CN105563526A - Stock bin system assisting industrial robot in automatic grabbing - Google Patents

Stock bin system assisting industrial robot in automatic grabbing Download PDF

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Publication number
CN105563526A
CN105563526A CN201610122387.7A CN201610122387A CN105563526A CN 105563526 A CN105563526 A CN 105563526A CN 201610122387 A CN201610122387 A CN 201610122387A CN 105563526 A CN105563526 A CN 105563526A
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CN
China
Prior art keywords
rotating disk
support
cylinder
workpiece
guide rail
Prior art date
Application number
CN201610122387.7A
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Chinese (zh)
Inventor
邵伟
Original Assignee
邵伟
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 邵伟 filed Critical 邵伟
Priority to CN201610122387.7A priority Critical patent/CN105563526A/en
Publication of CN105563526A publication Critical patent/CN105563526A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Abstract

The invention relates to automatic storage equipment, in particular to peripheral equipment assisting an industrial robot in feeding. A stock bin system assisting the industrial robot in automatic grabbing comprises a support, a servo motor, a rotary disc, an air cylinder, a guide rail, a sliding block, a sliding plate and a feeding mechanism. The rotary disc is movably connected to the support, and an output shaft of the servo motor is connected to the rotary disc; the sliding block is fixedly connected to the support, and the guide rail is movably connected to the sliding block; the sliding plate is fixedly connected to the guide rail, and the air cylinder is fixedly connected to the support; the tail end of a piston rod of the air cylinder is fixedly connected with the sliding plate; and the feeding mechanism is fixedly connected to the rotary disc and evenly distributed on the rotary disc. The stock bin system assisting the industrial robot in automatic grabbing is used for assisting the industrial robot in feeding, precision of workpiece grabbing of a mechanical arm is improved, workpieces are always located on the mechanical arm in the unified direction, and high precision and high reliability of the mechanical arm in the each-time grabbing process are ensured.

Description

The bin system of support industry robot automatic capturing
Technical field
The present invention relates to a kind of automated storing equipment, particularly relate to a kind of peripheral equipment of assisting industrial robot material loading.
Background technology
Manipulator refers to some holding function imitating staff and arm, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine.It can replace the heavy labor of people to realize mechanization and the automation of production, can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Manipulator forms primarily of hand, motion and control system three parts.Hand is used to the parts grasping workpiece (or instrument), has various structures form according to by grasping the shape of object, size, weight, material and job requirements, as clamp-type, holding type and absorbent-type etc.Motion, makes that hand completes various rotation (swing), mobile or compound motion realizes the action that specifies, change and grasped the position of object and posture.The self-movement modes such as the lifting of motion, flexible, rotation, are called the free degree of manipulator.Control system is the control by the motor to each free degree of manipulator, has carried out specific action.
In order to realize the effective crawl of manipulator to workpiece, needing to provide effective bin system, realizing the feed to manipulator.Mostly feed mode in the past, be to be positioned on workbench by static for workpiece, manipulator under the driving of industrial robot close to workpiece.There is error in the position of putting due to each workpiece, workpiece own dimensions also exists error, the workpiece that manipulator is grabbed at every turn relative attitude on a robotic arm, is all different.
Therefore, need to provide the bin system that can improve workpiece feed precision, to improve the crawl precision of manipulator, thus improve the crudy of later process, ensure the stable operation of robot streamline.
Summary of the invention
The object of the present invention is to provide the bin system of a kind of support industry robot automatic capturing, material loading is realized for assisting industrial robot, improve the precision of manipulator grabbing workpiece, workpiece is positioned on manipulator with unified orientation all the time, ensure that manipulator captures high accuracy, the high reliability of process at every turn.
For achieving the above object, the invention discloses the bin system of support industry robot automatic capturing, comprise: support, servomotor, rotating disk, cylinder, guide rail, slide block, slide plate, feeding machanism, described rotating disk is movably connected on described support, and the output shaft of described servomotor is connected to described rotating disk; Described slide block is fixed on described support, and described guide rail is movably connected on described slide block, and described slide plate is fixed on described guide rail, and described cylinder is fixed on described support, and the end of the piston rod of described cylinder is fixed on described slide plate; Described rotating disk is connected described feeding machanism, and described feeding machanism is distributed on described rotating disk;
Described feeding machanism comprises: push pedal, bridging axle, guide rod, and for installing the described bridging axle of workpiece perpendicular to described rotating disk, described guide rod is perpendicular to described rotating disk, and described push pedal is movably connected on described bridging axle, guide rod; Described bridging axle, guide rod, guide rail, three is parallel to each other and is horizontally disposed.
Preferably, described guide rail is line slideway.
Preferably, a part of structure of described push pedal protrudes from described rotating disk, and described slide plate can be contacted with described push pedal.
Preferably, the model of described cylinder is mini cylinder, and cylinder diameter is less than 20 millimeters.
Preferably, described feeding machanism is distributed on described rotating disk, and the quantity of described feeding machanism is three to six.
Preferably, the end connection reducer of described servomotor, the output shaft of described decelerator connects described rotating disk, and the speed ratio of described decelerator is 50, and described decelerator model is harmonic gear reducer.
Compare with conventional art, the bin system of support industry robot of the present invention automatic capturing has following positive role and beneficial effect:
Described slide block is fixed on described support, and described guide rail is movably connected on described slide block, and described slide plate is fixed on described guide rail, and described cylinder is fixed on described support, and the end of the piston rod of described cylinder is fixed on described slide plate.Slide plate described in described air cylinder driven carries out linear slide under the guiding of described guide rail.
Described rotating disk is movably connected on described support, and the output shaft of described servomotor is connected to described rotating disk; Described rotating disk is connected described feeding machanism, and described feeding machanism is distributed on described rotating disk.Described workpiece suspension is on described bridging axle, described push pedal is movably connected on described bridging axle, guide rod, described push pedal is moved towards the direction away from described rotating disk for promoting described workpiece, and described bridging axle, guide rod, guide rail, three is parallel to each other and is horizontally disposed.When described push pedal does not promote described workpiece motion s, because described workpiece is positioned on horizontally disposed described bridging axle, the motion of described workpiece effectively can be avoided.Dial rotation described in described driven by servomotor, makes the described push pedal on described feeding machanism mate described slide plate respectively.
When wherein described in a certain group, feeding machanism mates described slide plate, described slide plate contacts described push pedal, and described slide plate can make the described workpiece hung on the described feeding machanism of this group be transferred to one by one on described manipulator.During beginning, described cylinder is in unloaded state, described slide plate to described push pedal without thrust.
Described finger is in open configuration, and then, described manipulator is close to described workpiece, and slide plate described in described air cylinder driven moves to the direction at described manipulator place.Described slide plate promotes described push pedal, and described push pedal promotes manipulator described in described absorption surface.Described workpiece is under the promotion of described cylinder, and contact is to pointing bottom surface.Then, described finger closes, and realizes the effective crawl to described workpiece.Then, described cylinder is in unloaded state, and described push pedal is to described workpiece without thrust, and described workpiece remains static.Then, described gripper of manipulator leaves described feeding machanism after getting described workpiece.Described cylinder serves double action in this process: one is, promotes described workpiece away from described rotating disk, makes described manipulator can one by one grab described workpiece; Two are, the stage of described workpiece is captured at described manipulator, described cylinder implements thrust to described workpiece to described manipulator direction, make described workpiece can be close to described finger bottom surface, realize the firm crawl of manipulator to described workpiece, described workpiece is arranged in described finger with highly consistent attitude, ensure that high accuracy, the high reliability of each crawl process.
After described in one group, feeding machanism completes feed, piston rod described in described air cylinder driven is retracted, and described in described driven by servomotor, rotating disk turns over certain angle, makes next organize described feeding machanism and mates described slide plate.
The end connection reducer of described servomotor, the output shaft of described decelerator connects described rotating disk, and the speed ratio of described decelerator is 50, and described decelerator model is harmonic gear reducer.After adding described decelerator, described rotating disk can obtain more powerful driving force, and rotating effect is better, and rigidity is better.
The model of described cylinder is mini cylinder, and cylinder diameter is less than 20 millimeters.Choose the described cylinder of minor diameter, the thrust to described manipulator can be reduced.
By following description also by reference to the accompanying drawings, the bin system of support industry robot of the present invention automatic capturing will become more clear, and these accompanying drawings are for explaining embodiments of the invention.
Accompanying drawing explanation
Fig. 1,2 is the structural representation of the bin system of support industry robot of the present invention automatic capturing;
Fig. 3,4 is the schematic diagram of the manipulator crawl workpiece fabrication of the bin system of support industry robot of the present invention automatic capturing.
1 support, 2 servomotors, 3 rotating disks, 4 cylinders, 5 guide rails, 6 push pedals, 7 bridging axles, 8 guide rods, 9 workpiece, 10 slide blocks, 11 slide plates, 12 piston rods, 13 manipulators, 14 finger bottom surfaces, 15 fingers.
Detailed description of the invention
With reference now to accompanying drawing, describe embodiments of the invention, element numbers similar in accompanying drawing represents similar element.As mentioned above, the invention provides the bin system of a kind of support industry robot automatic capturing, good manufacturability, full automatic working, realize unmanned operation.
The invention provides the bin system of a kind of support industry robot automatic capturing, comprise: support 1, servomotor 2, rotating disk 3, cylinder 4, guide rail 5, slide block 10, slide plate 11, feeding machanism, described rotating disk 3 is movably connected on described support 1, and the output shaft of described servomotor 2 is connected to described rotating disk 3; Described slide block 10 is fixed on described support 1, and described guide rail 5 is movably connected on described slide block 10, and described slide plate 11 is fixed on described guide rail 5, and described cylinder 4 is fixed on described support 1, and the end of the piston rod 12 of described cylinder 4 is fixed on described slide plate 11; Described rotating disk 3 is connected described feeding machanism, and described feeding machanism is distributed on described rotating disk 3;
Described feeding machanism comprises: push pedal 6, bridging axle 7, guide rod 8, and for installing the described bridging axle 7 of workpiece 9 perpendicular to described rotating disk 3, described guide rod 8 is perpendicular to described rotating disk 3, and described push pedal 6 is movably connected on described bridging axle 7, guide rod 8; Described bridging axle 7, guide rod 8, guide rail 5, three is parallel to each other and is horizontally disposed.
More specifically, described guide rail 5 is line slideway.
More specifically, a part of structure of described push pedal 6 protrudes from described rotating disk 3, and described slide plate 11 can be contacted with described push pedal 6.
More specifically, the model of described cylinder 4 is mini cylinder, and cylinder diameter is less than 20 millimeters.
More specifically, described feeding machanism is distributed on described rotating disk 3, and the quantity of described feeding machanism is three to six.
More specifically, the end connection reducer of described servomotor 2, the output shaft of described decelerator connects described rotating disk 3, and the speed ratio of described decelerator is 50, and described decelerator model is harmonic gear reducer.
See Fig. 1 to Fig. 4, next describe the course of work and the operation principle of each step of bin system of support industry robot of the present invention automatic capturing in detail:
Described slide block 10 is fixed on described support 1, and described guide rail 5 is movably connected on described slide block 10, and described slide plate 11 is fixed on described guide rail 5, and described cylinder 4 is fixed on described support 1, and the end of the piston rod 12 of described cylinder 4 is fixed on described slide plate 11.Described cylinder 4 drives described slide plate 11 to carry out linear slide under the guiding of described guide rail 5.
Described rotating disk 3 is movably connected on described support 1, and the output shaft of described servomotor 2 is connected to described rotating disk 3; Described rotating disk 3 is connected described feeding machanism, and described feeding machanism is distributed on described rotating disk 3.Described workpiece 9 hangs on described bridging axle 7, described push pedal 6 is movably connected on described bridging axle 7, guide rod 8, described push pedal 6 is moved towards the direction away from described rotating disk 3 for promoting described workpiece, and described bridging axle 7, guide rod 8, guide rail 5, three is parallel to each other and is horizontally disposed.When described push pedal 6 do not promote described workpiece 9 move time, because described workpiece 9 is positioned on horizontally disposed described bridging axle 7, effectively can avoid the motion of described workpiece 9.Described servomotor 2 drives described rotating disk 3 to rotate, and makes the described push pedal 6 on described feeding machanism mate described slide plate 11 respectively.
When wherein described in a certain group, feeding machanism mates described slide plate 11, described slide plate 11 contacts described push pedal 6, and described slide plate 11 can make the described workpiece 9 hung on the described feeding machanism of this group be transferred to one by one on described manipulator 13.During beginning, described cylinder 4 is in unloaded state, described slide plate 11 to described push pedal 6 without thrust.
Described finger 15 is in open configuration, and then, described manipulator 13 is close to described workpiece 9, and described cylinder 4 drives described slide plate 11 to move to the direction at described manipulator 13 place.Described slide plate 11 promotes described push pedal 6, and described push pedal 6 promotes described workpiece 9 and contacts described manipulator 13.Described workpiece 9 is under the promotion of described cylinder 4, and contact is to finger bottom surface 14.Then, described finger 15 closes, and realizes the effective crawl to described workpiece 9.Then, described cylinder 4 is in unloaded state, and described push pedal 6 is to described workpiece 9 without thrust, and described workpiece 9 remains static.Then, described manipulator 13 leaves described feeding machanism after grabbing described workpiece 9.Described cylinder 4 serves double action in this process: one is, promotes described workpiece 9 away from described rotating disk 3, makes described manipulator 13 one by one can grab described workpiece 9; Two are, the stage of described workpiece 9 is captured at described manipulator 13, described cylinder 4 implements thrust to described workpiece 9 to described manipulator 13 direction, make described workpiece 9 can be close to described finger bottom surface 14, realize the firm crawl of manipulator 13 to described workpiece 9, described workpiece 9 is arranged in described finger 15 with highly consistent attitude, ensure that high accuracy, the high reliability of each crawl process.
After described in one group, feeding machanism completes feed, described cylinder 4 drives described piston rod 12 to retract, and described servomotor 2 drives described rotating disk 3 to turn over certain angle, makes next organize described feeding machanism and mates described slide plate 11.
The end connection reducer of described servomotor 2, the output shaft of described decelerator connects described rotating disk 3, and the speed ratio of described decelerator is 50, and described decelerator model is harmonic gear reducer.After adding described decelerator, described rotating disk 3 can obtain more powerful driving force, and rotating effect is better, and rigidity is better.
The model of described cylinder 4 is mini cylinder, and cylinder diameter is less than 20 millimeters.Choose the described cylinder 4 of minor diameter, the thrust to described manipulator 13 can be reduced.
Finally, it should be pointed out that above embodiment is only the more representational example of the present invention.Obviously, the invention is not restricted to above-described embodiment, many distortion can also be had.Every above embodiment is done according to technical spirit of the present invention any simple modification, equivalent variations and modification, all should think and belong to protection scope of the present invention.

Claims (6)

1. the bin system of a support industry robot automatic capturing, it is characterized in that composed as follows: comprising: support, servomotor, rotating disk, cylinder, guide rail, slide block, slide plate, feeding machanism, described rotating disk is movably connected on described support, and the output shaft of described servomotor is connected to described rotating disk; Described slide block is fixed on described support, and described guide rail is movably connected on described slide block, and described slide plate is fixed on described guide rail, and described cylinder is fixed on described support, and the end of the piston rod of described cylinder is fixed on described slide plate; Described rotating disk is connected described feeding machanism, and described feeding machanism is distributed on described rotating disk;
Described feeding machanism comprises: push pedal, bridging axle, guide rod, and for installing the described bridging axle of workpiece perpendicular to described rotating disk, described guide rod is perpendicular to described rotating disk, and described push pedal is movably connected on described bridging axle, guide rod; Described bridging axle, guide rod, guide rail, three is parallel to each other and is horizontally disposed.
2. the bin system of support industry robot according to claim 1 automatic capturing, is characterized in that: described guide rail is line slideway.
3. the bin system of support industry robot according to claim 1 automatic capturing, is characterized in that: a part of structure of described push pedal protrudes from described rotating disk, and described slide plate can be contacted with described push pedal.
4. the bin system of support industry robot according to claim 1 automatic capturing, is characterized in that: the model of described cylinder is mini cylinder, and cylinder diameter is less than 20 millimeters.
5. the bin system of support industry robot according to claim 1 automatic capturing, is characterized in that: described feeding machanism is distributed on described rotating disk, the quantity of described feeding machanism is three to six.
6. the bin system of support industry robot according to claim 1 automatic capturing, it is characterized in that: the end connection reducer of described servomotor, the output shaft of described decelerator connects described rotating disk, the speed ratio of described decelerator is 50, and described decelerator model is harmonic gear reducer.
CN201610122387.7A 2016-03-04 2016-03-04 Stock bin system assisting industrial robot in automatic grabbing CN105563526A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106217110A (en) * 2016-09-08 2016-12-14 浙江凯拓机电有限公司 A kind of disk-like accessory loading and unloading feed bin
CN108000504A (en) * 2016-10-27 2018-05-08 虹兴科技股份有限公司 The tactile feel of Aided Machine arm working end running answers auxiliary system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0897782A2 (en) * 1997-08-21 1999-02-24 Meinan Machinery Works, Inc. Lathe charger
CN104772848A (en) * 2014-01-09 2015-07-15 珠海格力电器股份有限公司 Feeding mechanism of annular parts
CN104858501A (en) * 2015-05-29 2015-08-26 重庆市机电设计研究院 Dividing machine for engine air cylinder piston ring
CN105013664A (en) * 2015-07-30 2015-11-04 温玉桂 Automatic dispensing and feeding device
CN204844864U (en) * 2015-06-18 2015-12-09 舟山市智海技术开发有限公司 Flange surface pressure sealing strip device
CN205034669U (en) * 2015-08-31 2016-02-17 广东拓斯达科技股份有限公司 A circular feeder equipment for manipulator
CN205386836U (en) * 2016-03-04 2016-07-20 邵伟 Automatic feed bin system that snatchs of aided industrial robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0897782A2 (en) * 1997-08-21 1999-02-24 Meinan Machinery Works, Inc. Lathe charger
CN104772848A (en) * 2014-01-09 2015-07-15 珠海格力电器股份有限公司 Feeding mechanism of annular parts
CN104858501A (en) * 2015-05-29 2015-08-26 重庆市机电设计研究院 Dividing machine for engine air cylinder piston ring
CN204844864U (en) * 2015-06-18 2015-12-09 舟山市智海技术开发有限公司 Flange surface pressure sealing strip device
CN105013664A (en) * 2015-07-30 2015-11-04 温玉桂 Automatic dispensing and feeding device
CN205034669U (en) * 2015-08-31 2016-02-17 广东拓斯达科技股份有限公司 A circular feeder equipment for manipulator
CN205386836U (en) * 2016-03-04 2016-07-20 邵伟 Automatic feed bin system that snatchs of aided industrial robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106217110A (en) * 2016-09-08 2016-12-14 浙江凯拓机电有限公司 A kind of disk-like accessory loading and unloading feed bin
CN108000504A (en) * 2016-10-27 2018-05-08 虹兴科技股份有限公司 The tactile feel of Aided Machine arm working end running answers auxiliary system

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