CN107322627A - A kind of industrial robot sucked type instrument hand positioner - Google Patents
A kind of industrial robot sucked type instrument hand positioner Download PDFInfo
- Publication number
- CN107322627A CN107322627A CN201710511218.7A CN201710511218A CN107322627A CN 107322627 A CN107322627 A CN 107322627A CN 201710511218 A CN201710511218 A CN 201710511218A CN 107322627 A CN107322627 A CN 107322627A
- Authority
- CN
- China
- Prior art keywords
- positioning
- industrial robot
- plate
- type instrument
- sucked type
- 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.)
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Classifications
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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
-
- 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
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of industrial robot sucked type instrument hand positioner, including workbench and conveyer belt, workbench is provided with clamping device, clamping device includes arm and hand, hand lower end is provided with installing plate, installing plate is provided with mounting hole and positioning hole, the lower section of installing plate is provided with the first positioning header, positioning header is located in positioning hole, the surface of conveyer belt is provided with positioning datum device, positioning datum device includes reference platform and support bar, the lower surface of support bar one end and reference platform links together, the marginal position connection of the other end and conveyer belt, the surface of reference platform is provided with location-plate, the lower section of location-plate is provided with expansion link, expansion link one end is connected with location-plate, the other end is connected with reference platform, the surface center of location-plate is provided with the second positioning header, the function of quickly positioning can be realized, improve the precision of positioning, avoid the error that naked eyes positioning belt comes, it is worthy to be popularized.
Description
Technical field
The present invention relates to robot actuation means technical field, specially a kind of industrial robot sucked type instrument hand positioning
Device.
Background technology
China has turned into the maximum potential industrial robot country of consumption in the whole world, and average annual growth rate reaches more than 25%, according to work
The development plan in letter portion, to the year two thousand twenty, industrial robot installation amount is up to 1,000,000, as industrial robot is in enterprise
It is a large amount of use, enterprise increasingly payes attention in the operating technology of robot, the course of work of industrial robot, mainly machine
People, PLC, the mutual cooperation of intelligent vision system, and in the commissioning process of industrial robot, the coordinate system of robot is thing
Great, the important component that instrument hand works as industrial robot is closed, the tool coordinates of its instrument hand are to whole industry
The running precision and positioning precision of robot serve vital effect, and the correct demarcation of coordinate is to ensure that machine is artificial
Have the running precision of hand and the key factor of positioning precision, engineers and technicians have found robot fixed in existing equipment use
There is performance accuracy in point device not high, repetitive positioning accuracy, which does not reach, has influence on robot work shape in design requirement, operation
State, particularly the industrial robot coordinate system with sucker class frock demarcation be on the basis of sucker central point, typically without
Method is accurately positioned, even if after positioning, industrial robot coordinate system precision does not reach expected effect, causes equipment to be filled in precision
In matching somebody with somebody, accurate position is can not find, causes assembly precision not reach technological requirement, severe patient can cause equipment damage, furthermore, by
Belong to rapid wear object in sucker, directly demarcation is likely to result in sucker damage, and making the correct demarcation of instrument hand-held tool coordinate becomes very
Complexity, precisely operation is had any problem.
The content of the invention
In order to overcome the shortcomings of prior art, the present invention provides a kind of industrial robot sucked type instrument hand positioning dress
Put, the function of quickly positioning can be realized, improve the precision of positioning, it is to avoid the error that naked eyes positioning belt comes, be worth pushing away
Extensively.
The technical solution adopted for the present invention to solve the technical problems is：A kind of industrial robot sucked type instrument hand positioning
Device, including workbench and conveyer belt, the conveyer belt are used for transmitting component to be clamped, and clamping dress is provided with the workbench
Put, the clamping device includes arm and hand, is linked together between the hand and arm by mechanical interface, the hand
Subordinate end, which is provided with installing plate, the installing plate, is provided with mounting hole and positioning hole, and the mounting hole is used for installing vacuum suction
Disk, the positioning hole is arranged on the center of installing plate, and the positioning hole is in the center of vacuum cup, the installing plate
Lower section be provided with the first positioning header, the positioning header is arranged in positioning hole, and the conveyer belt is arranged above
Positioning datum device, the positioning datum device includes reference platform and support bar, described support bar one end and reference platform
Lower surface is linked together, and the other end of the support bar is connected by the marginal position of screw and conveyer belt, and the benchmark is put down
Being arranged above below location-plate, the location-plate of platform is provided with expansion link, and described expansion link one end connects with location-plate
Connect, the other end is connected with reference platform, the surface center of the location-plate is provided with the second positioning header.
As a kind of preferred technical scheme of the present invention, the amount of articulation on the arm is four.
As a kind of preferred technical scheme of the present invention, the first positioning header and the second positioning header include cylinder
The locating rod of shape is integrally formed with conical positioning head, and the locating rod and positioning head.
It is used as a kind of preferred technical scheme of the present invention, the second positioning header, location-plate, expansion link, reference platform
With the height of support bar and identical with height component to be clamped.
As a kind of preferred technical scheme of the present invention, the diameter of the locating rod is identical with the diameter of positioning hole.
As a kind of preferred technical scheme of the present invention, the positioning head is made of diamond.
As a kind of preferred technical scheme of the present invention, the mechanical interface is detachable.
As a kind of preferred technical scheme of the present invention, the transmission belt surface is provided with soft silica gel pad.
Compared with prior art, the beneficial effects of the invention are as follows：The industrial robot sucked type instrument hand positioner leads to
Cross setting first and position header and the second positioning header, the central point of sucker is operated showing a little in the form of ball point device
Religion and the demarcation of instrument hand-held tool coordinate system, greatly increase the industrial machine task efficiency and industrial machine are artificial
Have the accuracy of hand positioning, expansion link is set, the regulation of the second positioning header upper-lower height is realized, is easy to follow-up industrial machine
People's instrument hand clamps operation component to be clamped, by setting mechanical interface, realizes dismountable work(between arm and hand
Can, generally according to difference component to be clamped, a kind of arm can be furnished with multiple terminal devices, so as to improve the logical of the instrument hand
With property, on the whole from the point of view of, the industrial robot sucked type instrument hand positioner, using split-type structural, leads between each part
Cross screw mode connects for screw together, installation and removal are all very convenient, can realize the function of quickly positioning, improve the essence of positioning
Accuracy, it is to avoid the error that naked eyes positioning belts comes, is worthy to be popularized.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is mounting plates structure schematic diagram of the present invention.
In figure：1- workbench；2- conveyer belts；3- clamping devices；4- arms；5- hands；6- mechanical interfaces；7- installing plates；
8- mounting holes；9- positioning holes；10- first positions header；11- positioning datum devices；12- reference platforms；13- support bars；14- determines
Position plate；15- expansion links；16- second positions header；17- locating rods；18- positioning heads；19- soft silica gel pads.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Embodiment：
As depicted in figs. 1 and 2, the invention provides a kind of industrial robot sucked type instrument hand positioner, including work
Make platform 1 and conveyer belt 2, the conveyer belt 2 is used for transmitting component to be clamped, and clamping device 3, institute are provided with the workbench 1
Stating clamping device 3 includes arm 4 and hand 5, is linked together between the hand 5 and arm 4 by mechanical interface 6, described
The lower end of hand 5, which is provided with installing plate 7, the installing plate 7, is provided with mounting hole 8 and positioning hole 9, and the mounting hole 8 is used for pacifying
Vacuum cup is filled, the positioning hole 9 is arranged on the center of installing plate 7, and the positioning hole 9 is in vacuum cup
The heart, the lower section of the installing plate 7 is provided with the first positioning header 10, and the positioning header 10 is arranged in positioning hole 9, described to pass
That send band 2 is arranged above positioning datum device 11, and the positioning datum device 11 includes reference platform 12 and support bar 13,
Described one end of support bar 13 and the lower surface of reference platform 12 link together, the other end of the support bar 13 by screw with
The marginal position connection of conveyer belt 2, the reference platform 12 is arranged above location-plate 14, the lower section of the location-plate 14
Expansion link 15 is provided with, described one end of expansion link 15 is connected with location-plate 14, and the other end is connected with reference platform 12, the positioning
The surface center of plate 14 is provided with the second positioning header 16, during positioning, the first positioning positioning header of header 10 and second
16 it is unlimited close to and contact.
The technical scheme is that：Amount of articulation on the arm 4 is four, facilitates the bending of arm 4, is easy to folder
Hold；The first positioning positioning of header 10 and second header 16 includes the locating rod 17 of cylinder and the positioning head of cone
18, and the locating rod 17 and positioning head 18 be integrally formed, and is easy to positioning；Described second positions header 16, location-plate 14, stretches
Bar 15, the height of reference platform 12 and support bar 13 and identical with height component to be clamped so that install true on installing plate 7
It is more accurate to clamping component to be clamped during suction disk, improve precision；The diameter of the locating rod 17 and positioning
The diameter in hole 9 is identical so that be in close contact between locating rod 17 and positioning hole 9；The positioning head 18 is made of diamond, gold
Hard rock material has the advantages that hardness height, wearability are good；The mechanical interface 6 is detachable, is easy to more hand-off according to the actual requirements
Portion 5, so as to improve the versatility of the positioner；The surface of conveyer belt 2 is provided with soft silica gel pad 19, and soft silica gel pad 19 is set
Put to the effect component to be clamped for serving protection on conveyer belt 2, reduction is component to be clamped to sustain damage in transmit process
Possibility.
The main characteristic of the invention lies in that, the industrial robot sucked type instrument hand positioner is positioned by setting first
The central point of sucker, is operated teaching and instrument hand-held tool a little by header and the second positioning header in the form of ball point device
The demarcation of coordinate system, greatly increase the industrial machine task efficiency and industrial robot instrument hand positioning it is accurate
Property, expansion link is set, the regulation of the second positioning header upper-lower height is realized, is easy to follow-up industrial robot instrument hand clamping to treat
The operation of hold assembly, by setting mechanical interface, realizes dismountable function between arm and hand, generally according to waiting to press from both sides
The difference of part is held, a kind of arm can be furnished with multiple terminal devices, so as to improve the versatility of the instrument hand, come on the whole
See that the industrial robot sucked type instrument hand positioner, using split-type structural, passes through screw mode connects for screw between each part
Together, mount and dismount all very convenient, the function of quickly positioning can be realized, improve the precision of positioning, it is to avoid meat
The error that eye positioning belt comes, is worthy to be popularized.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the claim involved by limitation.
Claims (8)
1. a kind of industrial robot sucked type instrument hand positioner, it is characterised in that：Including workbench (1) and conveyer belt (2),
The conveyer belt (2) is used for transmitting component to be clamped, and clamping device (3), the clamping device are provided with the workbench (1)
(3) include arm (4) and hand (5), linked together between the hand (5) and arm (4) by mechanical interface (6), institute
State hand (5) lower end and be provided with installing plate (7), the installing plate (7) and be provided with mounting hole (8) and positioning hole (9), the peace
Dress hole (8) is used for installing vacuum cup, and the positioning hole (9) is arranged on the center of installing plate (7), and the positioning hole
(9) it is in below the center of vacuum cup, the installing plate (7) and is provided with the first positioning header (10), the positioning header
(10) it is arranged in positioning hole (9), the conveyer belt (2) is arranged above positioning datum device (11), the positioning base
Standard apparatus (11) includes reference platform (12) and support bar (13), described support bar (13) one end and the following table of reference platform (12)
Face is linked together, and the other end of the support bar (13) is connected by screw with the marginal position of conveyer belt (2), the benchmark
Being arranged above of platform (12) is provided with expansion link (15) below location-plate (14), the location-plate (14), described to stretch
Contracting bar (15) one end is connected with location-plate (14), and the other end is connected with reference platform (12), the surface of the location-plate (14)
Center is provided with the second positioning header (16).
2. a kind of industrial robot sucked type instrument hand positioner according to claim 1, it is characterised in that：The hand
Amount of articulation on arm (4) is four.
3. a kind of industrial robot sucked type instrument hand positioner according to claim 1, it is characterised in that：Described
One positioning header (10) and the second positioning header (16) include the locating rod (17) of cylinder and the positioning head (18) of cone,
And the locating rod (17) and positioning head (18) are integrally formed.
4. a kind of industrial robot sucked type instrument hand positioner according to claim 1, it is characterised in that：Described
Two positioning headers (16), location-plate (14), expansion link (15), the height of reference platform (12) and support bar (13) and with it is to be held
The height of part is identical.
5. a kind of industrial robot sucked type instrument hand positioner according to claim 1,3, it is characterised in that：It is described
The diameter of locating rod (17) is identical with the diameter of positioning hole (9).
6. a kind of industrial robot sucked type instrument hand positioner according to claim 3, it is characterised in that：It is described fixed
Potential head (18) is made of diamond.
7. a kind of industrial robot sucked type instrument hand positioner according to claim 1, it is characterised in that：The machine
Tool interface (6) is detachable.
8. a kind of industrial robot sucked type instrument hand positioner according to claim 1, it is characterised in that：It is described to pass
Band (2) surface is sent to be provided with soft silica gel pad (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710511218.7A CN107322627A (en) | 2017-06-29 | 2017-06-29 | A kind of industrial robot sucked type instrument hand positioner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710511218.7A CN107322627A (en) | 2017-06-29 | 2017-06-29 | A kind of industrial robot sucked type instrument hand positioner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107322627A true CN107322627A (en) | 2017-11-07 |
Family
ID=60198793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710511218.7A Pending CN107322627A (en) | 2017-06-29 | 2017-06-29 | A kind of industrial robot sucked type instrument hand positioner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107322627A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531614A (en) * | 2018-12-12 | 2019-03-29 | 佛山市新鹏机器人技术有限公司 | A kind of multistation composite machine hand end equipment applied to automated package |
| CN111872931A (en) * | 2020-07-31 | 2020-11-03 | 安徽巨一科技股份有限公司 | Robot automatic calibration detection position mechanism |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4698775A (en) * | 1985-05-17 | 1987-10-06 | Flexible Manufacturing Systems, Inc. | Self-contained mobile reprogrammable automation device |
| CN104260112A (en) * | 2014-09-18 | 2015-01-07 | 西安航天精密机电研究所 | Robot hand and eye locating method |
| CN205415697U (en) * | 2016-03-31 | 2016-08-03 | 湖南化工职业技术学院 | Positioner is markd to industrial robot instrument hand elasticity |
| CN105818132A (en) * | 2016-03-31 | 2016-08-03 | 湖南化工职业技术学院 | Calibration and location method of sucking disc type tool hand of industrial robot |
-
2017
- 2017-06-29 CN CN201710511218.7A patent/CN107322627A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4698775A (en) * | 1985-05-17 | 1987-10-06 | Flexible Manufacturing Systems, Inc. | Self-contained mobile reprogrammable automation device |
| CN104260112A (en) * | 2014-09-18 | 2015-01-07 | 西安航天精密机电研究所 | Robot hand and eye locating method |
| CN205415697U (en) * | 2016-03-31 | 2016-08-03 | 湖南化工职业技术学院 | Positioner is markd to industrial robot instrument hand elasticity |
| CN105818132A (en) * | 2016-03-31 | 2016-08-03 | 湖南化工职业技术学院 | Calibration and location method of sucking disc type tool hand of industrial robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531614A (en) * | 2018-12-12 | 2019-03-29 | 佛山市新鹏机器人技术有限公司 | A kind of multistation composite machine hand end equipment applied to automated package |
| CN111872931A (en) * | 2020-07-31 | 2020-11-03 | 安徽巨一科技股份有限公司 | Robot automatic calibration detection position mechanism |
| CN111872931B (en) * | 2020-07-31 | 2021-08-13 | 安徽巨一科技股份有限公司 | Robot automatic calibration detection position mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171107 |
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| RJ01 | Rejection of invention patent application after publication |