CN106863343B - Flexible clamping type manipulator main body mechanism - Google Patents
Flexible clamping type manipulator main body mechanism Download PDFInfo
- Publication number
- CN106863343B CN106863343B CN201710272025.0A CN201710272025A CN106863343B CN 106863343 B CN106863343 B CN 106863343B CN 201710272025 A CN201710272025 A CN 201710272025A CN 106863343 B CN106863343 B CN 106863343B
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- CN
- China
- Prior art keywords
- finger
- main
- slide plate
- valve body
- bracket
- Prior art date
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
- B23P2700/50—Other automobile vehicle parts, i.e. manufactured in assembly lines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Present patent application is divisional application.The application number of original bill is: 201610123878.3.The present invention relates to a kind of automated assembling equipment more particularly to a kind of automated handling equipment of valve fittings.Flexible clamping type manipulator main body mechanism, it include: bracket, for realizing adaptive manipulator, the clamp body for placing valve body for carrying function, the adaptive manipulator is fixed on the bracket, and the clamp body is located in the range of the adaptive manipulator can clamp；The adaptive manipulator includes: finger, front and rear cylinders, upper and lower air cylinders, finger cylinder, palm, push plate, connecting plate, main slide plate, secondary slide plate, lateral linear guide, longitudinal linear guide, discharging axis.Due to the elastic restraint by the O-shaped hoop, described to start to refer under the action of elastic force and realize the clamping to the valve body, the generation of entire clamping process acts simple and clear, the valve body is inserted into the finger, and the finger can realize the clamping to the valve body automatically；Meanwhile the finger adapts to the valve body of various outer diameter automatically.
Description
Technical field
Present patent application is divisional application.The application number of original bill is: 201610123878.3, the applying date is: 2016
On March 4, in.The present invention relates to a kind of automated assembling equipment more particularly to a kind of automated handling equipment of valve fittings.
Background technique
Important component of the gasoline atomizer as automobile engine, plays a significant role in the normally travel of automobile.
Since atomizer valve core structure is small and exquisite, product reliability requirement is high, in present traditional handicraft, all by manually carrying out
Assembly.Requirement height for automated production, difficulty are big.
Wherein the conveying and carrying of each components will be by manually being operated, and waste of human resource is serious, production
Inefficiency.
It needs to realize the conveying and carrying of each part on atomizer, proportion valve body using automation equipment.
Summary of the invention
The purpose of the present invention is to provide a kind of flexible clamping type manipulator main body mechanism, for by the valve body of atomizer from
One position is moved to another position；Using adaptive manipulator, realize crawl and carry, act it is simple and reliable, to control
The requirement of system is low, and realizes unmanned operation, automatically working.
To achieve the above object, the invention discloses flexible clamping type manipulator main body mechanisms, comprising: bracket is used in fact
Adaptive manipulator, the clamp body for placing valve body of function are now carried, the adaptive manipulator is fixed on the bracket
On, the clamp body is located in the range of the adaptive manipulator can clamp；
The adaptive manipulator includes: finger, front and rear cylinders, upper and lower air cylinders, finger cylinder, palm, push plate, connection
Plate, main slide plate, secondary slide plate, lateral linear guide, longitudinal linear guide, discharging axis, the two sides of the main slide plate are fixed on described
Connecting plate, the connecting plate are movably connected on the bracket, the cylinder block of the front and rear cylinders by the lateral linear guide
It is fixed on the bracket, the end of the piston rod of the front and rear cylinders is fixed on the main slide plate, and the secondary slide plate passes through described
Longitudinal linear guide is movably connected on the main slide plate；The cylinder block of the upper and lower air cylinders is fixed on the main slide plate, it is described on
The end of the piston rod of lower cylinder is fixed on the secondary slide plate；The finger is fixed on the palm, and the palm is fixed on institute
Time slide plate is stated, the cylinder block of the finger cylinder is fixed on the secondary slide plate, the end setting of the piston rod of the finger cylinder
The push plate, the discharging axis are movably connected on the finger, and the discharging axle position is in the inside of the finger, the discharging axis
End be fixed on the push plate；
The finger includes: main finger, start finger, O-shaped hoop, and the finger of starting is flexibly connected the main finger, described
Main finger, the outside for starting to refer to are provided with the O-shaped hoop of elastic telescopic function, and the main finger starts to refer to that composition is concentric
Arrange and form the grasping part for accommodating the clamping part, the shape of the grasping part and the clamping part matches.
Preferably, the main finger, start refer between bracket groove is set, the bracket groove interlude setting biasing slot,
Transverse slot is set at the position up and down of the biasing slot, the transverse slot connects the bracket groove and the biasing slot.
Preferably, the size of the transverse slot is ten to 20.
Preferably, damper is set on the bracket, and the damper is in two ends of the travel of main slide
Position.
Preferably, the quantity of the finger is one to five.
Preferably, the lateral linear guide is located at the two sides of the main slide plate, and the quantity of the transverse direction linear guide is
Two groups.
Preferably, the O-shaped hoop is extension spring.
It is compared with traditional technology, the positive effect of following the present invention is described in detail flexible clamping type manipulator main body mechanism
With the utility model has the advantages that
The valve body is located on the clamp body, and what the valve body was located at adaptive manipulator can be in clamping range.
When beginning state, the front and rear cylinders, upper and lower air cylinders, finger cylinder piston rod be in retracted mode.At this point,
The finger is located at the top of the clamp body.The size of the grasping part is less than the outer diameter of the clamping part.
It starts to refer to the flexible connection main finger due to described, due in the main finger, the external setting band referred to of starting
The O-shaped hoop of flexible Telescopic, it is described to start to refer to the work in elastic force due to the elastic restraint by the O-shaped hoop
It is tightly attached to the main finger with lower.
Valve body described in the fingerhold.The piston rod of the upper and lower air cylinders stretches out, and the secondary slide plate is straight in the longitudinal direction
Leading for line guide rail moves downward a distance downwardly with respect to the main slide plate.The pronation movement, makes the finger court
The clamping part of the valve body, the valve body enters to the grasping part of the finger.The grasping part quilt
The clamping part struts, it is described start refer to do relative motion relative to the main finger along the transverse slot, make the bracket groove,
Biasing slot becomes large-sized, and the retaining part is between the main finger, finger of starting, due to the elasticity by the O-shaped hoop
Constraint, the finger of starting, clamping part, main finger are tied together by the O-shaped hoop, realize the finger to the valve body
Clamping.The O-shaped hoop is connected to the valve body on the finger, moves the valve body with the finger.
The mobile valve body of the adaptive manipulator.The front and rear cylinders, upper and lower air cylinders, the piston rod of finger cylinder are equal
In retracted mode.The palm rises, and the valve body is moved upwardly together with the finger, and the valve body is detached from the fixture
Body.
Then, the piston rod of the front and rear cylinders is in stretching state, and the upper and lower air cylinders, the piston rod of finger cylinder are equal
In retracted mode.The two sides of the main slide plate are fixed on the connecting plate, and the connecting plate passes through the lateral linear guide
Be movably connected on the bracket, the main slide plate under the guiding of the lateral linear guide by the driving of the front and rear cylinders and
It is moved.So that the valve body has moved a distance after being clamped by the adaptive manipulator, has reached another position
It sets.
The adaptive manipulator unclamps the valve body.The cylinder block of the finger cylinder is fixed on the secondary slide plate, institute
The push plate is arranged in the end for stating the piston rod of finger cylinder, and the piston rod of the finger cylinder stretches out, and makes the push plate to institute
State the movement of palm direction.The discharging axis is movably connected on the finger, the discharging axle position in the inside of the finger,
The discharging the tip of the axis is fixed on the push plate.The discharging axis under the promotion of the palm, in the guiding of the finger
Under, it is moved towards the valve body direction, the discharging axis touches the top of the clamping part, and pushes the clamping part de-
From the grasping part.
Next the adaptive manipulator of the present invention is described in detail flexible clamping type manipulator main body mechanism is detailed
Structure and the course of work, working principle:
The grasping part is strutted by the clamping part, described to start to refer to relative to the main finger along the transverse slot
It does relative motion, makes the bracket groove, biases becoming large-sized for slot.The transverse slot plays fortune to the movement for starting to refer to
The effect of action-oriented, so that the finger of starting does translational motion relative to the main finger, the grasping part remains round
Cylindrical form.If lacking the guidance of the transverse slot, the grasping part is likely to form circular cone during becoming larger
The form of shape, to reduce the precision of clamping.The presence of the transverse slot, so that the precision of clamping improves, the stabilization of clamping
Sexuality guarantees.It is described to start to refer under the action of elastic force and realize to institute due to the elastic restraint by the O-shaped hoop
The clamping of valve body is stated, the generation of entire clamping process, movement is simple and clear, and the valve body is inserted into the finger, the finger
The clamping to the valve body can be realized automatically；Meanwhile the finger adapts to the valve body of various outer diameter automatically.
In the conventional technology, the crawl to workpiece is realized usually using pneumatic-finger, the price of pneumatic-finger is high, structure is multiple
It is miscellaneous, be unfavorable for being used for a long time.The finger uses simple cylindrical structure, so that it may realize the crawl to the valve body, keep away
Exempt from using pneumatic-finger, movement is simple, structure is simple, it is long, at low cost to benefit from the service life, and greatly reduces to control system
It is required that.
After valve body described in the fingerhold, the disengagement to the valve body can be realized using simple movement.The hand
Refer to that the piston rod of cylinder stretches out, makes the discharging axis that the valve body be pushed to be detached from the grasping part, can be realized to the valve
Body falls off.Downward motion process is existed simultaneously during the disengagement finger of the valve body, what this was moved downward
Process may be implemented to be assembled to the valve body in other fixture, substantially increase flexible clamping type manipulator ontology of the present invention
The working efficiency of mechanism.
Through the following description and in conjunction with the attached drawings, flexible clamping type manipulator main body mechanism of the present invention will become more clear
It is clear, these attached drawings embodiment for explaining the present invention.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of a specific embodiment of flexible clamping type manipulator main body mechanism of the present invention；
Fig. 2,3,4,5 are part-structure signal of the flexible clamping type manipulator main body mechanism of the present invention under another visual angle
Figure；
Fig. 6 is the schematic diagram of the section structure of flexible clamping type manipulator main body mechanism of the present invention；
Fig. 7,8,9 are part-structure signal of the flexible clamping type manipulator main body mechanism of the present invention under another visual angle
Figure；
Figure 10 is the structural schematic diagram of valve body.
3 valve bodies, 4 ears, 5 inner holes, 6 cylindrical bodies, 23 clamp bodies, 24 clamping parts, 25 adaptive manipulators, 26 brackets, 27
Finger, 28 front and rear cylinderss, 29 upper and lower air cylinders, 30 finger cylinders, 31 dampers, 32 palms, 33 push plates, 34 connecting plates, 35 main cunnings
Plate, 36 slide plates, 37 lateral linear guides, 38 longitudinal linear guides, 39 discharging axis, 40 main fingers, 41 start to refer to, 42O type hoop.
Specific embodiment
The embodiment of the present invention described referring now to the drawings, similar element numbers represent similar element in attached drawing.Such as
Upper described, the present invention provides a kind of flexible clamping type manipulator main body mechanisms, for valve body to be moved to separately from a place
One place grabs valve body by adaptive manipulator, and valve body is delivered to position to be assembled, and full automatic working realizes nobody
It is turned into industry, there is very high working efficiency.
To see Figure 10, introduces the structure composition of valve body 3 first, the valve body 3 includes: ear 4, inner hole 5, cylindrical body 6,
The ear 4 is located at the upper position of the valve body 3, and the lower portion of the ear 3 is the cylindrical body 6, in the ear 3
Lower part has the inner hole 5, and the top of the ear 4 is clamping part 24.The valve body 3 prepares hair using precision forging technology
Base goes out cylindrical structure by CNC Lathe Turning.
Fig. 1 be flexible clamping type manipulator main body mechanism of the present invention a specific embodiment structural schematic diagram, Fig. 2,
3,4,5 be partial structure diagram of the flexible clamping type manipulator main body mechanism of the present invention under another visual angle, and Fig. 6 is this hair
The schematic diagram of the section structure of bright flexible clamping type manipulator main body mechanism, Fig. 7,8,9 are flexible clamping type manipulator sheet of the present invention
Partial structure diagram of the body mechanism under another visual angle, Figure 10 are the structural schematic diagram of valve body.
Flexible clamping type manipulator main body mechanism of the present invention, comprising: bracket 26, for realizing carry function adaptive machine
Tool hand 25, the clamp body 23 for placing valve body 3, the adaptive manipulator 25 are fixed on the bracket 26, the fixture
Body 23 is located in the range of the adaptive manipulator 25 can clamp；
The adaptive manipulator 25 includes: finger 27, front and rear cylinders 28, upper and lower air cylinders 29, finger cylinder 30, palm
32, push plate 33, connecting plate 34, main slide plate 35, secondary slide plate 36, lateral linear guide 37, longitudinal linear guide 38, discharging axis 39,
The two sides of the main slide plate 35 are fixed on the connecting plate 34, and the connecting plate 34 is connected by lateral 37 activity of linear guide
It is connected to the bracket 26, the cylinder block of the front and rear cylinders 28 is fixed on the bracket 26, the piston rod of the front and rear cylinders 28
End be fixed on the main slide plate 35, the secondary slide plate 36 is movably connected on the main cunning by longitudinal linear guide 38
Plate 35；The cylinder block of the upper and lower air cylinders 29 is fixed on the main slide plate 35, and the end of the piston rod of the upper and lower air cylinders 29 is solid
It is connected in the secondary slide plate 36；The finger 27 is fixed on the palm 32, and the palm 32 is fixed on the secondary slide plate 36, described
The cylinder block of finger cylinder 30 is fixed on the secondary slide plate 36, and the push plate is arranged in the end of the piston rod of the finger cylinder 30
33, the discharging axis 39 is movably connected on the finger 27, and the discharging axis 39 is located at the inside of the finger 27, the discharging
The end of axis 39 is fixed on the push plate 33；
The finger 27 includes: main finger 40, finger 41 of starting, O-shaped hoop 42, and the finger 41 of starting is flexibly connected the main hands
Refer to 40, in the main finger 40, starts to refer to that 41 outside is provided with the O-shaped hoop 42 of elastic telescopic function, the main hand
Refer to 40, start to refer to 41 composition arranged concentrics and form the grasping part 43 for accommodating the clamping part 24, the grasping part
43 and the shape of the clamping part 24 match.
More specifically, in the main finger 40, starting to refer to setting bracket groove 44 between 41, set in the interlude of the bracket groove 44
Biasing slot 45 is set, transverse slot 46 is set at the position up and down of the biasing slot 44, the transverse slot 46 connects the bracket groove
44 with the biasing slot 45.
More specifically, the size of the transverse slot 46 is ten to 20.
More specifically, damper 31 is arranged on the bracket 26, the damper 31 is located at main 35 stroke of slide plate
Two terminal positions.
More specifically, the quantity of the finger 27 is one to five.
More specifically, the transverse direction linear guide 37 is located at the two sides of the main slide plate 35, the transverse direction linear guide 37
Quantity be two groups.
More specifically, the O-shaped hoop 42 is extension spring.
See the work of each step of the following the present invention is described in detail flexible clamping type manipulator main body mechanism of Fig. 1 to Fig. 9
Process and working principle:
The valve body 3 is located on the clamp body 23, and what the valve body 3 was located at adaptive manipulator 25 can clamping range
It is interior.
When beginning state, the front and rear cylinders 28, upper and lower air cylinders 29, finger cylinder 30 piston rod be in retraction shape
State.At this point, the finger 27 is located at the top of the clamp body 23.The size of the grasping part 43 is less than the clamping part 24
Outer diameter.
Start to refer to that 41 are flexibly connected the main fingers 40 due to described, due to the main finger 40, start to refer to 41 it is outer
Portion is provided with the O-shaped hoop 42 of elastic telescopic function, described to start to refer to due to the elastic restraint by the O-shaped hoop 42
41 are tightly attached to the main finger 40 under the action of elastic force.
The finger 27 clamps the valve body 3.The piston rods of the upper and lower air cylinders 29 stretches out, and the secondary slide plate 36 is described
Leading for longitudinal linear guide 38 moves downward a distance downwardly with respect to the main slide plate 35.The palm 32 moves downward,
Move the finger 27 towards the valve body 3, the clamping part 24 of the valve body 3 enters to the clamping of the finger 27
Space 43.The grasping part 43 is strutted by the clamping part 24, it is described start to refer to 41 relative to the main finger 40 along described
Transverse slot 46 does relative motion, and makes the bracket groove 44, biases becoming large-sized for slot 45, the clamping part 24 is located at the main hand
Refer to 40, start to refer between 41, due to the elastic restraint by the O-shaped hoop 42, the finger 41 of starting, clamping part 24, main finger
40 are tied together by the O-shaped hoop 42, realize clamping of the finger 27 to the valve body 3.The O-shaped hoop 42 makes described
Valve body 3 is connected on the finger 27, moves the valve body 3 with the finger 27.
The mobile valve body 3 of the adaptive manipulator 25.The front and rear cylinders 28, upper and lower air cylinders 29, finger cylinder 30
Piston rod be in retracted mode.The palm 32 rises, and the valve body 3 is moved upwardly together with the finger 27, described
Valve body 3 is detached from the clamp body 23.
Then, the piston rod of the front and rear cylinders 28 is in stretching state, the work of the upper and lower air cylinders 29, finger cylinder 30
Stopper rod is in retracted mode.The two sides of the main slide plate 35 are fixed on the connecting plate 34, and the connecting plate 34 passes through described
Lateral linear guide 37 is movably connected on the bracket 26, the main slide plate 35 under the guiding of the lateral linear guide 37 by
The driving of the front and rear cylinders 28 and moved.So that the valve body 3 moves after being clamped by the adaptive manipulator 25
A distance reaches another position.
The adaptive manipulator 25 unclamps the valve body 3.The cylinder block of the finger cylinder 30 is fixed on described time and slides
The push plate 33 is arranged in plate 36, the end of the piston rod of the finger cylinder 30, and the piston rod of the finger cylinder 30 stretches out, makes
The push plate 33 is moved to 32 direction of palm.The discharging axis 39 is movably connected on the finger 27, the discharging
Axis 39 is located at the inside of the finger 27, and the end of the discharging axis 39 is fixed on the push plate 33.The discharging axis 39 is in institute
It states under the promotion of palm 32, under the guiding of the finger 27, is moved towards 3 direction of valve body, the discharging axis 39 connects
It contacts the top of the clamping part 24, and the clamping part 24 is pushed to be detached from the grasping part 43.
Next the adaptive manipulator of the present invention is described in detail flexible clamping type manipulator main body mechanism is detailed
Structure and the course of work, working principle:
The grasping part 43 is strutted by the clamping part 24, it is described start to refer to 41 relative to the main finger 40 along described
Transverse slot 46 does relative motion, and makes the bracket groove 44, biases becoming large-sized for slot 45.It starts to described the transverse slot 46
Refer to that 41 movement plays the role of motion guide, so that described start to refer to that 41 do translational motion relative to the main finger 40,
The grasping part 43 remains cylindrical form.If lacking the guidance of the transverse slot 46, the grasping part
43 are likely to form the form of cone during becoming larger, to reduce the precision of clamping.The presence of the transverse slot 46,
The guarantee so that stability of the precision raising of clamping, clamping looses.It is described due to the elastic restraint by the O-shaped hoop 42
Start to refer to that 41 realize the clamping to the valve body 3 under the action of elastic force, the generation of entire clamping process acts simple bright
, the valve body 3 is inserted into the finger 27, and the finger 27 can realize the clamping to the valve body 3 automatically；Meanwhile institute
State the valve body 3 that finger 27 adapts to various outer diameter automatically.
In the conventional technology, the crawl to workpiece is realized usually using pneumatic-finger, the price of pneumatic-finger is high, structure is multiple
It is miscellaneous, be unfavorable for being used for a long time.The finger 27 uses simple cylindrical structure, so that it may realize the crawl to the valve body 3,
It avoids using pneumatic-finger, movement is simple, structure is simple, it is long, at low cost to benefit from the service life, and greatly reduces to control system
Requirement.
After the finger 27 clamps the valve body 3, the disengagement to the valve body 3 can be realized using simple movement.Institute
The piston rod for stating finger cylinder 30 stretches out, and makes the discharging axis 39 that the valve body 3 be pushed to be detached from the grasping part 43, Ji Keshi
Now falling off to the valve body 3.Downward motion process is existed simultaneously during the disengagement finger 27 of the valve body 3,
This process moved downward may be implemented for the valve body 3 to be assembled in other fixture, substantially increase flexibility of the invention
The working efficiency of clamp-type manipulator main body mechanism.
The size of the transverse slot 46 is ten to 20, using ten to 20 sizes, can be made described
It starts to refer to that 41 are cut down from the cylindrical shaft for preparing the main finger 40 using wire cutting technology, after the completion of cutting, Ji Ketong
When obtain described in start to refer to 41 and main finger 40.
Damper 31 is set on the bracket 26, and the damper 31 is located at two ends of main 35 stroke of slide plate
Position.Make to obtain certain damping slowing effect at the position of the main slide plate 35 at the end of the stroke, avoids main slide plate 35 and exist
Impact occurs in motion process, hits.
The quantity of the finger 27 be one to five, multiple fingers 27 work at the same time, make work efficiency obtain at
It improves again.
The transverse direction linear guide 37 is located at the two sides of the main slide plate 35, and the quantity of the transverse direction linear guide 37 is two
Group.The clamp body 23 can be made to be located at the lower part of the finger 27, facilitate reasonable Arrangement production equipment.
The O-shaped hoop 42 is extension spring.Due to the mature preparation process of spring, and spring has the permanent use longevity
Life, the O-shaped hoop 42 made using extension spring as material are stable and reliable for performance.
Finally it is pointed out that above embodiments are only the more representational examples of the present invention.It is clear that the invention is not restricted to
Above-described embodiment, acceptable there are many deformations.Any letter to the above embodiments according to the technical essence of the invention
Single modification, equivalent variations and modification, are considered as belonging to the scope of protection of the present invention.
Claims (3)
1. a kind of flexible clamping type manipulator main body mechanism characterized by comprising bracket, for realizing carry function from
Adaptation mechanical hand, the clamp body for placing valve body, the adaptive manipulator are fixed on the bracket, the fixture position
In the range of the adaptive manipulator can clamp；
The adaptive manipulator includes: finger, front and rear cylinders, upper and lower air cylinders, finger cylinder, palm, push plate, connecting plate, master
Slide plate, secondary slide plate, lateral linear guide, longitudinal linear guide, discharging axis, the two sides of the main slide plate are fixed on the connection
Plate, the connecting plate are movably connected on the bracket by the lateral linear guide, and the cylinder block of the front and rear cylinders is connected
In the bracket, the end of the piston rod of the front and rear cylinders is fixed on the main slide plate, and the secondary slide plate passes through the longitudinal direction
Linear guide is movably connected on the main slide plate；The cylinder block of the upper and lower air cylinders is fixed on the main slide plate, the gas up and down
The end of the piston rod of cylinder is fixed on the secondary slide plate；The finger is fixed on the palm, and the palm is fixed on described time
Slide plate, the cylinder block of the finger cylinder are fixed on the secondary slide plate, described in the end setting of the piston rod of the finger cylinder
Push plate, the discharging axis are movably connected on the finger, and the discharging axle position is in the inside of the finger, the end of the discharging axis
End is fixed on the push plate；
The finger includes: main finger, start finger, O-shaped hoop, and the finger of starting is flexibly connected the main finger, in the main hand
Refer to, the outside starting to refer to is provided with the O-shaped hoop of elastic telescopic function, the main finger starts to refer to and constitutes arranged concentric
And grasping part for accommodating clamping part is formed, the shape of the grasping part and the clamping part matches；In the master
Finger starts that bracket groove is arranged between finger, in the interlude setting biasing slot of the bracket groove, sets at the position up and down of the biasing slot
Transverse slot is set, the transverse slot connects the bracket groove and the biasing slot；The size of the transverse slot is ten to two
Ten；Damper is set on the bracket, and the damper is in two terminal positions of the travel of main slide.
2. flexible clamping type manipulator main body mechanism according to claim 1, it is characterised in that: the quantity of the finger is
One to five.
3. flexible clamping type manipulator main body mechanism according to claim 1, it is characterised in that: the transverse direction linear guide
Positioned at the two sides of the main slide plate, the quantity of the transverse direction linear guide is two groups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710272025.0A CN106863343B (en) | 2016-03-04 | 2016-03-04 | Flexible clamping type manipulator main body mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710272025.0A CN106863343B (en) | 2016-03-04 | 2016-03-04 | Flexible clamping type manipulator main body mechanism |
| CN201610123878.3A CN105538298B (en) | 2016-03-04 | 2016-03-04 | The efficient carrying manipulator system of atomizer valve body |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610123878.3A Division CN105538298B (en) | 2016-03-04 | 2016-03-04 | The efficient carrying manipulator system of atomizer valve body |
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| Publication Number | Publication Date |
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| CN106863343A CN106863343A (en) | 2017-06-20 |
| CN106863343B true CN106863343B (en) | 2019-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710272325.9A Active CN107053237B (en) | 2016-03-04 | 2016-03-04 | More finger parallel connection type high-efficient homework manipulators |
| CN201711495225.9A Active CN108202320B (en) | 2016-03-04 | 2016-03-04 | Flexible full-automatic carrying manipulator |
| CN201610123878.3A Expired - Fee Related CN105538298B (en) | 2016-03-04 | 2016-03-04 | The efficient carrying manipulator system of atomizer valve body |
| CN201710272340.3A Active CN107088890B (en) | 2016-03-04 | 2016-03-04 | Flexibility adaptively can tolerance formula new mechanical arm mechanism |
| CN201710272025.0A Expired - Fee Related CN106863343B (en) | 2016-03-04 | 2016-03-04 | Flexible clamping type manipulator main body mechanism |
| CN201710272072.5A Expired - Fee Related CN107053150B (en) | 2016-03-04 | 2016-03-04 | High speed conveying robot for valve body assembly |
| CN201711495203.2A Active CN108202319B (en) | 2016-03-04 | 2016-03-04 | Rapid operation method of carrying manipulator |
| CN201710272071.0A Expired - Fee Related CN106891329B (en) | 2016-03-04 | 2016-03-04 | For carrying the high-accuracy manipulator of valve body |
| CN201711495252.6A Active CN108214470B (en) | 2016-03-04 | 2016-03-04 | Self-adaptive fast grabbing manipulator |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710272325.9A Active CN107053237B (en) | 2016-03-04 | 2016-03-04 | More finger parallel connection type high-efficient homework manipulators |
| CN201711495225.9A Active CN108202320B (en) | 2016-03-04 | 2016-03-04 | Flexible full-automatic carrying manipulator |
| CN201610123878.3A Expired - Fee Related CN105538298B (en) | 2016-03-04 | 2016-03-04 | The efficient carrying manipulator system of atomizer valve body |
| CN201710272340.3A Active CN107088890B (en) | 2016-03-04 | 2016-03-04 | Flexibility adaptively can tolerance formula new mechanical arm mechanism |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710272072.5A Expired - Fee Related CN107053150B (en) | 2016-03-04 | 2016-03-04 | High speed conveying robot for valve body assembly |
| CN201711495203.2A Active CN108202319B (en) | 2016-03-04 | 2016-03-04 | Rapid operation method of carrying manipulator |
| CN201710272071.0A Expired - Fee Related CN106891329B (en) | 2016-03-04 | 2016-03-04 | For carrying the high-accuracy manipulator of valve body |
| CN201711495252.6A Active CN108214470B (en) | 2016-03-04 | 2016-03-04 | Self-adaptive fast grabbing manipulator |
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Families Citing this family (6)
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|---|---|---|---|---|
| CN107053237B (en) * | 2016-03-04 | 2019-08-13 | 温州市科泓机器人科技有限公司 | More finger parallel connection type high-efficient homework manipulators |
| CN108098814B (en) * | 2018-01-19 | 2024-03-19 | 苏州工业职业技术学院 | Flexible clamping system |
| CN108637163A (en) * | 2018-06-15 | 2018-10-12 | 浙江鹤群智能装备股份有限公司 | The full-automatic assembly equipment and full-automatic assembly method of a kind of saw chain |
| CN111673784B (en) * | 2020-06-23 | 2022-09-23 | 郑州大学 | Self-positioning grabbing hand and grabbing device |
| CN111907757B (en) * | 2020-09-03 | 2022-10-04 | 青岛朗锐智能科技有限公司 | Tableware snatchs manipulator and automatic case packer |
| CN113910273A (en) * | 2021-10-25 | 2022-01-11 | 苏州灵猴机器人有限公司 | Terminal protective structure of robot and robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105538298B (en) | 2018-02-09 |
| CN106891329B (en) | 2019-01-18 |
| CN108214470B (en) | 2020-05-08 |
| CN107088890A (en) | 2017-08-25 |
| CN107088890B (en) | 2018-08-24 |
| CN107053237A (en) | 2017-08-18 |
| CN108202319A (en) | 2018-06-26 |
| CN106891329A (en) | 2017-06-27 |
| CN108202320B (en) | 2020-12-29 |
| CN106863343A (en) | 2017-06-20 |
| CN107053150B (en) | 2019-08-27 |
| CN108202319B (en) | 2020-05-12 |
| CN105538298A (en) | 2016-05-04 |
| CN108202320A (en) | 2018-06-26 |
| CN107053237B (en) | 2019-08-13 |
| CN107053150A (en) | 2017-08-18 |
| CN108214470A (en) | 2018-06-29 |
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