CN105798894B - A kind of catching robot of turnable babinet - Google Patents
A kind of catching robot of turnable babinet Download PDFInfo
- Publication number
- CN105798894B CN105798894B CN201610219615.2A CN201610219615A CN105798894B CN 105798894 B CN105798894 B CN 105798894B CN 201610219615 A CN201610219615 A CN 201610219615A CN 105798894 B CN105798894 B CN 105798894B
- Authority
- CN
- China
- Prior art keywords
- babinet
- gripping
- strap
- guide
- sleeve
- 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.)
- Expired - Fee Related
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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
A kind of catching robot of turnable babinet, is connected with the end of Cartesian robot rotating mechanical arm, and composition includes：Supporting mechanism, shift adjusting machine, gripping body and Pneumatic control circuit.Supporting mechanism is made of linking arm, strap and fixed plate；Shift adjusting machine is made of ambulatory splint, guide rod and guide sleeve, atmospheric pressure pole and pneumatic cylinder；Gripping body is made of gripping disk, servo motor, synchronous belt and synchronizing wheel；Pneumatic control circuit is made of air hose, direct acting pressure valve, solenoid controlled directional control valve.The manipulator can be by the whole section gripping gripping power of Pneumatic control circuit, to adapt to the crawl of counterweight measuring tank body.Servo motor drives synchronizing wheel to rotate by synchronous belt, controllable actively to grip disk positive and negative rotation any angle, and driven gripping disk and babinet rotate with so that the posture of gripping body adjustable whole box body after babinet is captured.
Description
Technical field
The present invention：A kind of catching robot of turnable babinet, is related to technical field of automation equipment, more particularly, to one
Manipulator of the kind based on Cartesian robot, can complete to press from both sides the babinet of different sizes, different quality and different hardness
It takes, the overturning of positive and negative any angle, and is placed according to the position and attitude of regulation.
Background technology
The carrying of product and raw material that babinet is packed is realized with robot in industry and household electrical appliances production field, with regard to energy
Manpower and spending are enough greatlyd save, improves the automation and intelligence of production.Cartesian robot has simple in structure, technology
The advantages such as ripe, easy to control and at low cost, are widely used in during various automated productions.Possess the machine of flexibility
Tool hand is that Cartesian robot realizes the different key points for carrying function.Due to the size of manipulator and the limit of flexibility ratio
System, more to the manipulator captured to fixed dimension babinet at present, in addition to this, also there are strokes for existing manipulator
The shortcomings of short, Grasp Modes are fixed, grasping force is non-adjustable, therefore study a kind of adjustable gripping width, grabbing for babinet may be reversed
Take manipulator extremely important.
Invention content
The present invention：A kind of catching robot of turnable babinet, during mainly solving automated production, to different rulers
The problem of babinet of very little, different weight and different placing attitudes is captured and is placed automatically.
A kind of catching robot of turnable babinet, it is characterised in that：It is by supporting mechanism, shift adjusting machine, gripping
Mechanism and Pneumatic control circuit composition.The supporting mechanism includes the company being connected with the rotating mechanical arm of Cartesian robot
Arm 1 is connect, the strap 2 for being fixed on 1 lower section of linking arm and the fixed plate 3 for being fixed on 2 lower section of strap；The displacement tune
Complete machine structure includes the pneumatic cylinder 4 and two guide sleeves 5 that are fixed between strap 2 and fixed plate 3, is connected with pneumatic cylinder 4
Atmospheric pressure pole 9, two guide rods 6 being connected with guide sleeve 5,6 other end of guide rod are fixed with 7 interference hot jacket of sleeve；The gripping body
Including the ambulatory splint 8 being mutually parallel with strap 2, two respectively symmetrically installed on strap 2 and ambulatory splint 8
Disk 13 is gripped, servo motor 10 is fixedly mounted on by electric motor end cap on strap 2, and servo motor 10 passes through synchronous belt 11
Synchronizing wheel 12 is driven to rotate；The Pneumatic control circuit includes air hose 14, direct acting pressure valve 15 and solenoid controlled directional control valve
16。
The sleeve 7 is symmetrical centered on ambulatory splint 8 beyond the surplus of 8 width of ambulatory splint.Two guide rods 6
One end interference hot jacket in sleeve 7, the end face of guide rod 6 is aligned with 7 end face of sleeve.Two guide rods 6 are located at the upper of atmospheric pressure pole 9
End, and it is symmetrical centered on atmospheric pressure pole 9, and two guide rods 6 are mutually parallel with atmospheric pressure pole 9.Atmospheric pressure pole 9 drives ambulatory splint 8
It can move back and forth in the horizontal direction, two guide rods 6 slide in guide sleeve 5, play the role of guide rail and support to gripping body（Such as
Shown in Fig. 2）.
The solenoid controlled directional control valve 16 is connected with direct acting pressure valve 15 by air hose 14, solenoid controlled directional control valve
16 are connected with the both ends of pneumatic cylinder 4 by air hose 14.Direct acting pressure valve 15 can be adjusted by the air pressure in control pressure cylinder 4
The grasp force of manipulator is saved, realizes the crawl to different weight and different hardness babinet.
The gripping disk 13 is mounted on and is fixed by a taper roll bearing 13.1 and a deep groove ball bearing 13.2
On clamping plate 2, taper roll bearing 13.1 offsets the axial force that gripping disk 13 generates, and deep groove ball bearing 13.2 is offset gripping disk 13 and produced
Raw radial load, this structure make robot manipulator structure compacter.The surface for gripping disk 13 covers one layer of rubber antiskid layer increase
Frictional force（As shown in Figure 3）.
2 side of strap is equipped with pressure sensor, and detection strap 2 captures the moment of flexure generated during babinet,
Judge whether babinet falls in the process of grasping.
Beneficial effects of the present invention：
1. a kind of catching robot of turnable babinet, can be under the control of Cartesian robot, to horizontal positioned
The square box or solid labor and materials of any attitude are captured, and grasp width can be adjusted in the range of certain size, to crawl
Babinet carries out the positive and negative 360 degree rotation of two degrees of freedom, adjusts babinet posture, and then babinet is carried out according to the position and attitude of regulation
It places.
2. the present invention is using the guide rail and support construction of guide rod and guide sleeve as gripping body, compared to common rail plate
Structure, mechanical strength higher, more compact structure, job stability are stronger.
3. the present invention can also realize grasp force by adjusting direct acting pressure valve regulation air pressure cylinder pressure manually
It adjusts, suitable for the crawl of different weight babinet.The stroke for designing atmospheric pressure pole is longer, expands the range of grasp width adjusting.
Description of the drawings
Attached drawing 1 is a kind of catching robot tomograph of turnable babinet.
Attached drawing 2 is the connection sectional view of guide rod and guide sleeve.
Attached drawing 3 is the connection sectional view for gripping disk and strap.
Specific embodiment
The operation principle of the present invention is elaborated below in conjunction with attached drawing.
Specific embodiment one：A kind of catching robot of turnable babinet, mounted on the rotation of Cartesian robot
The end of mechanical arm.Cartesian robot by along X-axis, Y-axis, Z axis move and rotation about the z axis, control machinery hand arrive
Up to specified crawl position and crawl angle.Solenoid controlled directional control valve drives ambulatory splint to do water by pneumatic cylinder control pressure bar
It is flat to move back and forth, the gripping width of adjustable mechanical hand.Ambulatory splint is connect by sleeve with guide rod, and guide rod is sliding in guide sleeve
Dynamic, guide rod and guide sleeve play the role of guide rail and support.Two pairs of guide rods and guide sleeve are mutually parallel.Sleeve is symmetrically extended mounted on work
On dynamic clamping plate, sleeve and guide rod interference hot jacket are assembled together, and increase contact area, and the connection for strengthening guide rod and ambulatory splint is strong
Degree.
Direct acting pressure valve is connect with solenoid controlled directional control valve by hose, and solenoid controlled directional control valve passes through hose and pneumatic cylinder
Connection.Direct acting pressure valve and solenoid controlled directional control valve are all mounted on the top of strap, adjust direct acting pressure valve manually, can change
Become the gas pressure in pneumatic cylinder, adjust the grasp force of manipulator, realize the crawl to different weight babinet.When crawl babinet
When, direct acting pressure valve closes gas circuit when the air pressure in pneumatic cylinder reaches setting value so that grasping movement is automatically stopped, and is avoided
When conventional mechanical hand captures, it is also necessary to which other auxiliary bodies stop grasping movement.
Specific embodiment two：Cartesian robot control machinery hand is moved to preset crawl position, machinery
Arm rotates by a certain angle so that the gripping faces of two gripping disks are in contact crawl with the two of babinet planes of symmetry, rectangular co-ordinate machine
Device people adjusts the height of manipulator again, moves to designated position placement.Pneumatic control circuit works, and is according to specific embodiment
One completes the crawl and placement to babinet.
Disk is actively gripped to be mounted on strap by a taper roll bearing and a deep groove ball bearing.Circular cone rolls
Sub- bearing offsets the axial force that gripping disk generates, and deep groove ball bearing offsets the radial load that gripping disk generates, and this structure makes machinery
Hand structure is compacter.Bearing is fixed with strap, and bearing both ends are fitted with dust-proof end cap.The gripping face of gripping disk is stained with
Rubber antiskid layer, the frictional force between increase and babinet.
Servo motor is fixedly mounted on by electric motor end cap on strap.Servo motor works, and is driven by synchronous belt
The synchronizing wheel rotation in dish axle is actively gripped, the certain angle of disc spins is actively gripped by stable drive ratio control.Babinet and from
The dynamic gripping similary angle of disk servo rotary, realizes the rotation to babinet one degree of freedom, is controlled and connected by Cartesian robot
Arm rotation is connect, it can be achieved that the rotation of another degree of freedom of babinet so that be crawled the posture that babinet is adjusted to requirement.Finally, lead to
The control of Cartesian robot is crossed, completes the movement to babinet and the placement of specified position posture.
Pressure sensor is also mounted on strap, judges whether to capture or transporting by the moment of flexure of strap
Phenomena such as being slid during dynamic due to babinet caused by failure, to carry out the processing of next step.
Claims (2)
1. a kind of catching robot of turnable babinet, it is characterised in that：Supporting mechanism, shift adjusting machine, gripping body and
Pneumatic control circuit；The supporting mechanism includes the linking arm being connected with the rotating mechanical arm of Cartesian robot（1）Gu
It is scheduled on linking arm（1）The strap of lower section（2）And it is fixed on strap（2）The fixed plate of lower section（3）；The displacement tune
Complete machine structure includes being mounted on strap（2）With fixed plate（3）Between pneumatic cylinder（4）With two guide sleeves（5）, with pneumatic cylinder
（4）The atmospheric pressure pole being connected（9）, with guide sleeve（5）Two guide rods being connected（6）, guide rod（6）The other end and sleeve（7）Interference
Hot jacket is fixed；The gripping body includes and strap（2）The ambulatory splint being mutually parallel（8）, in strap（2）And work
Dynamic clamping plate（8）On respectively symmetrically install two gripping disks（13）, it is fixed on strap（2）On servo motor（10）, watch
Take motor（10）Pass through synchronous belt（11）Drive synchronizing wheel（12）Rotation；The Pneumatic control circuit includes air hose（14）,
Direct acting pressure valve（15）And solenoid controlled directional control valve（16）；
The sleeve（7）Beyond ambulatory splint（8）The surplus of width is with ambulatory splint（8）Centered on it is symmetrical；Guide rod（6）
One end interference hot jacket in sleeve（7）It is interior, guide rod（6）End face and sleeve（7）End face is aligned；
Two guide rods（6）Positioned at atmospheric pressure pole（9）Top, and with atmospheric pressure pole（9）Centered on symmetrical, two guide rods
（6）With atmospheric pressure pole（9）It is mutually parallel；
The atmospheric pressure pole（9）Drive ambulatory splint（8）It can move back and forth in the horizontal direction, two guide rods（6）In guide sleeve（5）It is interior
It slides, plays the role of guide rail and support to gripping body；
The solenoid controlled directional control valve（16）With direct acting pressure valve（15）Pass through air hose（14）It is connected, Electromagnetic Control commutation
Valve（16）With pneumatic cylinder（4）Pass through air hose（14）It is connected；
The direct acting pressure valve（15）Pneumatic cylinder can be changed by adjusting gas manually（4）Interior air pressure adjusts the crawl of manipulator
Power realizes the crawl to different weight and different hardness babinet；
The gripping disk（13）Pass through a taper roll bearing（13.1）With a deep groove ball bearing（13.2）Mounted on solid
Clamp plate（2）On, taper roll bearing（13.1）Offset gripping disk（13）The axial force of generation, deep groove ball bearing（13.2）It offsets
Grip disk（13）The radial load of generation；Grip disk（13）Surface cover one layer of rubber antiskid layer and increase frictional force.
2. a kind of catching robot of turnable babinet described in claim 1, it is characterised in that：The strap（2）Outside
Side is equipped with pressure sensor, detects strap（2) moment of flexure generated when capturing babinet, judges babinet in the process of grasping
Whether fall.
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 CN105798894A (en) | 2016-07-27 |
| CN105798894B true CN105798894B (en) | 2018-07-06 |
Family
ID=56459949
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)
| Country | Link |
|---|---|
| CN (1) | CN105798894B (en) |
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| CN106239545B (en) * | 2016-09-28 | 2018-07-13 | 哈尔滨理工大学 | Electronic babinet conveying robot |
| 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 |
| 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 |
| CN108557700B (en) * | 2018-05-22 | 2024-07-30 | 河南鑫博威联机械装备有限公司 | Loading and unloading robot |
| JP6773723B2 (en) * | 2018-05-22 | 2020-10-21 | ファナック株式会社 | Hand and hand system |
| 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 |
| CN109602528B (en) * | 2019-01-29 | 2019-11-29 | 无锡市第二人民医院 | A kind of bonesetting multi-angle flexible bionic manipulator |
| CN109927049B (en) * | 2019-04-23 | 2021-03-23 | 河北科技大学 | Gap filling manipulator |
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| CN110405739B (en) * | 2019-08-18 | 2024-06-25 | 宁波易拓智谱机器人有限公司 | Manipulator capable of realizing workpiece overturning |
| CN110654828B (en) * | 2019-08-29 | 2021-07-23 | 芜湖瑞思机器人有限公司 | Automatic glass bottle grabbing and overturning equipment and using method thereof |
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| 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 |
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| 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 |
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| CN111285103B (en) * | 2020-03-30 | 2021-07-06 | 东莞市柏瑞达塑料模具制品有限公司 | 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 |
| CN112873247B (en) * | 2020-12-30 | 2022-03-18 | 浙江工业大学台州研究院 | Two-claw flexible manipulator grabbing force and grabbing pose control system and method |
| CN113232024A (en) * | 2021-05-28 | 2021-08-10 | 南京轩世琪源软件科技有限公司 | Industrial robot soft object grabbing and identifying device and method |
| CN116276932B (en) * | 2023-05-22 | 2023-08-11 | 哈尔滨商业大学 | Overturning manipulator |
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| US5232332A (en) * | 1989-05-03 | 1993-08-03 | Focke & Co., (Gmbh & Co.) | Conveying device for the removal of objects from a base |
| CN2894965Y (en) * | 2006-04-05 | 2007-05-02 | 上海发那科机器人有限公司 | Staking-carrying servo tongs |
| IT1393421B1 (en) * | 2009-03-20 | 2012-04-20 | Berchi Group S P A | GRIPPING HEAD IN PARTICULAR FOR PACKAGING SYSTEM AND ITS PACKAGING SYSTEM |
| CN203495969U (en) * | 2013-10-15 | 2014-03-26 | 上海星派自动化科技有限公司 | Robot grip used for clamping multiple basket pieces to turn |
| CN103568018B (en) * | 2013-10-15 | 2015-09-09 | 上海星派自动化科技有限公司 | For clamping the robot gripper of many baskets of part upsets |
-
2016
- 2016-04-11 CN CN201610219615.2A patent/CN105798894B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105798894A (en) | 2016-07-27 |
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