CN105773650A - High-precision automatic material taking manipulator - Google Patents
High-precision automatic material taking manipulator Download PDFInfo
- Publication number
- CN105773650A CN105773650A CN201610278443.6A CN201610278443A CN105773650A CN 105773650 A CN105773650 A CN 105773650A CN 201610278443 A CN201610278443 A CN 201610278443A CN 105773650 A CN105773650 A CN 105773650A
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- China
- Prior art keywords
- connector
- electric sliding
- automatic material
- sliding rail
- infrared sensor
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of manipulators and particularly relates to a high-precision automatic material taking manipulator. The invention discloses the high-precision automatic material taking manipulator which comprises a supporting vertical rod, wherein material taking grippers are arranged on the lower side of the supporting vertical rod; the lower end of the supporting vertical rod is fixedly connected to a second connecting base through first hydraulic flexible mechanisms which are symmetrically arranged; the bottoms of slide rails are fixedly connected to first connectors through connecting rods; the bottoms of the first connectors are connected to second connectors through third connectors, and the outer walls of the first connectors and the second connectors are further fixed at two ends of second hydraulic flexible mechanisms, respectively. Mutual movement of the first connectors and the second connectors is driven by the second hydraulic flexible mechanism to grasp materials by the material taking grippers, so that the whole material grasping process can be intelligently controlled precisely, and the material grasping precision is improved.
Description
Technical field
The present invention is novel relates to mechanical hand field, is specially the automatic material-fetching mechanical hand that a kind of precision is high.
Background technology
Mechanical hand, refers to imitate some holding function of staff and arm, in order to capture, to carry object or the automatic pilot of operation instrument by fixed routine.Mainly it is made up of actuator, driving mechanism and control system three parts.It can replace the heavy labor of people to realize the mechanization and the automatization that produce, 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.But it is not high that mechanical hand of the prior art captures precision, cause, when carrying out needing the material of accurately crawl, there is very big error, in order to solve this problem, it is proposed that the automatic material-fetching mechanical hand that a kind of precision is high.
Invent novel content
The novel purpose of the present invention is in that the automatic material-fetching mechanical hand providing a kind of precision high, with the problem solving to propose in above-mentioned background technology.The present invention is novel has the advantage that crawl precision is high.
For achieving the above object, the following technical scheme of the novel offer of the present invention: the automatic material-fetching mechanical hand that a kind of precision is high, including supported rod erecting, the downside of described supported rod erecting is provided with feeding handgrip, the lower end of described supported rod erecting is fixedly connected with the second connection seat by symmetrically arranged first hydraulic telescopic machanism, second inner chamber connecting seat is provided with controller, second connects seat bottom portion is provided with infrared sensor, infrared sensor electrical connection controller, and second connect seat bottom surface embed be provided with electric sliding rail, electric sliding rail electrical connection controller, slide in electric sliding rail and be connected with slide block, the second connection side away from infrared sensor and electric sliding rail, the seat bottom portion is additionally provided with warning light, warning light electrical connection controller；
The bottom of described slide rail is fixedly connected with the first connector by connecting rod, the bottom of described first connector is connected to the second connector by the 3rd connector, and first the outer wall of connector and the second connector also fix the two ends of the second hydraulic telescopic machanism respectively, described feeding handgrip is fixed at the end of the second connector, and the inner chamber of feeding handgrip is provided with pressure transducer, pressure transducer electrical connection controller.
Preferably, described electric sliding rail is provided with two groups, and two groups of electric sliding rails are chevron shaped being symmetrical arranged about the second center line connecting seat.
Preferably, one end of described 3rd connector is hinged by rivet and the first connector, and the other end of the 3rd connector is hinged by rivet and the second connector.
Preferably, described infrared sensor is positioned at the center in the second connection seat bottom face, and the intersection point of infrared lamp on infrared sensor and two feeding handgrips is on same vertical horizontal line.
Preferably, described feeding handgrip is circular ring type, and the side that two groups of feeding handgrips contact is provided with breach, and capturing in this breach has material.
Compared with prior art, the present invention is novel to be provided the benefit that: by adding pressure transducer and infrared sensor, when making that pressure experienced differs too many with the weight of the material of required crawl on feeding handgrip, warning light sends instruction, control feeding handgrip and put down captured material, carry out secondary again to capture, it is to avoid feeding handgrip is only caught the packaging bag one jiao of material and caused packaging bag damage or material midway to drop；Driven the mutual motion of the first connector and the second connector by the second hydraulic telescopic machanism, realize the crawl material of feeding handgrip so that whole material grasping process can carry out accurate Based Intelligent Control, improve the precision of material grasping；Setting by chevron shaped electric sliding rail so that the distance that two feeding handgrips cooperate can be come precisely controlled by controlling the slip of electric sliding rail, improves the efficiency of material grasping.
Accompanying drawing explanation
Fig. 1 is new structure schematic diagram of the present invention；
Fig. 2 is electric sliding rail structural representation.
In figure: supported rod erecting 1, a connecting seat 2, the first hydraulic telescopic machanism 3, second connects seat 4, controller 5, infrared sensor 6, warning light 7, electric sliding rail 8, slide block 9, first connector 10, second connector 11, the second hydraulic telescopic machanism 12, the 3rd connector 13, feeding handgrip 14, pressure transducer 15.
Detailed description of the invention
Below in conjunction with the accompanying drawing in new embodiment of the present invention, the technical scheme in new embodiment of the present invention is retouched clearly and completely, it is clear that the embodiment retouched is only the novel a part of embodiment of the present invention, rather than whole embodiments.Based on present invention embodiment in novel, what those of ordinary skill in the art obtained under not making creative work premise has other embodiments, broadly falls into the scope that the present invention is novel protected.
Referring to Fig. 1-2, the automatic material-fetching mechanical hand technical scheme that a kind of precision of the novel offer of the present invention is high: the automatic material-fetching mechanical hand that a kind of precision is high, including supported rod erecting 1, the downside of supported rod erecting 1 is provided with feeding handgrip 14.
The lower end of supported rod erecting 1 is fixedly connected with the second connection seat 4 by symmetrically arranged first hydraulic telescopic machanism 3, second inner chamber connecting seat 4 is provided with controller 5, it is provided with infrared sensor 6 bottom second connection seat 4, infrared sensor 6 electrically connects controller 5, infrared sensor 6 is positioned at the center of the second connection seat 4 bottom surface, and the intersection point of infrared lamp on infrared sensor 6 and two feeding handgrips 14 is on same vertical horizontal line.
And second connect seat 4 bottom surface embed be provided with electric sliding rail 8, electric sliding rail 8 is provided with two groups, two groups of electric sliding rails 8 are chevron shaped being symmetrical arranged about the second center line connecting seat 4, setting by chevron shaped electric sliding rail 8, make the distance that two feeding handgrips 14 cooperate can come precisely controlled by the slip of control electric sliding rail 8, improve the efficiency of material grasping.
Electric sliding rail 8 electrically connects controller 5, and sliding in electric sliding rail 8 is connected with slide block 9, and the second side connecting bottom seat 4 away from infrared sensor 6 and electric sliding rail 8 is additionally provided with warning light 7, and warning light 7 electrically connects controller 5.
The bottom of slide rail 8 is fixedly connected with the first connector 10 by connecting rod, the bottom of the first connector 10 is connected to the second connector 11 by the 3rd connector 13, one end of 3rd connector 13 is hinged by rivet and the first connector 10, and the other end of the 3rd connector 13 is hinged by rivet and the second connector 11.And first the outer wall of connector 10 and the second connector 11 also fix the two ends of the second hydraulic telescopic machanism 12 respectively, the mutual motion of the first connector 10 and the second connector 11 is driven by the second hydraulic telescopic machanism 12, realize the crawl material of feeding handgrip 14, make whole material grasping process can carry out accurate Based Intelligent Control, improve the precision of material grasping.
Feeding handgrip 14 is fixed at the end of the second connector 11, and the inner chamber of feeding handgrip 14 is provided with pressure transducer 15, pressure transducer 15 electrically connects controller 5, feeding handgrip 14 is circular ring type, and the side that two groups of feeding handgrips 14 contact is provided with breach, capture in this breach and have material, by adding pressure transducer 15 and infrared sensor 6, when making that pressure experienced differs too many with the weight of the material that need to capture on feeding handgrip 14, warning light 7 sends instruction, control feeding handgrip 14 and put down crawl material, carry out secondary again to capture, feeding handgrip 14 is avoided only to catch the packaging bag one jiao of material and cause packaging bag damage or material midway to drop.
Although having shown that and having retouched the embodiment that the present invention is novel, for the ordinary skill in the art, being appreciated that when the principle novel without departing from the present invention and spirit and these embodiments can be carried out multiple change, amendment, replacement and modification, the novel scope of the present invention is defined by the appended claims and the equivalents thereof.
Claims (5)
- null1. the automatic material-fetching mechanical hand that a precision is high，Including supported rod erecting (1)，The downside of described supported rod erecting (1) is provided with feeding handgrip (14)，It is characterized in that: the lower end of described supported rod erecting (1) is fixedly connected with the second connection seat (4) by symmetrically arranged first hydraulic telescopic machanism (3)，Second inner chamber connecting seat (4) is provided with controller (5)，Second connects seat (4) bottom is provided with infrared sensor (6)，Infrared sensor (6) electrical connection controller (5)，And second connect seat (4) bottom surface embed be provided with electric sliding rail (8)，Electric sliding rail (8) electrical connection controller (5)，Slide in electric sliding rail (8) and be connected with slide block (9)，Second connection seat (4) bottom is additionally provided with warning light (7) on the side away from infrared sensor (6) and electric sliding rail (8)，Warning light (7) electrical connection controller (5)；The bottom of described slide rail (8) is fixedly connected with the first connector (10) by connecting rod, the bottom of described first connector (10) is connected to the second connector (11) by the 3rd connector (13), and first the outer wall of connector (10) and the second connector (11) also fix the two ends of the second hydraulic telescopic machanism (12) respectively, described feeding handgrip (14) is fixed at the end of the second connector (11), and the inner chamber of feeding handgrip (14) is provided with pressure transducer (15), pressure transducer (15) electrical connection controller (5).
- 2. the automatic material-fetching mechanical hand that a kind of precision according to claim 1 is high, it is characterized in that: described electric sliding rail (8) is provided with two groups, two groups of electric sliding rails (8) are chevron shaped being symmetrical arranged about the second center line connecting seat (4).
- 3. the automatic material-fetching mechanical hand that a kind of precision according to claim 1 is high, it is characterized in that: one end of described 3rd connector (13) is hinged by rivet and the first connector (10), the other end of the 3rd connector (13) is hinged by rivet and the second connector (11).
- 4. the automatic material-fetching mechanical hand that a kind of precision according to claim 1 is high, it is characterized in that: described infrared sensor (6) is positioned at the center of the second connection seat (4) bottom surface, and the intersection point of infrared lamp on infrared sensor (6) and two feeding handgrips (14) is on same vertical horizontal line.
- 5. the automatic material-fetching mechanical hand that a kind of precision according to claim 1 is high, it is characterized in that: described feeding handgrip (14) is circular ring type, and the side that two groups of feeding handgrips (14) contact is provided with breach, captures in this breach and have material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610278443.6A CN105773650A (en) | 2016-04-30 | 2016-04-30 | High-precision automatic material taking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610278443.6A CN105773650A (en) | 2016-04-30 | 2016-04-30 | High-precision automatic material taking manipulator |
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| Publication Number | Publication Date |
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| CN105773650A true CN105773650A (en) | 2016-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610278443.6A Pending CN105773650A (en) | 2016-04-30 | 2016-04-30 | High-precision automatic material taking manipulator |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041986A (en) * | 2016-07-28 | 2016-10-26 | 苏州高通机械科技有限公司 | Improved mechanical hand |
| CN106312856A (en) * | 2016-10-24 | 2017-01-11 | 周末 | Ring part clamping device |
| CN107214689A (en) * | 2017-06-20 | 2017-09-29 | 安徽悦尔伟塑料机械有限公司 | Manipulator |
| CN107214694A (en) * | 2017-06-20 | 2017-09-29 | 安徽悦尔伟塑料机械有限公司 | Manipulator for transporting tubing |
| CN107378930A (en) * | 2017-06-20 | 2017-11-24 | 安徽悦尔伟塑料机械有限公司 | Suitable for the manipulator of tubing |
| CN108908294A (en) * | 2018-07-09 | 2018-11-30 | 无锡南理工科技发展有限公司 | A kind of automated machine gripper equipment |
| CN110524571A (en) * | 2019-08-30 | 2019-12-03 | 南京斯杩克机器人技术有限公司 | A kind of transfer robot arm of force |
| CN113118363A (en) * | 2021-05-10 | 2021-07-16 | 大昌汽车部件股份有限公司 | Forging device for manufacturing caliper piston and machining method thereof |
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| JPH0929679A (en) * | 1995-07-17 | 1997-02-04 | Ishikawajima Shibaura Mach Co Ltd | Clamping device |
| JP2006150532A (en) * | 2004-11-30 | 2006-06-15 | Kondo Seisakusho:Kk | Holding device |
| CN201842288U (en) * | 2010-10-22 | 2011-05-25 | 青岛诺力达工业装备有限公司 | High speed hand grip for bag and mechanical arm |
| CN201842290U (en) * | 2010-10-22 | 2011-05-25 | 青岛诺力达工业装备有限公司 | Gripping device for low-velocity bag and mechanical arm |
| CN202241298U (en) * | 2011-09-14 | 2012-05-30 | 江阴鑫辉太阳能有限公司 | Mechanical hand grip |
| CN204505267U (en) * | 2015-02-10 | 2015-07-29 | 郑州春迈节能科技有限公司 | Cement foamed internal mold production line is with carrying mould manipulator |
| CN204585240U (en) * | 2015-05-07 | 2015-08-26 | 海安天润机械科技有限公司 | A kind of mechanical paw |
| CN204710735U (en) * | 2015-04-27 | 2015-10-21 | 中国计量学院 | A kind of weighing machines people for 25 kilograms of standard test weight automatic Verification classification |
| CN205085999U (en) * | 2015-11-06 | 2016-03-16 | 贵州诺义达智能科技有限公司 | Box tongs of self -adaptation |
| CN205129884U (en) * | 2015-11-16 | 2016-04-06 | 哈尔滨泓鑫数控机电工程有限公司 | Servosyn anchor clamps |
-
2016
- 2016-04-30 CN CN201610278443.6A patent/CN105773650A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0929679A (en) * | 1995-07-17 | 1997-02-04 | Ishikawajima Shibaura Mach Co Ltd | Clamping device |
| JP2006150532A (en) * | 2004-11-30 | 2006-06-15 | Kondo Seisakusho:Kk | Holding device |
| CN201842288U (en) * | 2010-10-22 | 2011-05-25 | 青岛诺力达工业装备有限公司 | High speed hand grip for bag and mechanical arm |
| CN201842290U (en) * | 2010-10-22 | 2011-05-25 | 青岛诺力达工业装备有限公司 | Gripping device for low-velocity bag and mechanical arm |
| CN202241298U (en) * | 2011-09-14 | 2012-05-30 | 江阴鑫辉太阳能有限公司 | Mechanical hand grip |
| CN204505267U (en) * | 2015-02-10 | 2015-07-29 | 郑州春迈节能科技有限公司 | Cement foamed internal mold production line is with carrying mould manipulator |
| CN204710735U (en) * | 2015-04-27 | 2015-10-21 | 中国计量学院 | A kind of weighing machines people for 25 kilograms of standard test weight automatic Verification classification |
| CN204585240U (en) * | 2015-05-07 | 2015-08-26 | 海安天润机械科技有限公司 | A kind of mechanical paw |
| CN205085999U (en) * | 2015-11-06 | 2016-03-16 | 贵州诺义达智能科技有限公司 | Box tongs of self -adaptation |
| CN205129884U (en) * | 2015-11-16 | 2016-04-06 | 哈尔滨泓鑫数控机电工程有限公司 | Servosyn anchor clamps |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041986A (en) * | 2016-07-28 | 2016-10-26 | 苏州高通机械科技有限公司 | Improved mechanical hand |
| CN106312856A (en) * | 2016-10-24 | 2017-01-11 | 周末 | Ring part clamping device |
| CN107214689A (en) * | 2017-06-20 | 2017-09-29 | 安徽悦尔伟塑料机械有限公司 | Manipulator |
| CN107214694A (en) * | 2017-06-20 | 2017-09-29 | 安徽悦尔伟塑料机械有限公司 | Manipulator for transporting tubing |
| CN107378930A (en) * | 2017-06-20 | 2017-11-24 | 安徽悦尔伟塑料机械有限公司 | Suitable for the manipulator of tubing |
| CN108908294A (en) * | 2018-07-09 | 2018-11-30 | 无锡南理工科技发展有限公司 | A kind of automated machine gripper equipment |
| CN108908294B (en) * | 2018-07-09 | 2022-03-29 | 无锡南理工科技发展有限公司 | Automatic change mechanical tongs device |
| CN110524571A (en) * | 2019-08-30 | 2019-12-03 | 南京斯杩克机器人技术有限公司 | A kind of transfer robot arm of force |
| CN113118363A (en) * | 2021-05-10 | 2021-07-16 | 大昌汽车部件股份有限公司 | Forging device for manufacturing caliper piston and machining method thereof |
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| PB01 | Publication | ||
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Application publication date: 20160720 |