CN105798894A - Grabbing manipulator capable of turning over box body - Google Patents
Grabbing manipulator capable of turning over box body Download PDFInfo
- Publication number
- CN105798894A CN105798894A CN201610219615.2A CN201610219615A CN105798894A CN 105798894 A CN105798894 A CN 105798894A CN 201610219615 A CN201610219615 A CN 201610219615A CN 105798894 A CN105798894 A CN 105798894A
- Authority
- CN
- China
- Prior art keywords
- strap
- casing
- box body
- gripping
- catching robot
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a grabbing manipulator capable of turning over a box body. The grabbing manipulator is connected with the tail end of a rotating mechanical arm of a right-angle coordinate robot and comprises a supporting mechanism, a displacement adjusting mechanism, a clamping mechanism and a pneumatic control loop. The supporting mechanism is composed of a connecting arm, a fixed clamping plate and a fixing plate. The displacement adjusting mechanism is composed of a movable clamping plate, guide rods, guide sleeves, a pneumatic rod and a pneumatic cylinder. The clamping mechanism is composed of clamping round plates, a servo motor, a synchronous belt and a synchronous wheel. The pneumatic control loop is composed of a pneumatic hose, a direct acting pressure reducing valve and an electromagnetic control reversing valve. According to the grabbing manipulator capable of turning over the box body, the clamping force can be clamped in a whole joint mode through the pneumatic control loop so that grabbing of the heavy box body can be adapted; and the servo motor drives the synchronous wheel to rotate through the synchronous belt, the driving clamping plate can be controlled to forwards and reversely rotate by any angles, the driven clamping plate and the box body rotate along with the driving clamping plate, and hence the posture of the box body can be adjusted after the box body is grabbed by the clamping mechanism.
Description
Technical field
The present invention: the catching robot of a kind of turning casing, relate to technical field of automation equipment, especially relate to a kind of mechanical hand based on Cartesian robot, can complete the casing of different size, different quality and different hardness is gripped, positive and negative arbitrarily angled upset, and place according to the position and attitude of regulation.
Background technology
Product and the raw-material carrying robot pack for casing in industry and household electrical appliances production field realize, it becomes possible to be greatly saved manpower and spending, improve automatization and the intellectuality of production.Cartesian robot has the advantages such as simple in construction, technology maturation, easy to control and cost be low, is widely used in various automated production process.The mechanical hand having motility is the key point that Cartesian robot realizes different carrying function.Restriction due to the size of mechanical hand and flexibility ratio, at present that the mechanical hand that fixed dimension casing is captured is more, in addition, existing mechanical hand there is also the shortcomings such as stroke is short, Grasp Modes is fixed, crawl dynamics is non-adjustable, therefore study a kind of adjustable gripping width, turning casing catching robot extremely important.
Summary of the invention
The present invention: the catching robot of a kind of turning casing, mainly solves in automated production process, the problem that the casing of different size, Different Weight and different placing attitude is automatically captured and placed.
A kind of catching robot of turning casing, it is characterised in that: it is made up of supporting mechanism, shift adjusting machine, gripping body and pneumatic control loop.Described supporting mechanism includes the linking arm 1 that the rotating mechanical arm with Cartesian robot is connected, and is fixed on the strap 2 below linking arm 1, and is fixed on the fixing plate 3 below strap 2；Described shift adjusting machine includes the pneumatic cylinder 4 and two guide pin bushings 5, the atmospheric pressure pole 9 being connected with pneumatic cylinder 4, two guide rods 6 being connected with guide pin bushing 5 that are fixed between strap 2 and fixing plate 3, and guide rod 6 other end and sleeve 7 interference hot jacket are fixed；Described gripping body includes the ambulatory splint 8 being parallel to each other with strap 2, strap 2 and ambulatory splint 8 are respectively symmetrically two gripping dishes 13 of installation, servomotor 10 is fixedly mounted on strap 2 by electric motor end cap, and servomotor 10 drives synchronizing wheel 12 to rotate by Timing Belt 11；Described Pneumatic control circuit includes air hose 14, direct acting pressure valve 15 and solenoid controlled directional control valve 16.
Described sleeve 7 is symmetrical centered by ambulatory splint 8 beyond the surplus of ambulatory splint 8 width.One end interference hot jacket of two guide rods 6 is in sleeve 7, and the end face of guide rod 6 aligns with sleeve 7 end face.Two guide rods 6 are positioned at the upper end of atmospheric pressure pole 9, and symmetrical centered by atmospheric pressure pole 9, and two guide rods 6 are parallel to each other with atmospheric pressure pole 9.Atmospheric pressure pole 9 drives ambulatory splint 8 to move back and forth in the horizontal direction, and two guide rods 6 slide in guide pin bushing 5, and gripping body plays the effect (as shown in Figure 2) of guide rail and support.
Described solenoid controlled directional control valve 16 is connected by air hose 14 with direct acting pressure valve 15, and solenoid controlled directional control valve 16 is connected by air hose 14 with the two ends of pneumatic cylinder 4.Direct acting pressure valve 15 can pass through to control the air pressure in pneumatic cylinder 4, regulates the grasp force of mechanical hand, it is achieved the crawl to Different Weight and different hardness casing.
Described gripping dish 13 is arranged on strap 2 by a taper roll bearing 13.1 and a deep groove ball bearing 13.2, taper roll bearing 13.1 offsets the axial force that gripping dish 13 produces, deep groove ball bearing 13.2 offsets the radial force that gripping dish 13 produces, and this structure makes robot manipulator structure compacter.Lid layer rubber antiskid layer is covered on the surface of gripping dish 13 increases frictional force (as shown in Figure 3).
Described strap 2 side is provided with pressure transducer, the moment of flexure that detection strap 2 produces when capturing casing, it is judged that whether casing drops in crawl process.
Beneficial effects of the present invention:
1. the catching robot of a turning casing, can under the control of Cartesian robot, square box or solid labor and materials to any attitude of horizontal positioned capture, grasp width can be adjusted within the scope of certain size, the casing captured is carried out binary positive and negative 360 degree of rotations, adjust casing attitude, then according to casing is placed by the position and attitude of regulation.
2. the present invention adopts guide rod and guide pin bushing as the guide rail of gripping body and supporting construction, compares conventional sliding rail structure, and mechanical strength is higher, more compact structure, and job stability is higher.
3. the present invention can also manually regulate direct acting pressure valve regulation air pressure cylinder pressure, it is achieved the adjustment of grasp force, it is adaptable to the crawl of Different Weight casing.The stroke of design atmospheric pressure pole is longer, expands the scope that grasp width regulates.
Accompanying drawing explanation
Accompanying drawing 1 is the catching robot tomograph of a kind of turning casing.
Accompanying drawing 2 is the connection sectional view of guide rod and guide pin bushing.
Accompanying drawing 3 is the connection sectional view of gripping disk and strap.
Detailed description of the invention
Below in conjunction with accompanying drawing, the operation principle of the present invention is elaborated.
Detailed description of the invention one: the catching robot of a kind of turning casing, is arranged on the end of the rotating mechanical arm of Cartesian robot.Cartesian robot by along X-axis, Y-axis, the movement of Z axis and rotation about the z axis, controls mechanical hand and arrives and specify crawl position and capture angle.Solenoid controlled directional control valve controls atmospheric pressure pole by pneumatic cylinder, drives ambulatory splint to do horizontal reciprocating and moves, the gripping width of adjustable mechanical hands.Ambulatory splint is connected with guide rod by sleeve, and guide rod slides in guide pin bushing, and guide rod and guide pin bushing play the effect of guide rail and support.Two pairs of guide rods and guide pin bushing are parallel to each other.Sleeve is symmetrically extended and is arranged on ambulatory splint, and sleeve and guide rod interference hot jacket are assembled together, and increases contact area, strengthens the bonding strength of guide rod and ambulatory splint.
Direct acting pressure valve and solenoid controlled directional control valve are by hose connection, and solenoid controlled directional control valve is connected with pneumatic cylinder by flexible pipe.Direct acting pressure valve and solenoid controlled directional control valve are all arranged on the top of strap, manual adjustments direct acting pressure valve, can change the gas pressure in pneumatic cylinder, regulate the grasp force of mechanical hand, it is achieved the crawl to Different Weight casing.When capturing casing, the air pressure in pneumatic cylinder reaches during setting value direct acting pressure valve and gas circuit is closed so that grasping movement is automatically stopped, it is to avoid when conventional mechanical hands captures, in addition it is also necessary to other auxiliary bodies stop grasping movement.
Detailed description of the invention two: Cartesian robot controls mechanical hand and moves to crawl position set in advance, mechanical arm rotates to an angle, the gripping face of two gripping dishes is contacted with two planes of symmetry of casing crawl, Cartesian robot adjusts the height of mechanical hand again, moves to specific bit placement location.Pneumatic control circuit works, and is complete the crawl to casing and placement according to detailed description of the invention one.
Actively gripping dish is arranged on strap by a taper roll bearing and a deep groove ball bearing.Taper roll bearing offsets the axial force that gripping dish produces, and deep groove ball bearing offsets the radial force that gripping dish produces, and this structure makes robot manipulator structure compacter.Bearing and strap are fixed, and bearing two ends are fitted with dust-proof end cap.The gripping face of gripping dish is stained with rubber antiskid layer, to increase the frictional force between casing.
Servomotor is fixedly mounted on strap by electric motor end cap.Servomotor works, and drives the synchronizing wheel on active gripping dish axle to rotate by Timing Belt, controls actively to grip the angle that disc spins is certain by stable drive ratio.Casing and the driven gripping same angle of dish servo rotary, it is achieved the rotation to casing one degree of freedom, control linking arm by Cartesian robot and rotate, it may be achieved the rotation of another degree of freedom of casing so that crawled casing adjusts the attitude required.Finally, by the control of Cartesian robot, complete the movement to casing and the placement of assigned position attitude.
Strap there is also mounted pressure transducer, judge whether to capture by the moment of flexure of strap or the phenomenon such as the casing landing that causes due to fault in motor process, carry out next step process.
Claims (7)
1. the catching robot of a turning casing, it is characterised in that: supporting mechanism, shift adjusting machine, gripping body and Pneumatic control circuit；Described supporting mechanism includes the linking arm (1) that the rotating mechanical arm with Cartesian robot is connected, and is fixed on the strap (2) of linking arm (1) lower section, and is fixed on the fixing plate (3) of strap (2) lower section；Pneumatic cylinder (4) that described shift adjusting machine includes being arranged between strap (2) and fixing plate (3) and two guide pin bushings (5), the atmospheric pressure pole (9) being connected with pneumatic cylinder (4), two guide rods (6) being connected with guide pin bushing (5), guide rod (6) other end and sleeve (7) interference hot jacket are fixed；Described gripping body includes the ambulatory splint (8) being parallel to each other with strap (2), strap (2) and ambulatory splint (8) are respectively symmetrically two gripping dishes (13) of installation, being fixed on the servomotor (10) on strap (2), servomotor (10) drives synchronizing wheel (12) to rotate by Timing Belt (11)；Described Pneumatic control circuit includes air hose (14), direct acting pressure valve (15) and solenoid controlled directional control valve (16)；The catching robot of a kind of turning casing described in claim 1, it is characterised in that: described sleeve (7) beyond the surplus of ambulatory splint (8) width centered by ambulatory splint (8) symmetrical；One end interference hot jacket of guide rod (6) is in sleeve (7), and the end face of guide rod (6) aligns with sleeve (7) end face.
2. the catching robot of a kind of turning casing described in claim 1, it is characterized in that: two described guide rods (6) are positioned at the top, portion of atmospheric pressure pole (9), and symmetrical centered by atmospheric pressure pole (9), two guide rods (6) are parallel to each other with atmospheric pressure pole (9).
3. the catching robot of a kind of turning casing described in claim 1, it is characterized in that: described atmospheric pressure pole (9) drives ambulatory splint (8) to move back and forth in the horizontal direction, two guide rods (6) are slided in guide pin bushing (5), and gripping body plays the effect (as shown in Figure 2) of guide rail and support.
4. the catching robot of a kind of turning casing described in claim 1, it is characterized in that: described solenoid controlled directional control valve (16) is connected by air hose (14) with direct acting pressure valve (15), and solenoid controlled directional control valve (16) is connected by air hose (14) with pneumatic cylinder (4).
5. the catching robot of a kind of turning casing described in claim 1, it is characterized in that: described direct acting pressure valve (15) can manually regulate gas, change the air pressure in cylinder pressure (4), regulate the grasp force of mechanical hand, it is achieved the crawl to Different Weight and different hardness casing.
6. the catching robot of a kind of turning casing described in claim 1, it is characterized in that: described gripping dish (13) is arranged on strap (2) by a taper roll bearing (13.1) and a deep groove ball bearing (13.2), taper roll bearing (13.1) offsets the axial force that gripping dish (13) produces, and deep groove ball bearing (13.2) offsets the radial force that gripping dish (13) produces；Lid layer rubber antiskid layer is covered on the surface of gripping dish (13) increases frictional force (as shown in Figure 3).
7. the catching robot of a kind of turning casing described in claim 1, it is characterized in that: described strap (2) lateral surface is provided with pressure transducer, the moment of flexure that detection strap (2) produces when capturing casing, it is judged that whether casing drops in crawl process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610219615.2A CN105798894B (en) | 2016-04-11 | 2016-04-11 | A kind of catching robot of turnable babinet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610219615.2A CN105798894B (en) | 2016-04-11 | 2016-04-11 | A kind of catching robot of turnable babinet |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105798894A true CN105798894A (en) | 2016-07-27 |
| CN105798894B CN105798894B (en) | 2018-07-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610219615.2A Expired - Fee Related CN105798894B (en) | 2016-04-11 | 2016-04-11 | A kind of catching robot of turnable babinet |
Country Status (1)
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| CN (1) | CN105798894B (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239545A (en) * | 2016-09-28 | 2016-12-21 | 哈尔滨理工大学 | Electronic casing conveying robot |
| CN106808185A (en) * | 2017-03-22 | 2017-06-09 | 安徽航大智能科技有限公司 | A kind of composite gearbox grips switching mechanism |
| CN107414876A (en) * | 2017-09-27 | 2017-12-01 | 哈工大机器人（合肥）国际创新研究院 | A kind of multifunction manipulator end is compound to inhale clamp mechanism and method |
| CN107601024A (en) * | 2017-08-15 | 2018-01-19 | 吴杉镐 | A kind of metalwork grabbing device |
| CN108557700A (en) * | 2018-05-22 | 2018-09-21 | 河南大海机械装备有限公司 | A kind of loading and unloading type robot |
| CN108638034A (en) * | 2018-06-04 | 2018-10-12 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of robotic gripping device |
| CN109048908A (en) * | 2018-08-29 | 2018-12-21 | 重庆两江微链智能科技有限公司 | Robot perception apparatus and system |
| CN109591002A (en) * | 2018-12-26 | 2019-04-09 | 哈尔滨理工大学 | A kind of clamp device for electronic device processing |
| CN109602528A (en) * | 2019-01-29 | 2019-04-12 | 无锡市中医医院 | A kind of bonesetting multi-angle flexible bionic manipulator |
| CN109927049A (en) * | 2019-04-23 | 2019-06-25 | 河北科技大学 | A kind of gap filling manipulator |
| CN110255140A (en) * | 2019-05-30 | 2019-09-20 | 安徽好运机械有限公司 | A kind of automatic turning device when forklift door frame channel steel is processed |
| CN110405739A (en) * | 2019-08-18 | 2019-11-05 | 宁波易拓智谱机器人有限公司 | A kind of manipulator of achievable workpiece turning |
| CN110509307A (en) * | 2018-05-22 | 2019-11-29 | 发那科株式会社 | Manipulator and arm-and-hand system |
| CN110562530A (en) * | 2019-09-30 | 2019-12-13 | 烟台大学 | Apple posture fine-tuning device and posture adjusting equipment |
| CN110654828A (en) * | 2019-08-29 | 2020-01-07 | 芜湖瑞思机器人有限公司 | Automatic glass bottle grabbing and overturning equipment and using method thereof |
| CN110668134A (en) * | 2019-10-16 | 2020-01-10 | 珠海格力智能装备有限公司 | Overturning clamp and conveying equipment |
| CN110696019A (en) * | 2019-08-29 | 2020-01-17 | 芜湖瑞思机器人有限公司 | Robot tail end bottle clamping and overturning device |
| CN110744519A (en) * | 2019-09-23 | 2020-02-04 | 南京坤航信息科技有限公司 | Automatic carrying robot for logistics |
| CN111120428A (en) * | 2020-01-06 | 2020-05-08 | 广东博智林机器人有限公司 | Hydraulic adjusting mechanism and paving and pasting robot with same |
| CN111285103A (en) * | 2020-03-30 | 2020-06-16 | 陈继章 | High-precision grabbing equipment based on electrical control |
| CN111844092A (en) * | 2020-07-15 | 2020-10-30 | 格力电器（芜湖）有限公司 | Clamping device for transferring heat exchanger and transferring equipment comprising same |
| CN112873247A (en) * | 2020-12-30 | 2021-06-01 | 浙江工业大学台州研究院 | Two-claw flexible manipulator grabbing force and grabbing pose control system and method |
| WO2022246949A1 (en) * | 2021-05-28 | 2022-12-01 | 南京轩世琪源软件科技有限公司 | Recognition device and recognition method for industrial robot grabbing soft object |
| CN116276932A (en) * | 2023-05-22 | 2023-06-23 | 哈尔滨商业大学 | Overturning manipulator |
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Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239545A (en) * | 2016-09-28 | 2016-12-21 | 哈尔滨理工大学 | Electronic casing conveying robot |
| CN106808185A (en) * | 2017-03-22 | 2017-06-09 | 安徽航大智能科技有限公司 | A kind of composite gearbox grips switching mechanism |
| CN106808185B (en) * | 2017-03-22 | 2023-03-21 | 安徽航大智能科技有限公司 | Composite gearbox clamping and overturning mechanism |
| CN107601024A (en) * | 2017-08-15 | 2018-01-19 | 吴杉镐 | A kind of metalwork grabbing device |
| CN107414876A (en) * | 2017-09-27 | 2017-12-01 | 哈工大机器人（合肥）国际创新研究院 | A kind of multifunction manipulator end is compound to inhale clamp mechanism and method |
| CN107414876B (en) * | 2017-09-27 | 2023-03-21 | 合肥哈工慧拣智能科技有限公司 | Multifunctional manipulator tail end composite suction and clamping mechanism and method |
| CN110509307A (en) * | 2018-05-22 | 2019-11-29 | 发那科株式会社 | Manipulator and arm-and-hand system |
| CN108557700A (en) * | 2018-05-22 | 2018-09-21 | 河南大海机械装备有限公司 | A kind of loading and unloading type robot |
| CN108638034A (en) * | 2018-06-04 | 2018-10-12 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of robotic gripping device |
| CN109048908A (en) * | 2018-08-29 | 2018-12-21 | 重庆两江微链智能科技有限公司 | Robot perception apparatus and system |
| CN109591002A (en) * | 2018-12-26 | 2019-04-09 | 哈尔滨理工大学 | A kind of clamp device for electronic device processing |
| CN109602528A (en) * | 2019-01-29 | 2019-04-12 | 无锡市中医医院 | A kind of bonesetting multi-angle flexible bionic manipulator |
| CN109927049A (en) * | 2019-04-23 | 2019-06-25 | 河北科技大学 | A kind of gap filling manipulator |
| CN110255140A (en) * | 2019-05-30 | 2019-09-20 | 安徽好运机械有限公司 | A kind of automatic turning device when forklift door frame channel steel is processed |
| CN110405739A (en) * | 2019-08-18 | 2019-11-05 | 宁波易拓智谱机器人有限公司 | A kind of manipulator of achievable workpiece turning |
| CN110654828A (en) * | 2019-08-29 | 2020-01-07 | 芜湖瑞思机器人有限公司 | Automatic glass bottle grabbing and overturning equipment and using method thereof |
| CN110696019B (en) * | 2019-08-29 | 2022-12-06 | 芜湖瑞思机器人有限公司 | Robot tail end bottle clamping and overturning device |
| CN110696019A (en) * | 2019-08-29 | 2020-01-17 | 芜湖瑞思机器人有限公司 | Robot tail end bottle clamping and overturning device |
| CN110744519A (en) * | 2019-09-23 | 2020-02-04 | 南京坤航信息科技有限公司 | Automatic carrying robot for logistics |
| CN110562530B (en) * | 2019-09-30 | 2024-04-16 | 烟台大学 | Apple gesture fine adjustment device and gesture adjustment equipment |
| CN110562530A (en) * | 2019-09-30 | 2019-12-13 | 烟台大学 | Apple posture fine-tuning device and posture adjusting equipment |
| CN110668134A (en) * | 2019-10-16 | 2020-01-10 | 珠海格力智能装备有限公司 | Overturning clamp and conveying equipment |
| CN111120428A (en) * | 2020-01-06 | 2020-05-08 | 广东博智林机器人有限公司 | Hydraulic adjusting mechanism and paving and pasting robot with same |
| CN111285103A (en) * | 2020-03-30 | 2020-06-16 | 陈继章 | High-precision grabbing equipment based on electrical control |
| CN111844092A (en) * | 2020-07-15 | 2020-10-30 | 格力电器（芜湖）有限公司 | Clamping device for transferring heat exchanger and transferring equipment comprising same |
| CN112873247A (en) * | 2020-12-30 | 2021-06-01 | 浙江工业大学台州研究院 | Two-claw flexible manipulator grabbing force and grabbing pose control system and method |
| WO2022246949A1 (en) * | 2021-05-28 | 2022-12-01 | 南京轩世琪源软件科技有限公司 | Recognition device and recognition method for industrial robot grabbing soft object |
| CN116276932A (en) * | 2023-05-22 | 2023-06-23 | 哈尔滨商业大学 | Overturning manipulator |
| CN116276932B (en) * | 2023-05-22 | 2023-08-11 | 哈尔滨商业大学 | Overturning manipulator |
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| Publication number | Publication date |
|---|---|
| CN105798894B (en) | 2018-07-06 |
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