CN105269554B - A kind of robot hand that can eliminate migration program accumulated error - Google Patents
A kind of robot hand that can eliminate migration program accumulated error Download PDFInfo
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- CN105269554B CN105269554B CN201410354027.0A CN201410354027A CN105269554B CN 105269554 B CN105269554 B CN 105269554B CN 201410354027 A CN201410354027 A CN 201410354027A CN 105269554 B CN105269554 B CN 105269554B
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- installing plate
- robot hand
- bounce cylinder
- robot
- guide rod
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Abstract
The invention provides a kind of robot hand that can eliminate migration program accumulated error, including：Flange, fixed plate, bounce cylinder, light sensing rack, vacuum cup, two or more connecting rods and installing plate；Wherein, flange is fixed to fixed plate top, is connected with robot wrist；The sidepiece of fixed plate is provided with bounce cylinder；Bounce cylinder motion bar connects the installing plate of vacuum cup, and when bounce cylinder is ejected downwards is pressed onto workpiece, work piece interface compression vacuum sucker guide rod produces counter-pressure when push rod is pressed onto, and compresses cylinder interior gas, eliminates accumulated error；Bounce cylinder is configured with motion bar straight down, and photoelectric support is arranged on installing plate bottom；Sensor for detecting material is installed on photoelectric support；Two or more connecting rods are arranged in the marginal position of installing plate bottom, and the end relative with installing plate of each connecting rod is disposed with vacuum cup；Vacuum cup is used for adhesive and captures material.
Description
Technical field
The present invention relates to robot control field, it is more particularly related to one kind can eliminate migration program tire out
The robot hand of product error.
Background technology
In compressor housing production line producing line, general using the vertical grabbing workpiece of robot migration program, (for example plate takes
Part).
As shown in figure 1, in the prior art, in grabbing workpiece vertical using robot migration program, manipulator first
100 decline, the vacuum cup guide rod compression of manipulator 100, the sensor detection material 200 of manipulator 100, are detecting survey thing
Expect that vacuum valve is opened when 200, the lifting of manipulator 100 completes feeding when reciprocal of duty cycle satisfaction is required.
But, at present, accumulated error is generally there are when carrying flitch using robot migration program, this accumulated error by
Two aspect reasons are constituted, i.e. flitch error and robot device's error, and negative error accumulation Hou Huishi robots are taken less than material, are corrected errors
Difference can cause robot hand and workpiece to collide, and this collision can cause robot arm injured, and robot can be damaged when serious.
The content of the invention
The technical problems to be solved by the invention are directed to and there is drawbacks described above in the prior art, there is provided a kind of effective compensation
The robot hand that migration program accumulated error can be eliminated of flitch thickness accumulated error.
In order to realize above-mentioned technical purpose, according to the present invention, there is provided a kind of migration program accumulated error of can eliminating
Robot hand, it is characterised in that including：Flange, fixed plate, bounce cylinder, light sensing rack, vacuum cup, two or more companies
Extension bar and installing plate；Wherein, flange is fixed to fixed plate top, is connected with robot wrist；The sidepiece peace of fixed plate
Equipped with bounce cylinder；Bounce cylinder is configured with motion bar straight down, and bounce cylinder motion bar connection plate, when slow
Qi of chong channel ascending adversely cylinder is ejected downwards when being pressed onto workpiece, and work piece interface compression vacuum sucker guide rod produces counter-pressure when push rod is pressed onto, and makes
Cylinder interior gas compress, and eliminate accumulated error；Photoelectric support is arranged on installing plate bottom；It is provided with for detecting on photoelectric support
The sensor of material；Two or more connecting rods are arranged in the marginal position of installing plate bottom, and each connecting rod with peace
The relative end of dress plate is disposed with vacuum cup；Vacuum cup is used for adhesive and captures material.
Preferably, the robot hand is used to carry out vertical grabbing workpiece by robot migration program.
Preferably, the robot hand also includes also including guide rod and briquetting；Guide rod is arranged on installing plate bottom.
Preferably, the robot hand also includes briquetting, and the briquetting has the area of section bigger than guide rod, and pressure
Block is arranged in lower end of the guide rod.
Preferably, it is arranged on photoelectric support downside for detecting the sensor of material.
Preferably, the quantity of connecting rod is two, and two connecting rods are arranged in the two ends of installing plate bottom.
Brief description of the drawings
With reference to accompanying drawing, and by reference to following detailed description, it will more easily have more complete understanding to the present invention
And its adjoint advantages and features is more easily understood, wherein：
Fig. 1 schematically shows the signal of the use robot vertical grabbing workpiece of migration program according to prior art
Figure.
Fig. 2 schematically shows according to the preferred embodiment of the invention for vertically being captured using robot migration program
The front view of the robot hand of workpiece.
Fig. 3 schematically shows according to the preferred embodiment of the invention for vertically being captured using robot migration program
The side view of the robot hand of workpiece.
Fig. 4 schematically shows according to the preferred embodiment of the invention for vertically being captured using robot migration program
The operation chart of the robot hand of workpiece.
It should be noted that accompanying drawing is used to illustrate the present invention, it is not intended to limit the present invention.Note, represent that the accompanying drawing of structure can
Can be not necessarily drawn to scale.Also, in accompanying drawing, same or similar element indicates same or similar label.
Specific embodiment
In order that present disclosure is more clear and understandable, with reference to specific embodiments and the drawings to of the invention interior
Appearance is described in detail.
Fig. 2 schematically shows according to the preferred embodiment of the invention for vertically being captured using robot migration program
The front view of the robot hand of workpiece, and Fig. 3 schematically show it is according to the preferred embodiment of the invention for using
The side view of the robot hand of the vertical grabbing workpiece of robot migration program.
Robot hand shown in Fig. 2 and Fig. 3 is effectively used for using the vertical grabbing workpiece of robot migration program.
As shown in Figures 2 and 3, it is according to the preferred embodiment of the invention for vertically capturing work using robot migration program
The robot hand of part includes：Flange 1, fixed plate 2, bounce cylinder 3, light sensing rack 4, guide rod 5, briquetting 6, vacuum cup 7, two
Individual or more connecting rod 8 and installing plate 9.
Wherein, flange 1 is fixed to the top of fixed plate 2, for robot hand to be connected into robot.
The sidepiece of fixed plate 2 is provided with bounce cylinder 3 (bounce cylinder 3 is used to eliminate error and damping) (such as by spiral shell
Nail is installed), the bottom of bounce cylinder 3 is attached to the top surface of installing plate 9 (thus, fixed plate 2 increases support intensity), thus delays
Qi of chong channel ascending adversely cylinder 3 down can produce pressure to the top surface of installing plate 9；Photoelectric support 4 and guide rod 5 are arranged on the bottom of installing plate 9；Photoelectricity
Be provided with support 4 for detect material sensor (it is not specifically illustrated, can be for example arranged on for detecting the sensor of material
The downside of photoelectric support 4).
Specifically, bounce cylinder 3 is configured with motion bar 10 straight down, and the motion bar 10 of bounce cylinder 3 is connected
(being for example connected by screw) bottom is provided with the installing plate of vacuum cup 7, when bounce cylinder is ejected downwards is pressed onto workpiece, work
The guide rod of part contact surface compression vacuum sucker 7, counter-pressure is produced when push rod 6 is pressed onto, and compresses cylinder interior gas, eliminates accumulation
Error.
It is used to carry out sensor position limitation protection and carry out pusher action (that is, with pusher as the guide rod 5 of selectable unit (SU)
Effect)；Briquetting 6 as further alternative part has the area of section bigger than guide rod 5, and briquetting 6 is arranged in guide rod 5
Lower end, it is possible thereby to when being used to increase by 6 pusher of guide rod with the contact area of material (workpiece).
Two or more connecting rods 8 are arranged in the marginal position of the bottom of installing plate 9, and each connecting rod 8 with installation
The relative end of plate 9 is disposed with vacuum cup 7；Vacuum cup 7 is used to capture material (workpiece).
In the examples illustrated in the figures, the quantity of connecting rod 8 is two, and two connecting rods 8 are arranged in installation
The two ends of plate bottom.
Fig. 4 schematically shows according to the preferred embodiment of the invention for vertically being captured using robot migration program
The operation chart of the robot hand of workpiece.
In the operation of shown robot hand, mechanical hand-motion robot hand declines, and at this moment bounce cylinder 3 is pushed out
(eliminating error and damping, buffering) produces pressure to be compressed to guide rod 5 down to the bar 8 of workpiece sucker 7 to the top surface of installing plate 9, while
Sensor detects material or workpiece 200, and when material or workpiece 200 is detected, the vacuum valve of vacuum cup 7 is opened, full in vacuum
When foot is required, manipulator lifting completes feeding.
Wherein, bounce cylinder 3 produce downward pressure be controlled to the left and right sides vacuum cup 7 pressure P1 and
P2。
By using robot hand bounce cylinder method according to the preferred embodiment of the invention, in robot migration program
With flow, the failure that feeding collides is eliminated, robot device's rate of starting is significantly improved, the probability that robot is damaged is big
It is big to reduce.By actually used, the stabilization of system work, the reliability of equipment operation all improve a lot.
Furthermore, it is necessary to explanation, unless stated otherwise or points out, term " first " otherwise in specification, " the
Two ", description such as " 3rd " is used only for distinguishing each component, element, step in specification etc., without being intended to indicate that each
Logical relation or ordinal relation between component, element, step etc..
Although it is understood that the present invention is disclosed as above with preferred embodiment, but above-described embodiment and being not used to
Limit the present invention.For any those of ordinary skill in the art, in the case where technical solution of the present invention ambit is not departed from,
Many possible variations and modification are all made to technical solution of the present invention using the technology contents of the disclosure above, or is revised as
With the Equivalent embodiments of change.Therefore, every content without departing from technical solution of the present invention, according to technical spirit pair of the invention
Any simple modification, equivalent variation and modification made for any of the above embodiments, still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (6)
1. a kind of robot hand that can eliminate migration program accumulated error, it is characterised in that including：It is flange, fixed plate, slow
Qi of chong channel ascending adversely cylinder, light sensing rack, vacuum cup, two or more connecting rods and installing plate；Wherein, flange is fixed to fixed plate top
Portion, is connected with robot wrist；The sidepiece of fixed plate is provided with bounce cylinder；Bounce cylinder is configured with work straight down
Lever, and bounce cylinder motion bar connection plate, when bounce cylinder is ejected downwards is pressed onto workpiece, work piece interface compression
Vacuum cup guide rod, counter-pressure is produced when the briquetting for being arranged in lower end of the guide rod is pressed onto, and compresses cylinder interior gas, eliminates accumulation
Error；Photoelectric support is arranged on installing plate bottom；Sensor for detecting material is installed on photoelectric support；Two or more
Connecting rod is arranged in the marginal position of installing plate bottom, and the end relative with installing plate of each connecting rod is disposed with vacuum
Sucker；Vacuum cup is used for adhesive and captures material.
2. robot hand according to claim 1, it is characterised in that the robot hand is used for inclined by robot
Shifting program carries out vertical grabbing workpiece.
3. robot hand according to claim 1 and 2, it is characterised in that also including guide rod and briquetting；Guide rod is arranged on
Installing plate bottom.
4. robot hand according to claim 3, it is characterised in that the briquetting has the area of section bigger than guide rod,
And briquetting is arranged in lower end of the guide rod.
5. robot hand according to claim 1 and 2, it is characterised in that the sensor for detecting material is arranged on
Photoelectric support downside.
6. robot hand according to claim 1 and 2, it is characterised in that the quantity of connecting rod is two, and two
Connecting rod is arranged in the two ends of installing plate bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410354027.0A CN105269554B (en) | 2014-07-24 | 2014-07-24 | A kind of robot hand that can eliminate migration program accumulated error |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410354027.0A CN105269554B (en) | 2014-07-24 | 2014-07-24 | A kind of robot hand that can eliminate migration program accumulated error |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105269554A CN105269554A (en) | 2016-01-27 |
| CN105269554B true CN105269554B (en) | 2017-06-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410354027.0A Active CN105269554B (en) | 2014-07-24 | 2014-07-24 | A kind of robot hand that can eliminate migration program accumulated error |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106516804B (en) * | 2016-12-20 | 2019-08-09 | 昆明昆船物流信息产业有限公司 | A kind of device systems that cigarette packet wagon shaker hand is unloaded automatically |
| CN107942320B (en) * | 2017-10-26 | 2019-09-24 | 颜禾智能科技(浙江)有限公司 | A kind of photoelectric positioning apparatus of construction mechanical arm |
| CN110963308B (en) * | 2018-09-28 | 2021-11-09 | 捷普电子(广州)有限公司 | Stacking machine |
| CN110713004A (en) * | 2019-10-22 | 2020-01-21 | 苏州富强科技有限公司 | Tray carrying mechanism |
| CN112247521A (en) * | 2020-11-12 | 2021-01-22 | 长春工业大学 | Automobile body part grabbing device for automobile production line |
| CN113716337A (en) * | 2021-09-16 | 2021-11-30 | 江山欧派门业股份有限公司 | Automatic feeding mechanism of plain noodles big board |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06115733A (en) * | 1992-10-05 | 1994-04-26 | Nec Toyama Ltd | Substrate transfer device |
| JPH1071586A (en) * | 1996-08-28 | 1998-03-17 | Mitsubishi Electric Corp | Industrial robot |
| CN201999522U (en) * | 2010-12-21 | 2011-10-05 | 苏州阿特斯阳光电力科技有限公司 | Full-automatic silicon chip feeding machine |
| CN202226383U (en) * | 2011-08-13 | 2012-05-23 | 张家港市金桥轻工机械有限公司 | Material taking device |
| CN102642718B (en) * | 2011-11-01 | 2015-05-13 | 浙江豪情汽车制造有限公司 | Track sucking disk type gripping device |
| CN203390939U (en) * | 2013-08-09 | 2014-01-15 | 上海发那科机器人有限公司 | Robot gripper for disassembling packaged stacks |
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2014
- 2014-07-24 CN CN201410354027.0A patent/CN105269554B/en active Active
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| CN105269554A (en) | 2016-01-27 |
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Address after: 201206 Pudong New Area Jinqiao Ning Road, Shanghai, No. 888 Patentee after: Shanghai Haili Electrical Appliance Co. Ltd. Address before: 201206 Pudong New Area Jinqiao Ning Road, Shanghai, No. 888 Patentee before: Rili Electric Appliance Co., Ltd., Shanghai |
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Effective date of registration: 20180418 Address after: 621000 188 Mianyang Road, Mianyang economic and Technological Development Zone, Sichuan Co-patentee after: Shanghai Haili Electrical Appliance Co. Ltd. Patentee after: Mianyang Haili Electrical Appliance Co. Ltd. Address before: 201206 Pudong New Area Jinqiao Ning Road, Shanghai, No. 888 Patentee before: Shanghai Haili Electrical Appliance Co. Ltd. |
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