drawn, and for body surface out-of-flatness bad adaptability, design is also often fixing absorption position, product poor universality.
Need design in view of the foregoing badly and aly can adapt to complex surface form, change the sucker gripper that can adapt for material appearance and size, stationarity and the reliability of crawl will be ensured simultaneously, avoid changing sucker gripper frequently because of material shapes difference.
Summary of the invention
For the deficiencies in the prior art; the invention provides a kind of Stacking Robots sucking disc tongs device for complex surface; the horizontal and vertical governor motion adopted drives adsorbing mechanism to move; realize the material handling of different size shape; adsorbing mechanism adopts articulated manner to adapt to surface state variation; the problems such as Lou material, material casting avoided by the electric protective device of design, and effective guarantee crawl process is steadily reliable.
In order to solve the problems of the technologies described above, technical scheme of the present invention is as follows: a kind of Stacking Robots sucking disc tongs device for complex surface, is characterized in that: comprise adpting flange, installation frame, lateral adjustment, longitudinal adjusting mechanism, adsorbing mechanism, Human-machine Control interface and electric protective device;
Described lateral adjustment comprises horizontal drive motor, double rotational directions leading screw, transverse shifting slide block, slide attachment plate, cross-brace guide rail; Described transverse shifting slide block is arranged on cross-brace guide rail, described transverse shifting slide block is connected with slide attachment plate, described double rotational directions leading screw is positioned at the center of lateral adjustment, and described drive motors is arranged at lateral adjustment one end and is connected with double rotational directions leading screw;
Described longitudinal adjusting mechanism is longitudinally arranged at below lateral adjustment, this longitudinal adjusting mechanism adopts and is arranged symmetrically with, be arranged on lateral adjustment double rotational directions leading screw both sides respectively, be connected with slide attachment plate, comprise vertical drive motor, longitudinal leadscrew, longitudinal bracing guide rail and adsorbing mechanism connecting plate; Described vertical drive motor is connected with longitudinal leadscrew, and described longitudinal bracing guide rail is arranged at the both sides of longitudinal leadscrew, and described adsorbing mechanism connecting plate is arranged at the bottom of whole longitudinal adjusting mechanism;
Described adsorbing mechanism comprises sponge sucker, sucker installing plate, rotates air-path interface; Described sucker installing plate is arranged at adsorbing mechanism connecting plate lower end, and described sponge sucker is arranged on sucker installing plate, and this sponge sucker is provided with rotation air-path interface;
Described Human-machine Control interface can realize the carrying of different material by parametric programming;
Described electric protective device comprises optoelectronic switch, mechanical position limitation, pressure test device, power-off protection and scram button.
Adopt articulated manner between sponge sucker and sucker installing plate in described adsorbing mechanism, can swing at certain angle, to adapt to different surface configurations grasping body.
Described adsorbing mechanism can install some groups of sponge suckers, and single group or many groups can control separately, to ensure grasp stability and reliability.
Gas circuit in described electric protective device controls to adopt in 3 position-5 way seals formula magnetic valve, ensures not material casting in crawl process, and pressure switch sets responsive air pressure and avoids Lou expecting and losing material.
Owing to adopting technique scheme, described lateral adjustment employing motor driving double rotational directions leading screw mode, realizes longitudinal adjusting mechanism and adsorbing mechanism width regulates to adapt to the large wisp absorption of different size; Described longitudinal adjusting mechanism adopts and is arranged symmetrically with, and is arranged on lateral adjustment double rotational directions leading screw both sides respectively, realizes move toward one another; Adopt articulated manner between sponge sucker and sucker installing plate in described adsorbing mechanism, can swing at certain angle, to adapt to different surface configurations grasping body; Described adsorbing mechanism installs many group sponge suckers, and single group or many groups can control separately, to ensure grasp stability and reliability; Described adsorbing mechanism gas circuit connects employing and rotates air-path interface to prevent kinking or coiling, ensures stable gas pressure; Gas circuit in electric protective device controls to adopt in 3 position-5 way seals formula magnetic valve, ensures not material casting in crawl process, and pressure switch sets responsive air pressure and avoids Lou expecting and losing material.
The invention has the beneficial effects as follows: adopt the mode of parametric programming to realize the automatic adjustment of adsorbing mechanism spacing, Fast transforms grasping posture, realizes the crawl of different surface configurations size material, has the advantages such as adaptability is good, flexible operation, safe and reliable.
Accompanying drawing explanation
Below by with reference to accompanying drawing describe the present invention particularly in conjunction with example, advantage of the present invention and implementation will be more obvious, wherein content shown in accompanying drawing is only for explanation of the present invention, and does not form restriction of going up in all senses of the present invention, in the accompanying drawings:
Fig. 1 is sucking disc tongs device general structure schematic diagram of the present invention;
Fig. 2 is lateral adjustment schematic diagram of the present invention;
Fig. 3 is longitudinal adjusting mechanism of the present invention and adsorbing mechanism schematic diagram;
In figure:
1, adpting flange 2, installation frame 3, lateral adjustment
4, longitudinal adjusting mechanism 5, adsorbing mechanism 6, horizontal drive motor
7, transverse shifting slide block 8, slide attachment plate 9, cross-brace guide rail
10, double rotational directions leading screw 11, rotation air-path interface 12, sponge sucker
13, longitudinal leadscrew 14, vertical drive motor 15, longitudinal bracing guide rail
16, adsorbing mechanism connecting plate 17, sucker installing plate
Detailed description of the invention
As shown in Figure 1 to Figure 3, a kind of Stacking Robots sucking disc tongs device for complex surface of the present invention, comprises adpting flange 1, installation frame 2, lateral adjustment 3, longitudinal adjusting mechanism 4, adsorbing mechanism 5, Human-machine Control interface and electric protective device;
Described lateral adjustment 3 comprises horizontal drive motor 6, double rotational directions leading screw 10, transverse shifting slide block 7, slide attachment plate 8, cross-brace guide rail 9; Described transverse shifting slide block 7 is arranged on cross-brace guide rail 9, described transverse shifting slide block 7 is connected with slide attachment plate 8, described double rotational directions leading screw 10 is positioned at the center of lateral adjustment 4, and described drive motors 6 is arranged at lateral adjustment 4 one end and is connected with double rotational directions leading screw 10;
Described longitudinal adjusting mechanism 4 is longitudinally arranged at below lateral adjustment 3, this longitudinal adjusting mechanism 4 adopts and is arranged symmetrically with, be arranged on lateral adjustment 3 double rotational directions leading screw 10 both sides respectively, be connected with slide attachment plate 8, comprise vertical drive motor 14, longitudinal leadscrew 13, longitudinal bracing guide rail 15 and adsorbing mechanism connecting plate 16; Described vertical drive motor 14 is connected with longitudinal leadscrew 13, and described longitudinal bracing guide rail 15 is arranged at the both sides of longitudinal leadscrew 13, and described adsorbing mechanism connecting plate 16 is arranged at the bottom of whole longitudinal adjusting mechanism 4;
Described adsorbing mechanism 5 comprises sponge sucker 12, sucker installing plate 17, rotates air-path interface 11; Described sucker installing plate 17 is arranged at adsorbing mechanism connecting plate 16 lower end, and described sponge sucker 12 is arranged on sucker installing plate 17, this sponge sucker 12 is provided with and rotates air-path interface 11;
Described Human-machine Control interface can realize the carrying of different material by parametric programming;
Described electric protective device comprises optoelectronic switch, mechanical position limitation, pressure test device, power-off protection and scram button.
Adopt articulated manner between sponge sucker 12 and sucker installing plate 17 in described adsorbing mechanism 5, can swing at certain angle, to adapt to different surface configurations grasping body.
Described adsorbing mechanism 5 can install some groups of sponge suckers 12, and single group or many groups can control separately, to ensure grasp stability and reliability.
Gas circuit in described electric protective device controls to adopt in 3 position-5 way seals formula magnetic valve, ensures not material casting in crawl process, and pressure switch sets responsive air pressure and avoids Lou expecting and losing material.
Described lateral adjustment 3 adopts motor to drive double rotational directions leading screw 10 mode, realizes longitudinal adjusting mechanism 4 and adsorbing mechanism 5 width regulates to adapt to the large wisp absorption of different size; Described longitudinal adjusting mechanism 4 adopts and is arranged symmetrically with, and is arranged on lateral adjustment 3 double rotational directions leading screw 10 both sides respectively, realizes move toward one another; Adopt articulated manner between sponge sucker 12 and sucker installing plate 17 in described adsorbing mechanism 5, can swing at certain angle, to adapt to different surface configurations grasping body; Described adsorbing mechanism 5 installs many group sponge suckers 12, and single group or many groups can control separately, to ensure grasp stability and reliability; Described adsorbing mechanism 5 gas circuit connects employing and rotates air-path interface 11 to prevent kinking or coiling, ensures stable gas pressure; Gas circuit in electric protective device controls to adopt in 3 position-5 way seals formula magnetic valve, ensures not material casting in crawl process, and pressure switch sets responsive air pressure and avoids Lou expecting and losing material.
Above embodiments of the invention have been described in detail, but described content being only preferred embodiment of the present invention, can not being considered to for limiting practical range of the present invention.All equalizations done according to the scope of the invention change and improve, and all should still belong within this patent covering scope.
Claims (4)
1. for a Stacking Robots sucking disc tongs device for complex surface, it is characterized in that: comprise adpting flange, installation frame, lateral adjustment, longitudinal adjusting mechanism, adsorbing mechanism, Human-machine Control interface and electric protective device;
Described lateral adjustment comprises horizontal drive motor, double rotational directions leading screw, transverse shifting slide block, slide attachment plate, cross-brace guide rail; Described transverse shifting slide block is arranged on cross-brace guide rail, described transverse shifting slide block is connected with slide attachment plate, described double rotational directions leading screw is positioned at the center of lateral adjustment, and described drive motors is arranged at lateral adjustment one end and is connected with double rotational directions leading screw;
Described longitudinal adjusting mechanism is longitudinally arranged at below lateral adjustment, this longitudinal adjusting mechanism adopts and is arranged symmetrically with, be arranged on lateral adjustment double rotational directions leading screw both sides respectively, be connected with slide attachment plate, comprise vertical drive motor, longitudinal leadscrew, longitudinal bracing guide rail and adsorbing mechanism connecting plate; Described vertical drive motor is connected with longitudinal leadscrew, and described longitudinal bracing guide rail is arranged at the both sides of longitudinal leadscrew, and described adsorbing mechanism connecting plate is arranged at the bottom of whole longitudinal adjusting mechanism;
Described adsorbing mechanism comprises sponge sucker, sucker installing plate, rotates air-path interface; Described sucker installing plate is arranged at adsorbing mechanism connecting plate lower end, and described sponge sucker is arranged on sucker installing plate, and this sponge sucker is provided with rotation air-path interface;
Described Human-machine Control interface can realize the carrying of different material by parametric programming;
Described electric protective device comprises optoelectronic switch, mechanical position limitation, pressure test device, power-off protection and scram button.
2. a kind of Stacking Robots sucking disc tongs device for complex surface according to claim 1, it is characterized in that: in described adsorbing mechanism, between sponge sucker and sucker installing plate, adopt articulated manner, can swing at certain angle, to adapt to different surface configurations grasping body.
3. a kind of Stacking Robots sucking disc tongs device for complex surface according to claim 1, is characterized in that: described adsorbing mechanism can install some groups of sponge suckers, and single group or many groups can control separately, to ensure grasp stability and reliability.
4. a kind of Stacking Robots sucking disc tongs device for complex surface according to claim 1; it is characterized in that: the gas circuit in described electric protective device controls to adopt in 3 position-5 way seals formula magnetic valve; ensure not material casting in crawl process, pressure switch sets responsive air pressure and avoids Lou expecting and losing material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510005809.8A CN104493822A (en) | 2015-01-06 | 2015-01-06 | Chuck gripper device of stacking robot for complex surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510005809.8A CN104493822A (en) | 2015-01-06 | 2015-01-06 | Chuck gripper device of stacking robot for complex surface |
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| CN104493822A true CN104493822A (en) | 2015-04-08 |
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| CN201510005809.8A Pending CN104493822A (en) | 2015-01-06 | 2015-01-06 | Chuck gripper device of stacking robot for complex surface |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104891176A (en) * | 2015-04-29 | 2015-09-09 | 广东泰格威机器人科技有限公司 | Suction type gripper of robot |
| CN105084020A (en) * | 2015-06-16 | 2015-11-25 | 哈尔滨智龙自动化设备有限公司 | Robot claw with bag stacking and positioning functions |
| CN105436341A (en) * | 2015-12-24 | 2016-03-30 | 嵊州市意海电机配件厂 | Lifting pick-up equipment for mechanical production |
| CN105459140A (en) * | 2015-12-31 | 2016-04-06 | 上海君屹工业自动化股份有限公司 | Servo grip of cell module |
| CN105563492A (en) * | 2016-01-21 | 2016-05-11 | 苏州经贸职业技术学院 | Direction-changing clamping mechanism for medical sheets |
| CN105856222A (en) * | 2016-05-06 | 2016-08-17 | 滁州市可欣机械科技有限公司 | Intelligent heavy-load manipulator |
| CN106276286A (en) * | 2016-08-17 | 2017-01-04 | 天海欧康科技信息(厦门)有限公司 | A kind of bar cigarette automatic stacking method and equipment |
| CN106965530A (en) * | 2017-04-28 | 2017-07-21 | 江门市联兴高频设备有限公司 | A kind of sucker adjusting apparatus of double high frequency binding machine |
| CN107867566A (en) * | 2017-12-08 | 2018-04-03 | 海安交睿机器人科技有限公司 | Automatic grasper for stacking |
| CN107932539A (en) * | 2017-12-23 | 2018-04-20 | 安徽航大智能科技有限公司 | A kind of manipulator for capturing multilayer new energy battery modules and its sampling plate |
| CN110193846A (en) * | 2018-02-26 | 2019-09-03 | 发那科株式会社 | The hand width adjustment method of robot, robot and robot |
| CN110654867A (en) * | 2019-11-07 | 2020-01-07 | 湖南视比特机器人有限公司 | Electromagnetic chuck with adaptive grabbing shape and size and using method |
| CN110722262A (en) * | 2019-11-12 | 2020-01-24 | 东莞市盛雄激光先进装备股份有限公司 | Clout clearance mechanism |
| CN111113367A (en) * | 2020-01-10 | 2020-05-08 | 深圳优艾智合机器人科技有限公司 | Archive management robot |
| CN111731843A (en) * | 2020-06-22 | 2020-10-02 | 蒙娜丽莎集团股份有限公司 | Method for stacking ceramic large-plate bricks |
| CN112338956A (en) * | 2020-11-27 | 2021-02-09 | 北京石油化工学院 | Electromagnetic gripper device for carrying base plate |
| CN112573201A (en) * | 2020-11-27 | 2021-03-30 | 北京石油化工学院 | Inclination angle self-adaptive electromagnetic type gripper device for carrying base plate |
| CN112830250A (en) * | 2021-01-22 | 2021-05-25 | 刘春良 | Quick categorised grabbing device of intelligence logistics system |
| CN114029986A (en) * | 2021-11-22 | 2022-02-11 | 中国矿业大学 | Multi-finger cooperative type end carrying actuator |
| CN115870964A (en) * | 2023-02-20 | 2023-03-31 | 安徽大学绿色产业创新研究院 | Under-actuated self-adaptive sucker manipulator based on rope driving type |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104891176A (en) * | 2015-04-29 | 2015-09-09 | 广东泰格威机器人科技有限公司 | Suction type gripper of robot |
| CN105084020A (en) * | 2015-06-16 | 2015-11-25 | 哈尔滨智龙自动化设备有限公司 | Robot claw with bag stacking and positioning functions |
| CN105436341A (en) * | 2015-12-24 | 2016-03-30 | 嵊州市意海电机配件厂 | Lifting pick-up equipment for mechanical production |
| CN105459140A (en) * | 2015-12-31 | 2016-04-06 | 上海君屹工业自动化股份有限公司 | Servo grip of cell module |
| CN105459140B (en) * | 2015-12-31 | 2018-02-27 | 上海君屹工业自动化股份有限公司 | A kind of battery core module servo handgrip |
| CN105563492A (en) * | 2016-01-21 | 2016-05-11 | 苏州经贸职业技术学院 | Direction-changing clamping mechanism for medical sheets |
| CN105856222A (en) * | 2016-05-06 | 2016-08-17 | 滁州市可欣机械科技有限公司 | Intelligent heavy-load manipulator |
| CN106276286B (en) * | 2016-08-17 | 2018-12-18 | 天海欧康科技信息(厦门)有限公司 | A kind of cigarette automatic stacking method and equipment |
| CN106276286A (en) * | 2016-08-17 | 2017-01-04 | 天海欧康科技信息(厦门)有限公司 | A kind of bar cigarette automatic stacking method and equipment |
| CN106965530B (en) * | 2017-04-28 | 2019-07-30 | 江门市联兴高频设备有限公司 | A kind of sucker adjustment device of double-station high frequency binding machine |
| CN106965530A (en) * | 2017-04-28 | 2017-07-21 | 江门市联兴高频设备有限公司 | A kind of sucker adjusting apparatus of double high frequency binding machine |
| CN107867566A (en) * | 2017-12-08 | 2018-04-03 | 海安交睿机器人科技有限公司 | Automatic grasper for stacking |
| CN107932539B (en) * | 2017-12-23 | 2024-01-12 | 安徽航大智能科技有限公司 | Mechanical arm for grabbing multilayer new energy battery module and data sampling plate thereof |
| CN107932539A (en) * | 2017-12-23 | 2018-04-20 | 安徽航大智能科技有限公司 | A kind of manipulator for capturing multilayer new energy battery modules and its sampling plate |
| CN110193846A (en) * | 2018-02-26 | 2019-09-03 | 发那科株式会社 | The hand width adjustment method of robot, robot and robot |
| CN110654867A (en) * | 2019-11-07 | 2020-01-07 | 湖南视比特机器人有限公司 | Electromagnetic chuck with adaptive grabbing shape and size and using method |
| CN110722262A (en) * | 2019-11-12 | 2020-01-24 | 东莞市盛雄激光先进装备股份有限公司 | Clout clearance mechanism |
| CN111113367A (en) * | 2020-01-10 | 2020-05-08 | 深圳优艾智合机器人科技有限公司 | Archive management robot |
| CN111731843A (en) * | 2020-06-22 | 2020-10-02 | 蒙娜丽莎集团股份有限公司 | Method for stacking ceramic large-plate bricks |
| CN112338956A (en) * | 2020-11-27 | 2021-02-09 | 北京石油化工学院 | Electromagnetic gripper device for carrying base plate |
| CN112573201A (en) * | 2020-11-27 | 2021-03-30 | 北京石油化工学院 | Inclination angle self-adaptive electromagnetic type gripper device for carrying base plate |
| CN112830250A (en) * | 2021-01-22 | 2021-05-25 | 刘春良 | Quick categorised grabbing device of intelligence logistics system |
| CN112830250B (en) * | 2021-01-22 | 2022-07-19 | 重庆机电智能制造有限公司 | Quick categorised grabbing device of intelligence logistics system |
| CN114029986A (en) * | 2021-11-22 | 2022-02-11 | 中国矿业大学 | Multi-finger cooperative type end carrying actuator |
| CN115870964A (en) * | 2023-02-20 | 2023-03-31 | 安徽大学绿色产业创新研究院 | Under-actuated self-adaptive sucker manipulator based on rope driving type |
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Application publication date: 20150408 |