CN104972348A - Mechanical hand with adjustable angle and stable structure - Google Patents
Mechanical hand with adjustable angle and stable structure Download PDFInfo
- Publication number
- CN104972348A CN104972348A CN201510420309.0A CN201510420309A CN104972348A CN 104972348 A CN104972348 A CN 104972348A CN 201510420309 A CN201510420309 A CN 201510420309A CN 104972348 A CN104972348 A CN 104972348A
- Authority
- CN
- China
- Prior art keywords
- mount pad
- sucker
- fixed
- adjustable angle
- pressure part
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/046—Handling workpieces or tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2707/00—Automatic supply or removal of metal workpieces
- B23Q2707/04—Automatic supply or removal of metal workpieces by means of grippers also magnetic or pneumatic gripping
Abstract
Disclosed is a mechanical hand with an adjustable angle and a stable structure. The mechanical hand comprises an air cylinder installation base, a connecting shaft, a suction cup installation base, a plurality of suction cups, a telescopic jacking piece and a spherical bearing. The suction cups are fixed to the suction cup installation base. One end of the connecting shaft is perpendicularly fixed to the middle of the air cylinder installation base. The other end of the connecting shaft penetrates through the middle of the suction cup installation base and is fixed to the spherical bearing. The spherical bearing is fixed to the suction cup installation base. The jacking piece is arranged between the air cylinder installation base and the suction cup installation base. One end of the jacking piece is perpendicularly fixed to the air cylinder installation base, and the other end of the jacking piece makes squeezing contact with the suction cup installation base. Multi-contact-point stable workpiece sucking is achieved; transfer is smoothly achieved; the steps are simple in the whole process; efficiency is high.
Description
Technical field
The present invention relates to the manipulator field driving sucker, particularly relate to the constitutionally stable manipulator of a kind of adjustable angle.
Background technology
Along with the development of modern manufacturing industry, a lot of action is simple, the station that repeatability is strong, and the operation such as pickup, location, placement as workpiece all adopts manipulator to replace manual operation.During by sucker picking up work piece, need first to be put down by multiple sucker to contact with surface of the work, in most cases, the suction inlet on it is all in the same level scope of operation, causes suction-operated not good in adsorption process because contact surface is few.
And when needing the absorption bevelled workpiece of tool, sucker mount pad drives the sucker on it to move closer to the inclined plane of workpiece, and due to the absorption surface of workpiece be inclined plane, some suckers first touch the high position in inclined plane and form extruding, while these suckers extruding inclined plane, according to the relativity of power, inclined plane also can give sucker with support force upwards simultaneously, according to the transitivity of power, sucker mount pad also can be subject to power upwards, thus hinder sucker mount pad to continue to move downward, the inclined plane of lower position cannot contact with sucker, then move up workpiece time grasp force inadequate, workpiece easily drops.
Summary of the invention
For above-mentioned defect, the object of the invention is to propose the constitutionally stable manipulator of a kind of adjustable angle, the inclined-plane that can adapt to workpiece during this robot drives sucker regulates the height of sucker, completes the pickup of workpiece, Stability Analysis of Structures, enhances productivity.
For reaching this object, the present invention by the following technical solutions:
The constitutionally stable manipulator of a kind of adjustable angle; Comprise cylinder mount pad, connecting axle, sucker mount pad, sucker, telescopic top-pressure part and spherical bearing, some described suckers are fixed on described sucker mount pad;
One end of described connecting axle is vertically fixed on the middle part of described cylinder mount pad, and the other end through the middle part of described sucker mount pad, and is fixed on described spherical bearing, and described spherical bearing is fixed on described sucker mount pad; Described top-pressure part is arranged between described cylinder mount pad and sucker mount pad, and one end of described top-pressure part is vertically fixed on described cylinder mount pad, and the other end is formed to extrude with described sucker mount pad and contacts.
Further, described top-pressure part has pneumatic springs and depression bar head and the tail to be formed by connecting, and wherein, one end of pneumatic springs is fixed on described cylinder mount pad, and depression bar is located between described cylinder mount pad and sucker mount pad.
Further, also comprise the axis of guide, one end of the described axis of guide is vertically fixed on described cylinder mount pad, and the other end is installed in U-type groove; Described U-type groove is arranged on the edge of described sucker mount pad, and the openend of U-type groove is towards the arranged outside of described sucker mount pad.
Further, be provided with the both sides that two described axis of guides are fixed on described cylinder mount pad relatively, four top-pressure parts are one group with two and are oppositely arranged on described cylinder mount pad, and described top-pressure part is arranged between two described axis of guides.
Further, the center of described sucker mount pad bottom surface is protruded to the direction that workpiece is placed and is formed cavity body structure, and described spherical bearing is fixed in described cavity body structure.
Further, described sucker is suction type sucker.
Further, be provided with backing plate between described top-pressure part and sucker mount pad, described backing plate is fixed on described sucker mount pad; Described top-pressure part and backing plate are formed directly to extrude and contact, and form non-immediate extrude and contact with described sucker mount pad.
Further, be provided with flange seat and be fixed on described cylinder mount pad, and fixing side is the lateral surface of relatively described sucker mount pad.
The present invention is by foregoing, and to the stable absorption of the multiconductor of workpiece, complete transfer smoothly, whole process steps is simple, and efficiency is high.And described top-pressure part is arranged between described cylinder mount pad and sucker mount pad, one end of top-pressure part is vertically fixed on described cylinder mount pad, the other end is formed to extrude with described sucker mount pad and contacts, then the top-pressure part moment is to the downward pressure of sucker mount pad, these pressure stabilitys position of sucker mount pad, rocking of left-right and front-back can not be there is, make sucker accurately catch adsorption potential on workpiece.
Accompanying drawing explanation
Fig. 1 is the structural representation of one embodiment of the present of invention;
Fig. 2 is the longitudinal sectional view of one embodiment of the present of invention.
Wherein: cylinder mount pad 1, connecting axle 2, sucker mount pad 3, sucker 4; Top-pressure part 5, pneumatic springs 51, depression bar 52; Spherical bearing 6, the axis of guide 7, U-type groove 8, cavity body structure 9, backing plate 10, flange seat 11, workpiece 12.
Detailed description of the invention
Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
The constitutionally stable manipulator of a kind of adjustable angle; Comprise cylinder mount pad 1, connecting axle 2, sucker mount pad 3, sucker 4, telescopic top-pressure part 5 and spherical bearing 6, some described suckers 4 are fixed on described sucker mount pad 3;
One end of described connecting axle 2 is vertically fixed on the middle part of described cylinder mount pad 1, and the other end through the middle part of described sucker mount pad 3, and is fixed on described spherical bearing 6, and described spherical bearing 6 is fixed on described sucker mount pad 3;
Described top-pressure part 5 is arranged between described cylinder mount pad 1 and sucker mount pad 3, and one end of described top-pressure part 5 is vertically fixed on described cylinder mount pad 1, and the other end is formed to extrude with described sucker mount pad 3 and contacts.
Workpiece 12 is inclined plane for the surface of adsorbing relative to sucker mount pad 3, when needing travelling workpiece 12, cylinder mount pad 1 is driven to drive each parts mounted thereto to move straight down, the sucker 4 on sucker mount pad 3 is made to move closer to the inclined plane of workpiece 12, and due to the absorption surface of workpiece 12 be inclined plane, some suckers 4 first touch the high position in inclined plane and form extruding, while these suckers 4 extrude inclined plane, according to the relativity of power, inclined plane also can give sucker 4 with support force upwards simultaneously, according to the transitivity of power, sucker mount pad 3 also can be subject to power upwards, thus hinder sucker mount pad 3 to continue to move downward, the inclined plane of lower position cannot contact with sucker, then move up workpiece 12 time grasp force inadequate, workpiece 12 easily drops.
As shown in Figures 1 and 2, in the technical program, one end of described connecting axle 2 is vertically fixed on the center of described cylinder mount pad 1, the other end is fixed on described spherical bearing 6 through behind the center of described sucker mount pad 3, and described spherical bearing 6 is fixed on the side of described sucker mount pad 3 described cylinder mount pad 1 dorsad, then when some suckers 4 first touch the high position in inclined plane and form extruding, after sucker mount pad 3 can be subject to power F1 upwards, due to the revolute pair that the spherical bearing 6 that sucker mount pad 3 is fixing is formed with the other end of connecting axle 2, then when connecting axle 2 keeps vertical state, the side of sucker mount pad 3 can under the effect being subject to F1, the opposite side of sucker mount pad 3 can be tilted to lower position one end of inclined plane, the sucker 4 of the opposite side being arranged on sucker mount pad 3 is just in time made to contact with workpiece 12, after again vacuum pumping being carried out to each sucker 4, complete the stable absorption of the multiconductor of workpiece 12, complete transfer smoothly, whole process steps is simple, efficiency is high.
And described top-pressure part 5 is arranged between described cylinder mount pad 1 and sucker mount pad 3, one end of top-pressure part 5 is vertically fixed on described cylinder mount pad 1, the other end is formed to extrude with described sucker mount pad 3 and contacts, then top-pressure part 5 moment is to the downward pressure of sucker mount pad 3, these pressure stabilitys position of sucker mount pad 3, rocking of left-right and front-back can not be there is, make the accurate absorption position caught on workpiece 12 of sucker 4.
Described top-pressure part 5 has pneumatic springs 51 and depression bar 52 head and the tail to be formed by connecting, and wherein, one end of pneumatic springs 51 is fixed on described cylinder mount pad 1, and depression bar 52 is located between described cylinder mount pad 1 and sucker mount pad 3.Top-pressure part 5 is made up of pneumatic springs 51 and depression bar 52 two parts, and pneumatic springs 51 provides elastic force, and can change the different pneumatic springs 51 of value of elastic according to concrete operating mode, depression bar 52 also can be changed in the case of damages at any time, easy to use.
Also comprise the axis of guide 7, one end of the described axis of guide 7 is vertically fixed on described cylinder mount pad 1, and the other end is installed in U-type groove 8; Described U-type groove 8 is arranged on the edge of described sucker mount pad 3, and the openend of U-type groove 8 is towards the arranged outside of described sucker mount pad 3.As shown in Figure 1, the other end of gathering sill 7 is limited in U-type groove 8, limits the rotation of cylinder mount pad 1, improves the accuracy that sucker 4 catches the absorption position on workpiece 12, raises the efficiency.
Be provided with the both sides that two described axis of guides 7 are fixed on described cylinder mount pad 1 relatively, four top-pressure parts 5 are one group with two and are oppositely arranged on described cylinder mount pad 1, and described top-pressure part 5 is arranged between two described axis of guides 7.
Structure is simple, and four top-pressure parts 5 form enough support forces, stablize the position of sucker mount pad 3, and rocking of left-right and front-back can not occur, and makes the accurate absorption position caught on workpiece 12 of sucker 4; Relatively fix two axis of guides 7, accordingly two U-type groove 8 are set at the edge of sucker mount pad 3, define the position of sucker mount pad 3 better and can not rotate, improve the accuracy that sucker 4 catches the absorption position on workpiece 12, raise the efficiency.
The center of described sucker mount pad 3 bottom surface is protruded to the direction that workpiece 12 is placed and is formed cavity body structure 9, and described spherical bearing 6 is fixed in described cavity body structure 9.
In the present embodiment, cavity body structure 9 is frame structure, this frame structure is that formation is protruded to the direction that workpiece 12 is placed in the center of described sucker mount pad 3 bottom surface, then the other end of connecting axle 2 is easier with the effect being placed on spherical bearing 6 forces occurring in cavity body structure 9, accelerate the speed that the lower one end of workpiece 12 inclined plane contacts with sucker 4, improve the efficiency of pickup.
Described sucker 4 is suction type sucker.Suction type sucker, convenient and practical, be the preferred version of quick pickup.
Be provided with backing plate 10 between described top-pressure part 5 and sucker mount pad 3, described backing plate 10 is fixed on described sucker mount pad 3; Described top-pressure part 5 is formed directly to extrude with backing plate 10 and contacts, and forms non-immediate extrude and contact with described sucker mount pad 3.
The mounting design of backing plate 10, the on the one hand padded platform of sucker mount pad 3, suitably can shorten the length of top-pressure part 5; On the other hand, shorten the distance between sucker mount pad 3 and level pressure part 5 lower surface, the scalable effect of level pressure part 5 is more obvious.
Be provided with flange seat 11 and be fixed on described cylinder mount pad 1, and fixing side is the lateral surface of relatively described sucker mount pad 2.Whole manipulator is fixed on other retractor devices by flange seat 11, and flange seat 11 is conventional accessory, so when manipulator is fixed by flange seat 11, assembling is flexibly, applied widely.。
Below know-why of the present invention is described in conjunction with specific embodiments.These describe just in order to explain principle of the present invention, and can not be interpreted as limiting the scope of the invention by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present invention, and these modes all will fall within protection scope of the present invention.
Claims (8)
1. the constitutionally stable manipulator of adjustable angle, is characterized in that: comprise cylinder mount pad, connecting axle, sucker mount pad, sucker, telescopic top-pressure part and spherical bearing, and some described suckers are fixed on described sucker mount pad;
One end of described connecting axle is vertically fixed on the middle part of described cylinder mount pad, and the other end through the middle part of described sucker mount pad, and is fixed on described spherical bearing, and described spherical bearing is fixed on described sucker mount pad; Described top-pressure part is arranged between described cylinder mount pad and sucker mount pad, and one end of described top-pressure part is vertically fixed on described cylinder mount pad, and the other end is formed to extrude with described sucker mount pad and contacts.
2. the constitutionally stable manipulator of a kind of adjustable angle according to claim 1, it is characterized in that: described top-pressure part has pneumatic springs and depression bar head and the tail to be formed by connecting, wherein, one end of pneumatic springs is fixed on described cylinder mount pad, and depression bar is located between described cylinder mount pad and sucker mount pad.
3. the constitutionally stable manipulator of a kind of adjustable angle according to claim 1, is characterized in that: also comprise the axis of guide, and one end of the described axis of guide is vertically fixed on described cylinder mount pad, and the other end is installed in U-type groove; Described U-type groove is arranged on the edge of described sucker mount pad, and the openend of U-type groove is towards the arranged outside of described sucker mount pad.
4. the constitutionally stable manipulator of a kind of adjustable angle according to claim 3, it is characterized in that: be provided with the both sides that two described axis of guides are fixed on described cylinder mount pad relatively, four top-pressure parts are one group with two and are oppositely arranged on described cylinder mount pad, and described top-pressure part is arranged between two described axis of guides.
5. the constitutionally stable manipulator of a kind of adjustable angle according to claim 1, is characterized in that: the center of described sucker mount pad bottom surface is protruded to the direction that workpiece is placed and formed cavity body structure, and described spherical bearing is fixed in described cavity body structure.
6. the constitutionally stable manipulator of a kind of adjustable angle according to claim 1, is characterized in that: described sucker is suction type sucker.
7. the constitutionally stable manipulator of a kind of adjustable angle according to claim 1, is characterized in that: be provided with backing plate between described top-pressure part and sucker mount pad, and described backing plate is fixed on described sucker mount pad; Described top-pressure part and backing plate are formed directly to extrude and contact, and form non-immediate extrude and contact with described sucker mount pad.
8. the constitutionally stable manipulator of a kind of adjustable angle according to claim 1, is characterized in that: be provided with flange seat and be fixed on described cylinder mount pad, and fixing side is the lateral surface of relatively described sucker mount pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510420309.0A CN104972348B (en) | 2015-07-16 | 2015-07-16 | A kind of constitutionally stable manipulator of adjustable angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510420309.0A CN104972348B (en) | 2015-07-16 | 2015-07-16 | A kind of constitutionally stable manipulator of adjustable angle |
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| Publication Number | Publication Date |
|---|---|
| CN104972348A true CN104972348A (en) | 2015-10-14 |
| CN104972348B CN104972348B (en) | 2017-12-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510420309.0A Active CN104972348B (en) | 2015-07-16 | 2015-07-16 | A kind of constitutionally stable manipulator of adjustable angle |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364619A (en) * | 2015-12-18 | 2016-03-02 | 苏州恒泰金属制品有限公司 | Sheet metal part taking and delivering device with clamping lock |
| CN106256507A (en) * | 2015-06-17 | 2016-12-28 | 波音公司 | Compliant type end effector, the robot including compliant type end effector and the method utilizing compliant type end effector |
| CN107584489A (en) * | 2017-04-05 | 2018-01-16 | 鲁东大学 | The light-duty intermediate module of two dimensional surface self compensation linkage |
| CN107585554A (en) * | 2017-04-26 | 2018-01-16 | 鲁东大学 | Pressure leading type Space Rotating compensates fixture |
| CN108274452A (en) * | 2018-03-23 | 2018-07-13 | 苏州紫金港智能制造装备有限公司 | Industrial robot axial direction self-adapting flexible flange |
| CN109795350A (en) * | 2019-01-15 | 2019-05-24 | 深圳市律远汇智科技有限公司 | A kind of individual's special electric automobile charging pile |
| CN110181289A (en) * | 2018-02-23 | 2019-08-30 | 发那科株式会社 | Hand portable equipment |
| CN115556130A (en) * | 2022-12-06 | 2023-01-03 | 苏州浪潮智能科技有限公司 | Arm is transported to work piece and inclined plane adsorbs manipulator thereof |
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| DD219145A1 (en) * | 1983-10-31 | 1985-02-27 | Eberhard Kuehlfluck | GRIPPING APPARATUS FOR HANDLING PREFERABLY UNMITTED WORKPIECES |
| JPH06190771A (en) * | 1992-12-24 | 1994-07-12 | Toyota Motor Corp | Robot hand |
| DE202009008705U1 (en) * | 2009-06-24 | 2009-08-27 | Springer Gmbh | Holder for a sensor for double sheet control, and / or a component gripper, in particular a magnetic gripper or suction gripper |
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| JP2010240749A (en) * | 2009-04-01 | 2010-10-28 | Ihi Corp | Robot hand with workpiece profiling function |
| CN203853747U (en) * | 2014-04-21 | 2014-10-01 | 广东五星太阳能股份有限公司 | Inclined mechanism for grabbing, shifting and assembling transparent cover plates |
| CN104440927A (en) * | 2014-11-04 | 2015-03-25 | 广东五星太阳能股份有限公司 | Plate material separating device and plate material separating method adopting same |
| CN104552320A (en) * | 2015-01-15 | 2015-04-29 | 中江志诚钢化玻璃制品有限公司 | Pneumatic rotary absorbing system |
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| DD219145A1 (en) * | 1983-10-31 | 1985-02-27 | Eberhard Kuehlfluck | GRIPPING APPARATUS FOR HANDLING PREFERABLY UNMITTED WORKPIECES |
| JPH06190771A (en) * | 1992-12-24 | 1994-07-12 | Toyota Motor Corp | Robot hand |
| JP2010240749A (en) * | 2009-04-01 | 2010-10-28 | Ihi Corp | Robot hand with workpiece profiling function |
| DE202009008705U1 (en) * | 2009-06-24 | 2009-08-27 | Springer Gmbh | Holder for a sensor for double sheet control, and / or a component gripper, in particular a magnetic gripper or suction gripper |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106256507A (en) * | 2015-06-17 | 2016-12-28 | 波音公司 | Compliant type end effector, the robot including compliant type end effector and the method utilizing compliant type end effector |
| CN105364619A (en) * | 2015-12-18 | 2016-03-02 | 苏州恒泰金属制品有限公司 | Sheet metal part taking and delivering device with clamping lock |
| CN107584489A (en) * | 2017-04-05 | 2018-01-16 | 鲁东大学 | The light-duty intermediate module of two dimensional surface self compensation linkage |
| CN107585554A (en) * | 2017-04-26 | 2018-01-16 | 鲁东大学 | Pressure leading type Space Rotating compensates fixture |
| CN110181289A (en) * | 2018-02-23 | 2019-08-30 | 发那科株式会社 | Hand portable equipment |
| CN110181289B (en) * | 2018-02-23 | 2021-06-25 | 发那科株式会社 | Portable equipment |
| CN108274452A (en) * | 2018-03-23 | 2018-07-13 | 苏州紫金港智能制造装备有限公司 | Industrial robot axial direction self-adapting flexible flange |
| CN109795350A (en) * | 2019-01-15 | 2019-05-24 | 深圳市律远汇智科技有限公司 | A kind of individual's special electric automobile charging pile |
| CN115556130A (en) * | 2022-12-06 | 2023-01-03 | 苏州浪潮智能科技有限公司 | Arm is transported to work piece and inclined plane adsorbs manipulator thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104972348B (en) | 2017-12-26 |
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Address after: Block 1 and block 3, No. 9, Lexin Avenue, Leping Town, Sanshui District, Foshan City, Guangdong Province Patentee after: Guangdong Pradi Technology Co., Ltd Address before: 528137 No. 70, C District, Sanshui Central Industrial Park, Guangdong, Foshan Patentee before: FOSHAN PRATIC CNC SCIENCE & TECHNOLOGY Co.,Ltd. |