CN107088890A - Flexibility adaptively can tolerance formula new mechanical arm mechanism - Google Patents

Flexibility adaptively can tolerance formula new mechanical arm mechanism Download PDF

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Publication number
CN107088890A
CN107088890A CN201710272340.3A CN201710272340A CN107088890A CN 107088890 A CN107088890 A CN 107088890A CN 201710272340 A CN201710272340 A CN 201710272340A CN 107088890 A CN107088890 A CN 107088890A
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CN
China
Prior art keywords
finger
slide plate
valve body
main
cylinder
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
Application number
CN201710272340.3A
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Chinese (zh)
Other versions
CN107088890B (en
Inventor
邵伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Sen Bao Textile Technology Co.,Ltd.
Original Assignee
Wenzhou Branch Robot Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
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Priority to CN201710272340.3A priority Critical patent/CN107088890B/en
Publication of CN107088890A publication Critical patent/CN107088890A/en
Application granted granted Critical
Publication of CN107088890B publication Critical patent/CN107088890B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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

Abstract

Present patent application is divisional application.The application number of original bill is：201610123878.3.The present invention relates to the automated handling equipment of a kind of automated assembling equipment, more particularly to a kind of valve fittings.It is flexible adaptively can tolerance formula new mechanical arm mechanism, including：Support, adaptive manipulator, the clamp body for placing valve body for realizing carrying function, the adaptive manipulator are fixed on the support, and the clamp body is in the range of the adaptive manipulator can be clamped；The adaptive manipulator includes：Finger, front and rear cylinder, upper and lower air cylinders, finger cylinder, palm, push pedal, connecting plate, main slide plate, secondary slide plate, horizontal line slideway, longitudinal line slideway, discharging axle.Due to the elastic restraint by the O-shaped hoop, described to start to refer in the presence of elastic force and realize the clamping to the valve body, the generation of whole clamping process is acted simple and clear, the valve body is inserted in 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

Flexibility adaptively can tolerance formula new mechanical arm mechanism
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 the automated handling equipment of a kind of automated assembling equipment, more particularly to a kind of valve fittings.
Background technology
Gasoline atomizer plays a significant role as the important component of automobile engine in the normally travel of automobile.
Because atomizer valve core structure is compact, product reliability requires high, in present traditional handicraft, all by manually carrying out Assembling.Requirement height, difficulty for automated production is big.
Wherein the conveying and carrying of each parts will be by manually being operated, and waste of human resource is serious, production Inefficiency.
Need to use automation equipment, realize the conveying and carrying of each part on atomizer, proportion valve body.
The content of the invention
It is an object of the invention to provide it is a kind of flexible adaptively can tolerance formula new mechanical arm mechanism, for by atomizer Valve body be moved to another position from a position；Using adaptive manipulator, realize crawl and carry, action simply may be used Lean on, the requirement to control system it is low, and realize unmanned operation, automatically working.
To achieve the above object, the invention discloses it is flexible adaptively can tolerance formula new mechanical arm mechanism, including：Branch Frame, adaptive manipulator, the clamp body for placing valve body for realizing carrying function, the adaptive manipulator are fixed on On the support, the clamp body is in the range of the adaptive manipulator can be clamped；
The adaptive manipulator includes：Finger, front and rear cylinder, upper and lower air cylinders, finger cylinder, palm, push pedal, connecting plate, master Slide plate, secondary slide plate, horizontal line slideway, longitudinal line slideway, discharging axle, the both sides of the main slide plate are fixed on the connection Plate, the connecting plate is movably connected on the support by the horizontal line slideway, and the cylinder block of the front and rear cylinder is connected In the support, the end of the piston rod of the front and rear cylinder is fixed on the main slide plate, and described time slide plate passes through the longitudinal direction Line slideway 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 described 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 is fixed on described slide plate, the end of the piston rod of described slide plate set described in push away Plate, the discharging axle is movably connected on the finger, and the discharging axle position is in the inside of the finger, the discharging the tip of the axis It is fixed on the push pedal；
The finger includes：Main finger, start finger, O-shaped hoop, it is described to start to refer to the flexible connection main finger, in the main hand The outside refer to, started to refer to is provided with the O-shaped hoop of elastic telescopic function, the main finger, starts to refer to composition arranged concentric And forming grasping part for accommodating the clamping part, the profile of the grasping part and the clamping part matches.
Preferably, the main finger, start refer between bracket groove is set, the bracket groove interlude set biasing groove, Transverse slot is set at the position up and down of the biasing groove, the transverse slot connects the bracket groove and the biasing groove.
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 horizontal line slideway is located at the both sides of the main slide plate, and the quantity of the horizontal line slideway is Two groups.
Preferably, the O-shaped hoop is extension spring.
Compared with conventional art, being next described in detail that the present invention is flexible adaptively can tolerance formula new mechanical arm mechanism Positive role and beneficial effect：
The valve body is located on the clamp body, and what the valve body was located at adaptive manipulator can be in clamping range.
During beginning state, the front and rear cylinder, upper and lower air cylinders, the piston rod of finger cylinder are in retracted mode.Now, The finger is located at the top of the clamp body.The size of the grasping part is less than the external diameter of the clamping part.
Start to refer to the flexible connection main finger due to described, due to setting band in the main finger, the outside for starting to refer to 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 close 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 described time slide plate is straight in the longitudinal direction Leading for line guide rail moves downward a segment distance downwardly with respect to the main slide plate.The pronation motion, makes the finger court The valve body, the clamping part of the valve body enters to the grasping part of the finger.The grasping part quilt The clamping part is strutted, it is described start refer to done relative motion relative to the main finger along the transverse slot, make the bracket groove, Becoming large-sized for groove is biased, 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 makes the valve body be connected on the finger, the valve body is moved with the finger.
The adaptive manipulator moves the valve body.It is described before and after cylinder, upper and lower air cylinders, finger cylinder piston rod it is equal In retracted mode.The palm rises, and the valve body is moved upwardly together with the finger, and the valve body departs from the fixture Body.
Then, the piston rod of cylinder is in stretching state before and after described, the upper and lower air cylinders, finger cylinder piston rod it is equal In retracted mode.The both sides of the main slide plate are fixed on the connecting plate, and the connecting plate passes through the horizontal line slideway Be movably connected on the support, the main slide plate under the guiding of the horizontal line slideway by the front and rear cylinder driving and Moved.So that the valve body has moved a segment distance after being clamped by the adaptive manipulator, has reached another position Put.
The adaptive manipulator unclamps the valve body.The cylinder block of the finger cylinder is fixed on described slide plate, institute The end for stating the piston rod of time slide plate sets the push pedal, and the piston rod of the finger cylinder stretches out, and makes the push pedal to described Direction motion where palm.The discharging axle is movably connected on the finger, and the discharging axle position is in the inside of the finger, institute State discharging the tip of the axis and be fixed on the push pedal.The discharging axle under the promotion of the palm, under the guiding of the finger, Direction motion where towards the valve body, the discharging axle touches the top of the clamping part, and promotes the clamping part to depart from The grasping part.
Next be described in detail the present invention it is flexible adaptively can tolerance formula new mechanical arm mechanism the adaptive mechanical Detailed construction and the course of work, the operation principle of hand：
The grasping part is strutted by the clamping part, and the finger of starting does phase relative to the main finger along the transverse slot To motion, make the bracket groove, bias becoming large-sized for groove.The transverse slot serves motion to the motion for starting to refer to and led To effect so that it is described start to refer to do translational motion relative to the main finger, the grasping part remains cylinder Form.If lacking the guiding of the transverse slot, the grasping part is likely to form cone during becoming greatly Form, so as to reduce the precision of clamping.The presence of the transverse slot so that the precision of clamping is improved, the stability of clamping is lived Guarantee is moved.It is described to start to refer in the presence of elastic force and realize to the valve due to the elastic restraint by the O-shaped hoop The clamping of body, the generation of whole clamping process, action is simple and clear, and the valve body is inserted in the finger, the finger Automatically the clamping to the valve body is realized；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 height of pneumatic-finger, structure are multiple It is miscellaneous, be unfavorable for using for a long time.The finger uses simple cylindrical structure, it is possible to realizes the crawl to the valve body, keeps away Exempt to use pneumatic-finger, action is simple, simple in construction, it is low to benefit from long lifespan, cost, 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 achieved using simple action.The hand The piston rod for referring to cylinder stretches out, and makes the discharging axle promote the valve body to depart from the grasping part, you can realize to the valve Body comes off.There is downward motion process simultaneously during the disengagement finger of the valve body, what this was moved downward Process, which can be realized, to be assembled to the valve body in other fixture, substantially increase it is of the invention flexible adaptively can tolerance formula it is new The operating efficiency of type manipulator mechanism.
By following description and with reference to accompanying drawing, the present invention it is flexible adaptively can tolerance formula new mechanical arm mechanism will become Become apparent from, these accompanying drawings are used to explain embodiments of the invention.
Brief description of the drawings
Fig. 1 for the present invention it is flexible adaptively can tolerance formula new mechanical arm mechanism a specific embodiment structural representation Figure；
Fig. 2,3,4,5 adaptively can part-structure of the tolerance formula new mechanical arm mechanism under another visual angle for present invention flexibility Schematic diagram；
Fig. 6 for the present invention it is flexible adaptively can tolerance formula new mechanical arm mechanism cross-sectional view；
Fig. 7,8,9 for the present invention it is flexible adaptively can part-structure of the tolerance formula new mechanical arm mechanism under another visual angle show It is intended to；
Figure 10 is the structural representation of valve body.
3 valve bodies, 4 ears, 5 endoporus, 6 cylinders, 23 clamp bodies, 24 clamping parts, 25 adaptive manipulators, 26 Cylinder, 29 upper and lower air cylinders, 30 finger cylinders, 31 dampers, 32 palms, 33 push pedals, 34 before and after support, 27 fingers, 28 Connecting plate, 35 main slide plates, 36 slide plates, 37 horizontal line slideways, 38 longitudinal line slideways, 39 discharging axles, 40 main hands Refer to, 41 start refer to, 42 O-shaped hoops.
Embodiment
Element numbers similar in embodiments of the invention, accompanying drawing, which are described, with reference now to accompanying drawing represents similar element.Such as It is upper described, the invention provides it is a kind of it is flexible adaptively can tolerance formula new mechanical arm mechanism, for by valve body from a place Another place is moved to, valve body is captured by adaptive manipulator, and valve body is delivered to position to be assembled, full automatic working, Unmanned operation is realized, with very high operating efficiency.
See Fig. 9, the structure composition of valve body 3 is introduced first, the valve body 3 includes：Ear 4, endoporus 5, cylinder 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 cylinder 6, in the ear 3 Bottom has the endoporus 5, and the top of the ear 4 is clamping part 24.The valve body 3 prepares hair using precision forging technology Base, cylindrical structure is gone out by CNC Lathe Turning.
Fig. 1 for the present invention it is flexible adaptively can tolerance formula new mechanical arm mechanism a specific embodiment structural representation Figure, Fig. 2,3,4,5 adaptively can part-structure of the tolerance formula new mechanical arm mechanism under another visual angle for present invention flexibility Schematic diagram, Fig. 6 for the present invention it is flexible adaptively can tolerance formula new mechanical arm mechanism cross-sectional view, Fig. 7,8,9 are It is of the invention flexible adaptively can part-structure schematic diagram of the tolerance formula new mechanical arm mechanism under another visual angle, Figure 10 is valve The structural representation of body.
It is of the invention flexible adaptively can tolerance formula new mechanical arm mechanism, including：Support 26, for realizing carry function Adaptive manipulator 25, the clamp body 23 for placing valve body 3, the adaptive manipulator 25 are fixed on the support 26, The clamp body 23 is in the range of the adaptive manipulator 25 can be clamped；
The adaptive manipulator 25 includes：Finger 27, front and rear cylinder 28, upper and lower air cylinders 29, finger cylinder 30, palm 32, push away Plate 33, connecting plate 34, main slide plate 35, secondary slide plate 36, horizontal line slideway 37, longitudinal line slideway 38, discharging axle 39, the master The both sides of slide plate 35 are fixed on the connecting plate 34, and the connecting plate 34 is movably connected on institute by the horizontal line slideway 37 Support 26 is stated, the cylinder block of the front and rear cylinder 28 is fixed on the support 26, the end of the piston rod of the front and rear cylinder 28 The main slide plate 35 is fixed on, described slide plate 36 is movably connected on the main slide plate 35 by longitudinal line slideway 38； 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 fixed on institute State time slide plate 36；The finger 27 is fixed on the palm 32, and the palm 32 is fixed on described slide plate 36, the finger gas The cylinder block of cylinder 30 is fixed on described slide plate 36, and the end of the piston rod of described slide plate 36 sets the push pedal 33, described Discharging axle 39 is movably connected on the finger 27, and the discharging axle 39 is located at the inside of the finger 27, the discharging axle 39 End is fixed on the push pedal 33；
The finger 27 includes：Main finger 40, finger 41 of starting, O-shaped hoop 42, it is described to start to refer to the 41 flexible connection main fingers 40, the O-shaped hoop 42 of elastic telescopic function, the main finger are provided with the outside of the main finger 40, finger 41 of starting 40th, start to refer to 41 and constitute arranged concentrics and form grasping part 43 for accommodating the clamping part 24, the grasping part 43 Match with the profile of the clamping part 24.
More specifically, setting bracket groove 44 between the main finger 40, finger 41 of starting, set in the interlude of the bracket groove 44 Biasing groove 45 is put, transverse slot 46 is set at the position up and down of the biasing groove 44, the transverse slot 46 connects the bracket groove 44 bias groove 45 with described.
More specifically, the size of the transverse slot 46 is ten to 20.
More specifically, setting damper 31 on the support 26, the damper 31 is located at the main stroke of slide plate 35 Two terminal positions.
More specifically, the quantity of the finger 27 is one to five.
More specifically, the horizontal line slideway 37 is located at the both sides of the main slide plate 35, the horizontal line slideway 37 Quantity be two groups.
More specifically, the O-shaped hoop 42 is extension spring.
See Fig. 1 to Fig. 9 be next described in detail it is of the invention flexible adaptively can tolerance formula new mechanical arm mechanism each walk The rapid course of work and operation 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 be in clamping range.
During beginning state, the front and rear cylinder 28, upper and lower air cylinders 29, the piston rod of finger cylinder 30 are in retraction shape State.Now, 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 External diameter.
Due to it is described start to refer to 41 be flexibly connected the main fingers 40, 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 close to the main finger 40 in the presence of elastic force.
The finger 27 clamps the valve body 3.The piston rod of the upper and lower air cylinders 29 stretches out, and described slide plate 36 is described Leading for longitudinal line slideway 38 moves downward a segment distance downwardly with respect to the main slide plate 35.The palm 32 is moved downward, The finger 27 is set to be moved 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, described to 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 groove 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 the clamping of 27 pairs of the finger valve body 3.The O-shaped hoop 42 makes described Valve body 3 is connected on the finger 27, the valve body 3 is moved with the finger 27.
The adaptive manipulator 25 moves the valve body 3.Cylinder 28, upper and lower air cylinders 29, finger cylinder 30 before and after described 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 departs from the clamp body 23.
Then, the piston rod of the front and rear cylinder 28 is in stretching state, the upper and lower air cylinders 29, the work of finger cylinder 30 Stopper rod is in retracted mode.The both sides of the main slide plate 35 are fixed on the connecting plate 34, and the connecting plate 34 is by described Horizontal line slideway 37 is movably connected on the support 26, the main slide plate 35 under the guiding of the horizontal line slideway 37 by It is described before and after cylinder 28 driving and moved.So that the valve body 3 is moved after being clamped by the adaptive manipulator 25 One segment distance, reach 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 slided Plate 36, the end of the piston rod of described slide plate 36 sets the push pedal 33, and the piston rod of the finger cylinder 30 stretches out, and makes institute Push pedal 33 is stated to move to the place direction of palm 32.The discharging axle 39 is movably connected on the finger 27, the discharging axle 39 are located at the inside of the finger 27, and the end of the discharging axle 39 is fixed on the push pedal 33.The discharging axle 39 is described Under the promotion of palm 32, under the guiding of the finger 27, towards the place direction of valve body 3 motion, the discharging axle 39 is contacted To the top of the clamping part 24, and the clamping part 24 is promoted to depart from the grasping part 43.
Next be described in detail the present invention it is flexible adaptively can tolerance formula new mechanical arm mechanism the adaptive mechanical Detailed construction and the course of work, the operation principle of hand：
The grasping part 43 is strutted by the clamping part 24, described to start to refer to 41 relative to the main finger 40 along the transverse direction Gap 46 does relative motion, and makes the bracket groove 44, biases becoming large-sized for groove 45.Started described in 46 pairs of the transverse slot finger 41 Motion serve the effect of motion guide so that it is described start to refer to 41 do translational motion relative to the main finger 40, it is described Grasping part 43 remains the form of cylinder.If lacking the guiding of the transverse slot 46, the grasping part 43 exists The form of cone is likely to form during becoming greatly, so as to reduce the precision of clamping.The presence of the transverse slot 46 so that Guarantee that the precision of clamping is improved, the stability of clamping looses.It is described to start due to the elastic restraint by the O-shaped hoop 42 Refer to 41 and the clamping to the valve body 3 realized in the presence of elastic force, the generation of whole clamping process, action is simple and clear, The valve body 3 is inserted in the finger 27, and the finger 27 can realize the clamping to the valve body 3 automatically；Meanwhile, the hand Refer to 27 valve bodies 3 for adapting to various outer diameter automatically.
In the conventional technology, the crawl to workpiece is realized usually using pneumatic-finger, the price height of pneumatic-finger, structure are multiple It is miscellaneous, be unfavorable for using for a long time.The finger 27 uses simple cylindrical structure, it is possible to realize the crawl to the valve body 3, Avoid and use pneumatic-finger, action is simple, simple in construction, it is low to benefit from long lifespan, cost, and greatly reduces to control system Requirement.
The finger 27 is clamped after the valve body 3, and the disengagement to the valve body 3 can be achieved using simple action.Institute The piston rod for stating finger cylinder 30 stretches out, and makes the discharging axle 39 promote the valve body 3 to depart from the grasping part 43, you can real Existing coming off to the valve body 3.There is downward motion process simultaneously during the disengagement finger 27 of the valve body 3, This process moved downward, which can be realized, is assembled to the valve body 3 in other fixture, substantially increases flexibility of the invention Adaptively can tolerance formula new mechanical arm mechanism operating efficiency.
The size of the transverse slot 46 is ten to 20, using the size of ten to 20, can be made described Start to refer to 41 and cut down from the cylinder axis for preparing the main finger 40 using wire cutting technologies, after the completion of cutting, you can together When obtain finger 41 and the main finger 40 of starting.
Damper 31 is set on the support 26, and the damper 31 is located at two ends of the main stroke of slide plate 35 Position.Make the main slide plate 35 at the position of end of travel, obtain certain damping slowing effect, it is to avoid main slide plate 35 exists Impact occurs in motion process, hits.
The quantity of the finger 27 is one to five, and multiple fingers 27 work simultaneously, obtain into the efficiency of work Improve again.
The horizontal line slideway 37 is located at the both sides of the main slide plate 35, and the quantity of the horizontal line slideway 37 is two Group.The clamp body 23 can be made to be located at the bottom of the finger 27, contribute to reasonable Arrangement production equipment.
The O-shaped hoop 42 is extension spring.Due to the mature preparation process of spring, and spring possesses the permanent use longevity Life, the O-shaped hoop 42 made by the use of extension spring as material is stable and reliable for performance.
Finally it is pointed out that above example is only the more representational example of the present invention.It is clear that the invention is not restricted to Above-described embodiment, can also there is many deformations.Any letter that every technical spirit according to the present invention is made to above example Single modification, equivalent variations and modification, are considered as belonging to protection scope of the present invention.

Claims (4)

1. a kind of flexible adaptively can tolerance formula new mechanical arm mechanism, it is characterised in that including：Support, for realize carry The adaptive manipulator of function, the clamp body for placing valve body, the adaptive manipulator is fixed on the support, described Clamp body is in the range of the adaptive manipulator can be clamped；
The adaptive manipulator includes：Finger, front and rear cylinder, upper and lower air cylinders, finger cylinder, palm, push pedal, connecting plate, master Slide plate, secondary slide plate, horizontal line slideway, longitudinal line slideway, discharging axle, the both sides of the main slide plate are fixed on the connection Plate, the connecting plate is movably connected on the support by the horizontal line slideway, and the cylinder block of the front and rear cylinder is connected In the support, the end of the piston rod of the front and rear cylinder is fixed on the main slide plate, and described time slide plate passes through the longitudinal direction Line slideway 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 described 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 is fixed on described slide plate, the end of the piston rod of described slide plate set described in push away Plate, the discharging axle is movably connected on the finger, and the discharging axle position is in the inside of the finger, the discharging the tip of the axis It is fixed on the push pedal；
The finger includes：Main finger, start finger, O-shaped hoop, it is described to start to refer to the flexible connection main finger, in the main hand The outside refer to, started to refer to is provided with the O-shaped hoop of elastic telescopic function, the main finger, starts to refer to composition arranged concentric And forming grasping part for accommodating clamping part, the profile of the grasping part and the clamping part matches；In the master Finger, start refer between bracket groove is set, the bracket groove interlude set biasing groove, it is described biasing groove position up and down set Transverse slot is put, the transverse slot connects the bracket groove and the biasing groove；The size of the transverse slot is ten to two Ten；The O-shaped hoop is extension spring.
2. it is according to claim 1 it is flexible adaptively can tolerance formula new mechanical arm mechanism, it is characterised in that：In the branch Damper is set on frame, and the damper is in two terminal positions of the travel of main slide.
3. it is according to claim 1 it is flexible adaptively can tolerance formula new mechanical arm mechanism, it is characterised in that：The finger Quantity be one to five.
4. it is according to claim 1 it is flexible adaptively can tolerance formula new mechanical arm mechanism, it is characterised in that：The transverse direction Line slideway is located at the both sides of the main slide plate, and the quantity of the horizontal line slideway is two groups.
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CN201710272025.0A Expired - Fee Related CN106863343B (en) 2016-03-04 2016-03-04 Flexible clamping type manipulator main body mechanism
CN201711495203.2A Active CN108202319B (en) 2016-03-04 2016-03-04 Rapid operation method of carrying manipulator
CN201711495252.6A Active CN108214470B (en) 2016-03-04 2016-03-04 Self-adaptive fast grabbing manipulator
CN201710272071.0A Expired - Fee Related CN106891329B (en) 2016-03-04 2016-03-04 For carrying the high-accuracy manipulator of valve body
CN201710272340.3A Active CN107088890B (en) 2016-03-04 2016-03-04 Flexibility adaptively can tolerance formula new mechanical arm mechanism
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
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CN201711495203.2A Active CN108202319B (en) 2016-03-04 2016-03-04 Rapid operation method of carrying manipulator
CN201711495252.6A Active CN108214470B (en) 2016-03-04 2016-03-04 Self-adaptive fast grabbing manipulator
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CN201610123878.3A Expired - Fee Related CN105538298B (en) 2016-03-04 2016-03-04 The efficient carrying manipulator system of atomizer valve body

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CN107053150B (en) 2019-08-27
CN107053237A (en) 2017-08-18
CN107088890B (en) 2018-08-24
CN106891329A (en) 2017-06-27
CN106863343A (en) 2017-06-20
CN108214470B (en) 2020-05-08
CN108202319B (en) 2020-05-12
CN108202320B (en) 2020-12-29
CN107053150A (en) 2017-08-18
CN105538298B (en) 2018-02-09
CN106863343B (en) 2019-04-05
CN108214470A (en) 2018-06-29
CN108202319A (en) 2018-06-26
CN107053237B (en) 2019-08-13
CN108202320A (en) 2018-06-26
CN105538298A (en) 2016-05-04

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