CN105775732A - Automatic grabbing machine convenient to move - Google Patents
Automatic grabbing machine convenient to move Download PDFInfo
- Publication number
- CN105775732A CN105775732A CN201610287661.6A CN201610287661A CN105775732A CN 105775732 A CN105775732 A CN 105775732A CN 201610287661 A CN201610287661 A CN 201610287661A CN 105775732 A CN105775732 A CN 105775732A
- Authority
- CN
- China
- Prior art keywords
- arm
- plate
- sliding
- parts
- grabbing
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic grabbing machine convenient to move. The automatic grabbing machine convenient to move comprises a base and further comprises a supporting part, a first arm, a second arm, a third arm, a grabbing claw and a suction cup, wherein the supporting part, the first arm, the second arm, the third arm, the grabbing claw and the suction cup are installed on the base. The first arm, the second arm and the third arm are connected in series in sequence. One end of the first arm is further installed at the top of the supporting part. A controller and a collecting card which are connected are further arranged in the supporting part. The grabbing claw is provided with a sliding grabbing plate and a sliding groove. The sliding grabbing plate can slide back and forth on the sliding groove. The suction cup is further arranged on the vertical plate and the side face of the sliding grabbing plate. A buckle groove is further formed in the end face of the vertical plate. A buckle matched with the buckle groove is formed in the end face of the sliding grabbing plate. Wheels are arranged at the four corners of the base. By means of the above structure, different sizes of parts, especially small parts, can be grabbed, and the automatic grabbing machine is easy and convenient to carry and capable of saving time and labor.
Description
Technical field
The present invention relates to manufacture field, be specifically related to the automatic gripper of conveniently moving.
Background technology
Industrial robot can meet the demand of current industrial cost and time high efficiency and the flexible demand to materials processing, with its high efficiency, low cost, the advantage such as flexible, and can as the automatically processing device replacing traditional mechanical machining cell.In recent years, compared with other process equipment such as numerical control machining center, FMC, industrial robot is applied to field of machining and has the advantages such as cost is low, automaticity is high, flexible, installing space is little, it is suitable for the modern production requirement of multi items, small lot, on-the-spot processing, it is possible to meet the complicated processing requirement such as free form surface, complex-shaped surface mould.Traditional industrial machine processing, use fixing machining locus, bad adaptability, due to ambient parameter change, such as equipment fault, action cumulative errors, tool wear, solder change, part material slight change etc., even if the accurate palikinesia of robot, still cannot avoid the generation of waste product, for the work pieces process of high value once to occur that waste product then loses huge.And the parts of single model can only be captured by existing grabbing device, once parts size changes, cannot be solid and reliable capture parts and ensure the safety of parts, now realize only by replacing grabbing device, bad adaptability.It addition, existing grabbing device is all heavier, to the unusual inconvenience in shift position, always easily occur when capturing small parts that situation about using leisure moments occurs simultaneously.
Summary of the invention
Instant invention overcomes the deficiencies in the prior art, it is provided that the automatic gripper of conveniently moving, this device is capable of the parts of different model size are captured, the particularly crawl of small parts, and the carrying of this device is simple and convenient, time saving and energy saving.
For solving above-mentioned technical problem, the present invention is by the following technical solutions: the automatic gripper of conveniently moving, including pedestal, also include the support parts, the first arm, the second arm, the 3rd arm, grabbing claw and the sucker that are arranged on pedestal, described the first arm, the second arm and the 3rd arm are sequentially connected in series, first arm one end is also arranged on the top supporting parts, is also connected with grabbing claw on one end of the 3rd arm；The inside of described support parts also sets up interconnective controller and capture card, also installs motor, also install camera at the top of the first arm on the outer wall supporting parts, and motor, camera and the 3rd arm are all connected with on the controller；Described grabbing claw arranges slip and captures plate and chute, the crawl plate that slides can slidably reciprocate on chute, grabbing claw can turn to the position parallel with chute with the riser capturing plate relative that slides, riser and the side capturing plate of sliding also set up sucker, the end face of riser also sets up buckle slot, sliding, the end face capturing plate arranges the buckle mated with buckle slot；Four angles of described pedestal are respectively provided with roller.
In use this device is placed on the product line side needing to capture parts, camera constantly captures parts picture pass information to capture card on product line, capture card passes information to controller again, controller compares with the intrinsic components information itself arranged according to collection information, the then controller satisfied condition starts the grabbing claw on driven by motor the 3rd arm and navigates on the parts needing to capture, and quickly captures neck parts.In this process owing to grabbing claw arranging slip crawl plate, this slip captures plate and can slidably reciprocate in chute according to the parts width size information that controller feeds back, adjust the gap length between grabbing claw, so as to the different size of parts of the crawl of fast and stable, without there is landing, this grabbing claw uses flexibly.The riser and the side capturing plate of sliding of grabbing claw are respectively provided with sucker, when needing, the parts captured are too small, no matter slip captures how plate slides in chute, grabbing claw all cannot be made to catch parts, now the riser on grabbing claw then can rotate parallel with chute with the crawl plate that slides, the buckle captured on plate that simultaneously slides then can clasp and be positioned on riser buckle slot, now utilize the parts that the sucker alignment volume being positioned on riser and slip crawl plate is little, the parts that direct volume aspirated is little, it is achieved the effective crawl to the little parts of volume.And the roller arranged on pedestal, the movement to this device can be realized when needing to change this setting position by slider roller, time saving and energy saving.
The described crawl plate that slides can rotate parallel with chute, and buckle can rotate parallel with the crawl plate that slides.When the grasping manipulation of parts can be realized by the movement capturing plate of sliding at ordinary times, buckle then can be made to rotate and to capture plate laminating with sliding, buckle slot rotates and riser laminating, avoid buckle and buckle slot when grabbing claw uses slip crawl plate and riser to carry out grasping manipulation, grasping manipulation is caused stop, to facilitate the crawl to parts.
It is attached by connector between riser and transverse slat on grabbing claw.If occurring, parts thereof damages, and facilitates the later stage to be individually replaced.
Described camera is capable of 360 ° of Arbitrary Rotations.This of camera is designed to facilitate camera to adjust angle to photograph the parts picture of best angle.
The side of described support parts also sets up multiple air vent.Air vent can lose the heat that controller produces timely, it is ensured that controller can long-term stable operation.
Compared with prior art, the invention has the beneficial effects as follows:
1, in this process owing to grabbing claw arranging slip crawl plate, this slip captures plate and can slidably reciprocate in chute according to the parts width size information that controller feeds back, adjust the gap length between grabbing claw, so as to the different size of parts of the crawl of fast and stable, without there is landing, capture solid and reliable and easy to use and flexible.
2, the roller arranged on pedestal, can realize the movement to this device when needing to change this setting position by slider roller, time saving and energy saving.
3, owing to being respectively provided with sucker on the riser of grabbing claw and the crawl plate that slides in this programme, utilizing sucker to draw some by the tiny parts of the mobile position realization crawl slided and capture plate in chute, cannot use scope more diversified.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is A place enlarged drawing in Fig. 1.
In figure, accompanying drawing labelling is expressed as: 1, pedestal；2, parts are supported；3, motor；4, controller；5, the first arm；6, the second arm；7, the 3rd arm；8, camera；9, grabbing claw；10, slide crawl plate；11, chute；12, buckle；13, buckle slot；14, sucker；15, connector；16, roller.Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further elaborated, and embodiments of the invention are not limited to this.
Embodiment 1:
As shown in Figure 1, the present invention includes pedestal 1, also include support parts the 2, first arm the 5, second arm the 6, the 3rd arm 7, grabbing claw 9 and the sucker 14 that are arranged on pedestal 1, first described arm the 5, second arm 6 and the 3rd arm 7 are sequentially connected in series, first arm 5 one end is also arranged on the top supporting parts 2, is also connected with grabbing claw 9 on one end of the 3rd arm 7；The inside of described support parts 2 also sets up interconnective controller 4 and capture card, also installs motor 3, also install camera 8 at the top of the first arm 5 on the outer wall supporting parts 2, and motor 3, camera 8 and the 3rd arm 7 are both connected on controller 4；Described grabbing claw 9 arranges slip and captures plate 10 and chute 11, the crawl plate 10 that slides can slidably reciprocate on chute 11, grabbing claw 9 can turn to the position parallel with chute 11 with the riser capturing plate 10 relative that slides, riser and the side capturing plate 10 of sliding also set up sucker 14, the end face of riser also sets up buckle slot 13, sliding, the end face capturing plate 10 arranges the buckle 12 mated with buckle slot 13；Four angles of described pedestal 1 are respectively provided with roller 16.
Controller therein can adopt the controller that model is S7-300 of Siemens to realize, in use this device is placed on the product line side needing to capture parts, camera constantly captures parts picture pass information to capture card on product line, capture card passes information to controller again, controller compares with the intrinsic components information itself arranged according to collection information, the then controller satisfied condition starts the grabbing claw on driven by motor the 3rd arm and navigates on the parts needing to capture, and quickly captures neck parts.In this process owing to grabbing claw arranging slip crawl plate, this slip captures plate and can slidably reciprocate in chute according to the parts width size information that controller feeds back, adjust the gap length between grabbing claw, so as to the different size of parts of the crawl of fast and stable, without there is landing, this grabbing claw uses flexibly.The riser and the side capturing plate of sliding of grabbing claw are respectively provided with sucker, when needing, the parts captured are too small, no matter slip captures how plate slides in chute, grabbing claw all cannot be made to catch parts, now the riser on grabbing claw then can rotate parallel with chute with the crawl plate that slides, the buckle captured on plate that simultaneously slides then can clasp and be positioned on riser buckle slot, now utilize the parts that the sucker alignment volume being positioned on riser and slip crawl plate is little, the parts that direct volume aspirated is little, it is achieved the effective crawl to the little parts of volume.And the roller arranged on pedestal, the movement to this device can be realized when needing to change this setting position by slider roller, time saving and energy saving.
Embodiment 2:
The present embodiment is preferably as follows on the basis of embodiment 1: the described crawl plate 10 that slides can rotate parallel with chute 11, and buckle 12 can rotate parallel with the crawl plate 10 that slides.When the grasping manipulation of parts can be realized by the movement capturing plate of sliding at ordinary times, buckle then can be made to rotate and to capture plate laminating with sliding, buckle slot rotates and riser laminating, avoid buckle and buckle slot when grabbing claw uses slip crawl plate and riser to carry out grasping manipulation, grasping manipulation is caused stop, to facilitate the crawl to parts.
It is attached by connector 15 between riser and transverse slat on grabbing claw 9.If occurring, parts thereof damages, and facilitates the later stage to be individually replaced.
Described camera 8 is capable of 360 ° of Arbitrary Rotations.This of camera is designed to facilitate camera to adjust angle to photograph the parts picture of best angle.
The side of described support parts 2 also sets up multiple air vent.Air vent can lose the heat that controller produces timely, it is ensured that controller can long-term stable operation.
Just this invention can be realized as mentioned above.
Claims (5)
1. the automatic gripper of conveniently moving, including pedestal (1), it is characterized in that: also include the support parts (2), the first arm (5), the second arm (6), the 3rd arm (7), grabbing claw (9) and the sucker (14) that are arranged on pedestal (1), described the first arm (5), the second arm (6) and the 3rd arm (7) are sequentially connected in series, first arm (5) one end is also arranged on the top supporting parts (2), is also connected with grabbing claw (9) on one end of the 3rd arm (7)；The inside of described support parts (2) also sets up interconnective controller (4) and capture card, the outer wall supporting parts (2) also installs motor (3), also install camera (8) at the top of the first arm (5), motor (3), camera (8) and the 3rd arm (7) are both connected on controller (4)；Described grabbing claw (9) arranges slip and captures plate (10) and chute (11), crawl plate (10) of sliding can slidably reciprocate on chute (11), the position parallel with chute (11) can be turned at the upper riser relative with crawl plate (10) of sliding of grabbing claw (9), riser and the side capturing plate (10) of sliding also set up sucker (14), the end face of riser also sets up buckle slot (13), sliding, the end face capturing plate (10) arranges the buckle (12) mated with buckle slot (13)；Four angles of described pedestal (1) are respectively provided with roller (16).
2. the automatic gripper of conveniently moving according to claim 1, it is characterised in that: described crawl plate (10) of sliding can rotate parallel with chute (11), and buckle (12) can rotate parallel with crawl plate (10) of sliding.
3. the automatic gripper of conveniently moving according to claim 1, it is characterised in that: it is attached by connector (15) between riser and the transverse slat on grabbing claw (9).
4. the automatic gripper of conveniently moving according to claim 1, it is characterised in that: described camera (8) is capable of 360 ° of Arbitrary Rotations.
5. the automatic gripper of conveniently moving according to claim 1, it is characterised in that: the side of described support parts (2) also sets up multiple air vent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610287661.6A CN105775732A (en) | 2016-05-04 | 2016-05-04 | Automatic grabbing machine convenient to move |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610287661.6A CN105775732A (en) | 2016-05-04 | 2016-05-04 | Automatic grabbing machine convenient to move |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105775732A true CN105775732A (en) | 2016-07-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610287661.6A Pending CN105775732A (en) | 2016-05-04 | 2016-05-04 | Automatic grabbing machine convenient to move |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105775732A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107738871A (en) * | 2017-10-11 | 2018-02-27 | 广州蓝圣智能科技有限公司 | Upper bar product splicing stacker |
| CN108190496A (en) * | 2016-10-18 | 2018-06-22 | 冒鹏飞 | A kind of electric automobile lithium battery battery core quickly captures conveying equipment |
| CN108214456A (en) * | 2016-12-09 | 2018-06-29 | 株式会社达谊恒 | Handling system, handling device and module |
| CN108328326A (en) * | 2018-03-29 | 2018-07-27 | 合肥神马电气有限公司 | A kind of grabbing device for high voltage cable disk packaging |
| CN110182526A (en) * | 2019-07-04 | 2019-08-30 | 安吉八塔机器人有限公司 | A kind of Stacking Robots |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7559590B1 (en) * | 2005-10-19 | 2009-07-14 | Western Digital Technologies, Inc. | Pressure transmission assembly for mounting to a robotic device having a rotatable end effector |
| JP2013223905A (en) * | 2012-04-23 | 2013-10-31 | Mitsubishi Electric Corp | Robot hand and robot device |
| CN103693441A (en) * | 2013-12-23 | 2014-04-02 | 苏州博众精工科技有限公司 | Suction mechanism with Z-axis clamping jaws |
| CN104875211A (en) * | 2015-04-23 | 2015-09-02 | 南京布瑞锶克金属科技有限公司 | Clamping, picking and absorbing combined device at mechanical arm end |
| JP5966956B2 (en) * | 2013-02-05 | 2016-08-10 | トヨタ自動車株式会社 | Robot hand |
-
2016
- 2016-05-04 CN CN201610287661.6A patent/CN105775732A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7559590B1 (en) * | 2005-10-19 | 2009-07-14 | Western Digital Technologies, Inc. | Pressure transmission assembly for mounting to a robotic device having a rotatable end effector |
| JP2013223905A (en) * | 2012-04-23 | 2013-10-31 | Mitsubishi Electric Corp | Robot hand and robot device |
| JP5966956B2 (en) * | 2013-02-05 | 2016-08-10 | トヨタ自動車株式会社 | Robot hand |
| CN103693441A (en) * | 2013-12-23 | 2014-04-02 | 苏州博众精工科技有限公司 | Suction mechanism with Z-axis clamping jaws |
| CN104875211A (en) * | 2015-04-23 | 2015-09-02 | 南京布瑞锶克金属科技有限公司 | Clamping, picking and absorbing combined device at mechanical arm end |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108190496A (en) * | 2016-10-18 | 2018-06-22 | 冒鹏飞 | A kind of electric automobile lithium battery battery core quickly captures conveying equipment |
| CN108214456A (en) * | 2016-12-09 | 2018-06-29 | 株式会社达谊恒 | Handling system, handling device and module |
| CN107738871A (en) * | 2017-10-11 | 2018-02-27 | 广州蓝圣智能科技有限公司 | Upper bar product splicing stacker |
| CN107738871B (en) * | 2017-10-11 | 2024-04-12 | 宁波敏和新材料有限公司 | Winding product receiving stacker |
| CN108328326A (en) * | 2018-03-29 | 2018-07-27 | 合肥神马电气有限公司 | A kind of grabbing device for high voltage cable disk packaging |
| CN108328326B (en) * | 2018-03-29 | 2023-08-22 | 合肥神马电气有限公司 | Grabbing device for high-voltage cable reel packaging |
| CN110182526A (en) * | 2019-07-04 | 2019-08-30 | 安吉八塔机器人有限公司 | A kind of Stacking Robots |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160720 |
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| RJ01 | Rejection of invention patent application after publication |