CN107791271A - A kind of electromagnet manipulator - Google Patents
A kind of electromagnet manipulator Download PDFInfo
- Publication number
- CN107791271A CN107791271A CN201711018740.8A CN201711018740A CN107791271A CN 107791271 A CN107791271 A CN 107791271A CN 201711018740 A CN201711018740 A CN 201711018740A CN 107791271 A CN107791271 A CN 107791271A
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- China
- Prior art keywords
- sucker
- guide rod
- absorption
- breach
- turnbarrel
- Prior art date
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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
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of electromagnet manipulator, including fixed station, connecting rod I and fixes sleeve, multiple hollow side sucker guide rods that can be swung up and down uniformly are connected in a circle side wall outside the fixes sleeve, the side sucker for adsorbing side of the object is equipped with each described one end of side sucker guide rod away from the turnbarrel, the side sucker is discoid electromagnet；The hollow front sucker guide rod that upper and lower displacement can be achieved by the drive of cylinder II is additionally provided with the turnbarrel, the front sucker is discoid electromagnet.Side sucker and front sucker are arranged to discoid electromagnet, and the energization of side sucker and front sucker is realized by vacuum generator, to cause side sucker and front sucker to produce magnetic force and adsorb metal crawl thing, do not interfered with irregularly even if metal crawl thing yet and work is captured to it, ensure smoothly completing for crawl work.
Description
Technical field
The present invention relates to manipulator field, and in particular to a kind of electromagnet manipulator.
Background technology
The Chinese invention patent of Patent No. 201510996754.1 discloses a kind of multi-sucker for capturing irregularly shaped object
Manipulator, its by by side sucker and front sucker paster on the surface of crawl thing, then by vacuum generator by side sucker
With front suction disc vacuum pumping, with cause side sucker and front sucker by capture thing adsorb, so as to realize irregular object
Capture work.Because it relies on vacuum to carry out the crawl to object, this needs side sucker and front sucker all to touch crawl
The surface of thing, being otherwise unable to reach vacuum causes crawl failure or vacuum not enough so that the object of crawl easily drops.And
The surface of general irregularly shaped object is on-plane surface, and the surface that side sucker and front sucker will all touch crawl thing is just very tired
Difficulty, therefore vacuum generator can not be by side sucker and front suction disc vacuum pumping or required for not reaching during crawl
Vacuum, ultimately result in the crawl that can not realize irregularly shaped object.
The content of the invention
In summary, for overcome the deficiencies in the prior art, the technical problems to be solved by the invention are to provide a kind of electricity
Magnet manipulator.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of electromagnet manipulator, including fixed station and company
Bar I, is provided with turntable on the fixed station, the turntable be provided with by motor I drive can 360 ° of horizontal rotations lead
Post console, be fixedly connected with the screw thread guide pillar being vertically arranged on the guide pillar console, be provided with the screw thread guide pillar and its
Threaded connection and the guide pillar console rotate can upper and lower displacement movable block, described one end of connecting rod I is fixedly connected with the movement
It hurry up, the other end of the connecting rod I is horizontal-extending and one end of horizontally disposed connecting rod II is connected by articulated link chain I, and this is be hinged
Chain I is driven by motor II can drive the connecting rod II remote around described I level of articulated link chain, 360 ° of rotations, the connecting rod II
The fixes sleeve of one end connection of the articulated link chain I straight down, and the connecting rod I is to drive to extend by cylinder I
Or the telescopic rod shortened；
Be provided with the fixes sleeve by motor III drive can axial rotation turnbarrel, and the rotary sleeve
The bottom of cylinder is extended to outside the fixes sleeve lower end, the turnbarrel bottom and outside the fixes sleeve one
Multiple hollow side sucker guide rods that can be swung up and down uniformly are connected in circle side wall, the side sucker guide rod forms crawl thing
The handgrip of body side surface, it is equipped with each described one end of side sucker guide rod away from the turnbarrel for adsorbing object
The side sucker of side；The side sucker is discoid electromagnet, in each side sucker guide rod both sides side wall
Centre position adsorb wires, the side corresponding to one end connection of two sides absorption wires embedded with two sides
Sucker, interior of its other end along the side sucker guide rod are distinguished after extending and passing to side sucker guide rod outside
The both positive and negative polarity of power supply is connected, the side disconnected is provided with the centre position of side absorption wire and adsorbs breach, it is described
The opening position that side sucker guide rod side wall corresponds to the side absorption inner side is slidably provided with closure side absorption breach
With the first plug of the circuit turn-on that power supply is powered to the side sucker；The first bullet is provided with the side absorption breach
Spring, and one end of first spring connects one end of first plug, and its other end adsorbs breach through the side
It is connected to afterwards on the inwall of side absorption breach；The one end of first plug away from first spring is to extend into the side
Inclined-plane inside the sucker guide rod of face, the inclined-plane oblique prolong in side from top to bottom up towards the outside of the side sucker guide rod
Stretch；First plug is headed into corresponding side surface absorption breach in being provided with for each side sucker guide rod inner slidable
To turn on the first slide bar to the side sucker power supply circuit；
It is additionally provided with the turnbarrel and is led by the hollow front sucker of the achievable upper and lower displacement of drive of cylinder II
Bar, the front sucker for adsorbing object upper surface is provided with the lower end of each front sucker guide rod；The front sucker is
Discoid electromagnet, centre position is led embedded with two front absorption in the side wall of each front sucker guide rod both sides
Line, the front sucker corresponding to one end connection of two front absorption wires, its other end is along the front sucker
The interior of guide rod also connects the both positive and negative polarity of power supply respectively after extending and passing to front sucker guide rod outside, at described two
The centre position of front absorption wire is provided with the front absorption breach disconnected, described in the front sucker guide rod side wall corresponds to
The opening position of front absorption inner side is slidably provided with closure front absorption breach so that power supply to be supplied to the front sucker
Second plug of the circuit turn-on of electricity；Second spring, and one end of the second spring are provided with the front absorption breach
One end of second plug is connected, its other end is connected to the inwall of front absorption breach after adsorbing breach through the front
On；The described one end of second plug away from the second spring is the inclined-plane extending into inside the front sucker guide rod, and this is oblique
Face is in side from top to bottom up towards being extended obliquely out on the outside of the front sucker guide rod；In each front sucker guide rod
Portion is slidably provided with to head into second plug in corresponding front absorption breach and powered electricity to the front sucker with conducting
Second slide bar on road；
It is provided with the connecting rod II and simultaneously vacuumizes the side sucker guide rod and the front sucker guide rod
Vacuum generator；The vacuum generator vacuumizes the side sucker guide rod to drive first sliding bar and incite somebody to action
First plug is headed into corresponding side absorption breach, and it vacuumizes the front sucker guide rod to drive described second
Sliding bar simultaneously heads into second plug in corresponding front absorption breach；
Camera I is provided with the turntable, in the turnbarrel bottom and outside the fixes sleeve
Camera II is additionally provided with side wall, console, the console and the camera I, the shooting are provided with the fixed station
First II, the motor I, the motor II, the motor III, the cylinder I and the Electricity Federation of the cylinder II, and the control
Platform positions according to the shooting of the camera I to the azimuth-range for capturing thing, and the console is taken the photograph always according to described
As first II shooting calculates the space coordinates of crawl thing, the last console is according to the positioning to crawl thing and space coordinates
To control the operation of the motor I, the motor II, the motor III, the cylinder I and the cylinder II to realize object
Crawl.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement：
Further, the console includes the control centre using ARM as main control module.
Further, the turnbarrel connects the side sucker guide rod by articulated link chain II.
Further, the turnbarrel includes the larger part in the less part of top radial dimension and bottom radial dimension
Composition, and the less part of top radial dimension is rotatably in the fixes sleeve.
Further, being provided with the top of the screw thread guide pillar prevents the movable block shifts up from departing from the screw thread guide pillar
Block.
Further, it is provided with the top of the fixes sleeve and is used to prevent the turnbarrel from departing from the fixes sleeve
Baffle ring.
Further, the fixed station is fixed on locomotive by connecting hole.
Further, the motor I, the motor II and the motor III are stepper motor.
Further, the camera I is arranged on the turntable by support I.
Further, the camera II is arranged on by support II in the side wall of the turnbarrel.
The beneficial effects of the invention are as follows：Side sucker and front sucker are arranged to discoid electromagnet, and by true
Empty generator realizes the energization of side sucker and front sucker, to cause side sucker and front sucker to produce magnetic force by metal catch
Take thing to adsorb, also do not interfered with irregularly even if metal crawl thing and work is captured to it, ensure smoothly completing for crawl work.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of turnbarrel；
Fig. 3 is side sucking disk bar and the connection diagram of side sucker；
Fig. 4 is Fig. 3 A enlarged drawings；
Fig. 5 is positive sucking disk bar and the connection diagram of front sucker；
Fig. 6 is Fig. 5 B enlarged drawings.
In accompanying drawing, the list of parts representated by each label is as follows：
1st, side sucker, 2, side sucking disk bar, 3, front sucker, 4, front sucker guide rod, 5, rotate articulated link chain I, 6, rotation
Rotaring sleeve, 7 fixes sleeves, 8, baffle ring, 9, vacuum generator, 10, connecting rod II, 11, rotate articulated link chain I, 12, connecting rod I, 13, gear
Block, 14, mobile fast, 15, screw thread guide pillar, 16, guide pillar console, 17, turntable, 18, console, 19, connecting hole, 20, fixed
Platform, 21, support I, 22, camera I, 23, support II, 24, camera II, 25, side absorption wire, 26, side absorption breach,
27th, the first plug, the 28, first spring, the 29, first slide bar, 30, front absorption wire, 31, front absorption breach, 32, second is stifled
Head, 33, second spring, the 34, second slide bar.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in figure 1, a kind of electromagnet manipulator, including fixed station 20 and connecting rod I 12, the fixed station 20 pass through connection
Hole 19 is fixed on locomotive.Turntable 17 is provided with the fixed station 20, the turntable 17, which is provided with, passes through the band of motor I
It is dynamic can 360 ° of horizontal rotations guide pillar consoles 16, be fixedly connected with the screw thread guide pillar being vertically arranged on the guide pillar console 16
15, on the screw thread guide pillar 15 be provided be threadedly coupled with it and with the guide pillar console 16 rotate horizontally can upper and lower displacement shifting
Motion block 14, being provided with the top of the screw thread guide pillar 15 prevents the movable block 14 shifts up from departing from the screw thread guide pillar 15
Block 13.Described one end of connecting rod I 12 is fixedly connected with the movement fast 14, and the other end of the connecting rod I 12 is horizontal-extending and leads to
One end that articulated link chain I 11 connects horizontally disposed connecting rod II 10 is crossed, the articulated link chain I 11 can drive described by the drive of motor II
Connecting rod II 10 is around described I 11 level of articulated link chain, 360 ° of rotations, one end connection of the connecting rod II 10 away from the articulated link chain I 11
Fixes sleeve 7 straight down, and the connecting rod I 12 is to drive the telescopic rod that can be extended or shorten by cylinder I.
Be provided with the fixes sleeve 7 by motor III drive can axial rotation turnbarrel 6, specifically：Such as Fig. 2
Shown, the turnbarrel 6 includes the larger part composition in the less part of top radial dimension and bottom radial dimension, and
The less part of top radial dimension rotatably in the fixes sleeve 7, is provided with the top of the fixes sleeve 7 and used
In preventing the turnbarrel 6 from departing from the baffle ring 8 of the fixes sleeve 7, and the bottom of the turnbarrel 6 extend to it is described
Outside the lower end of fixes sleeve 7, pass through hinge in the bottom of turnbarrel 6 and the circle side wall being in outside the fixes sleeve 7
Chain link II 5 uniformly connects multiple hollow side sucker guide rods 2 swung up and down, and the side sucker guide rod 2 forms crawl thing
The handgrip of body side surface, it is equipped with each described one end of side sucker guide rod 2 away from the turnbarrel 6 for adsorbing thing
The side sucker 1 of body side surface, the side sucker 1 are discoid electromagnet.As shown in Figures 3 and 4, inhaled in each side
Wire 25 is adsorbed in centre position in the both sides side wall of disk guide rod 2 embedded with two sides, and wire 25 is adsorbed in two sides
The side sucker 1 corresponding to the connection of one end, interior of its other end along the side sucker guide rod 2 extend and passed
The both positive and negative polarity of power supply is connected after to the outside of side sucker guide rod 2 respectively, is provided with the centre position of side absorption wire 25
The side absorption breach 26 disconnected, the side wall of side sucker guide rod 2 correspond to the position of the inner side of side absorption breach 26
The first of the circuit turn-on that the place of putting slidably is provided with closure side absorption breach 26 power supply is powered to the side sucker 1
Plug 27；Be provided with the first spring 28 in side absorption breach 26, and one end of first spring 28 connects described the
One end of one plug 27, its other end are connected to after adsorbing breach 26 through the side on the inwall of side absorption breach 26；
The one end of first plug 27 away from first spring 28 is the inclined-plane extending into inside the side sucker guide rod 2, should
Inclined-plane extends obliquely out in side from top to bottom up towards the outside of the side sucker guide rod 2；Led in each side sucker
Being provided with for the inner slidable of bar 2 heads into first plug 27 in corresponding side surface absorption breach 26 to turn on to side suction
First slide bar 29 of the power supply circuit of disk 1.
It is additionally provided with the turnbarrel 6 and is led by the hollow front sucker of the achievable upper and lower displacement of drive of cylinder II
Bar 4, the front sucker 3 for adsorbing object upper surface is provided with the lower end of each front sucker guide rod 4.Such as the institutes of Fig. 5 and 6
Show, the front sucker 3 is discoid electromagnet, the centre position in the side wall of each both sides of front sucker guide rod 4
Wire 30 is adsorbed embedded with two fronts, the front sucker 3 corresponding to one end connection of wire 30 is adsorbed in two fronts,
Interior of its other end along the front sucker guide rod 4 extends and also distinguished after passing to the outside of front sucker guide rod 4
The both positive and negative polarity of power supply is connected, the front absorption breach disconnected is provided with the centre position of described two front absorption wires 30
29, the opening position that the side wall of front sucker guide rod 4 corresponds to the inner side of front absorption breach 29 is slidably being provided with closure just
Breach 29 is adsorbed with the second plug 30 of the circuit turn-on that power supply is powered to the front sucker 3 in face；The front absorption lacks
Second spring 33 is provided with mouth 29, and one end of the second spring 33 connects one end of second plug 30, and its is another
It is connected to after holding through the front absorption breach 29 on the inwall of front absorption breach 29；Second plug 30 is away from described
One end of second spring 33 is the inclined-plane extending into inside the front sucker guide rod 4, and the inclined-plane is on direction from top to bottom
Extended obliquely out towards the outside of the front sucker guide rod 4；In being provided with institute for each inner slidable of front sucker guide rod 4
The second plug 30 is stated to head into corresponding front absorption breach 29 to turn on the second slide bar to the power supply circuit of front sucker 3
34。
It is provided with the connecting rod II 10 and simultaneously takes out the side sucker guide rod 2 and the front sucker guide rod 4
The vacuum generator 9 of vacuum；The vacuum generator 9 vacuumizes the side sucker guide rod 2 to drive first slide bar
29 slide and head into first plug 27 in corresponding side absorption breach 26, and it takes out the front sucker guide rod 4 very
It is empty to be adsorbed with driving second sliding bar 32 and second plug 30 being headed into corresponding front in breach 28.
Camera I 22 is provided with by support I 21 on the turntable 17, in the bottom of turnbarrel 6 and is in institute
State and camera II 24 is additionally provided with by support II 23 in the side wall outside fixes sleeve 7, being provided with the fixed station 20 includes
Be console 18 of the main control module as control centre using ARM, the console 18 and the camera I 22, the camera II 24,
The motor I, the motor II, the motor III, the cylinder I and the Electricity Federation of the cylinder II, and the console 18
The azimuth-range for capturing thing is positioned according to the shooting of the camera I 22, the console 18 is always according to described
The shooting of camera II 24 calculates the space coordinates of crawl thing, and the last console 18 is according to positioning and the sky to capturing thing
Between coordinate come control the operation of the motor I, the motor II, the motor III, the cylinder I and the cylinder II realize
The crawl of object, the motor I, the motor II and the motor III are stepper motor.
Many times, the irregularly shaped object of crawl is metal material.During work is captured, first by console
18 control centre positions according to the shooting of camera I 22 to the azimuth-range for capturing thing, and then console 18 passes through
The operation of controlled motor I realizes the upper and lower displacement of movable block 14, the rotation of connecting rod II 10 is realized by the operation of controlled motor II
Turn, the rotation of turnbarrel 6 realized by the operation of controlled motor III, by controlling the operation of cylinder I to realize stretching for connecting rod I 12
Contracting and realize the upper and lower displacement of front sucker guide rod 4 by controlling the operation of cylinder II, final console 18 is by side sucker
The gripper that guide rod 2 and front sucker guide rod 4 are formed is moved to the surface of crawl thing.Pass through II 24 pairs of crawls of camera again
The space profiles of thing carry out IMAQ, and the image of collection is sent into the control centre using ARM as main control module, by controlling
Center is handled image, calculates the space coordinates of crawl thing.Then console 18 is again by above-mentioned to motor I, motor
IIth, the control of motor III, cylinder I and cylinder II realizes that gripper captures to crawl thing.By vacuum generator 9 by side
Face sucker guide rod 2 is vacuumized to drive the first slide bar 29 to slide, and the first slide bar 29 slides heads into corresponding side by the first plug 27
To turn on the power supply circuit of side sucker 1 in face absorption breach 26, side sucker 1 is set to produce magnetic force；According to above-mentioned same side
Formula, vacuum generator 9 vacuumize front sucker guide rod 4 to drive the second sliding bar 32 and head into the second plug 30 correspondingly
Front absorption breach 28 in, make front vacuum cup 3 be powered produce magnetic force.Side sucker 1 and front vacuum cup 3 produce
Absorption affinity is formed to irregular metal thing after magnetic force, crawl of the irregularly shaped object realization to it is adsorbed by the absorption affinity, i.e.,
Metal crawl thing is not also interfered with irregularly and work is captured to it, ensure smoothly completing for crawl work.Avoid taking side
Sucker 1 and front vacuum cup 3 form vacuum to capture with metal object surface, it is desirable to which side sucker 1 and front sucker 2 will be all
Touch crawl thing surface, cause crawl during vacuum generator 9 side sucker 1 and front sucker 2 can not be vacuumized or
Person does not reach required vacuum, ultimately results in the crawl that can not realize irregularly shaped object.Before crawl, by side sucker 1
It is not produced magnetic force with the power-off of front vacuum cup 3, be in order to which console 18 can be by side sucker guide rod 2 and front sucker
The gripper that guide rod 4 is formed is moved to the optimal crawl position of crawl thing.Otherwise, if side sucker 1 and front vacuum cup 3 exist
Just it is powered before crawl and produces magnetic force, mutual absorption affinity meeting between side sucker 1 and front vacuum cup 3 and irregular metal thing
It is produced displacement or swing, cause console 18 can not move side sucker guide rod 2 and front sucker guide rod 4 most preferably
Crawl position.
Front vacuum cup 3 can be captured individually to irregularly shaped object, and the handgrip that side sucker 1 is formed can also be to certain
A little irregularly shaped objects are captured, and the handgrip that front vacuum cup 3 and side sucker 1 are formed if necessary is combined to be carried out surely to object
It is fixed effectively to capture.When individually using front vacuum cup 3 work when, side sucker 1 formed handgrip stepper motor band
Rotate up under dynamic, until side sucker 1 is completely in the both sides of turnbarrel 6, finally captured again by front vacuum cup 3
Object.When individually being worked using side sucker 1, front sucker guide rod 4 shrinks upwards, and side sucking disk bar 1 passes through stepping
The operation of motor III rotates with the rotation of turnbarrel 6, and side sucker 1 is moved into correct position fits to crawl thing
Side, vacuumize process is done to side sucker 1 by vacuum generator 9, so as to adsorb crawl thing, realizes crawl.Due to adopting
The three-dimensional localization of object is completed with image processing techniques, there is provided more accurate three-dimensional coordinate, so that the crawl work of object
Make reliable quick.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (10)
1. a kind of electromagnet manipulator, it is characterised in that including fixed station (20) and connecting rod I (12), in the fixed station (20)
Turntable (17) is provided with, the turntable (17) is provided with can 360 ° of guide pillar consoles rotated horizontally by the drive of motor I
(16) the screw thread guide pillar (15) being vertically arranged, is fixedly connected with the guide pillar console (16), on the screw thread guide pillar (15)
Provided be threadedly coupled with it and with the guide pillar console (16) rotate horizontally can upper and lower displacement movable block (14), the connecting rod
I (12) one end is fixedly connected with the movement soon (14), and the other end of the connecting rod I (12) is horizontal-extending and passes through articulated link chain I
(11) one end of horizontally disposed connecting rod II (10) is connected, the articulated link chain I (11) is driven by motor II can drive the company
Bar II (10) rotates around described 360 ° of I (11) level of articulated link chain, and the one of the remote articulated link chain I (11) of the connecting rod II (10)
The fixes sleeve (7) of end connection straight down, and the connecting rod I (12) is to drive to extend or shorten by cylinder I
Telescopic rod；
Be provided with the fixes sleeve (7) by motor III drive can axial rotation turnbarrel (6), and the rotation
The bottom of sleeve (6) is extended to outside the fixes sleeve (7) lower end, turnbarrel (6) bottom and is in the fixation
Multiple hollow side sucker guide rods (2) that can be swung up and down, the side are uniformly connected in the outside circle side wall of sleeve (7)
Sucker guide rod (2) forms the handgrip of crawl side of the object, in each side sucker guide rod (2) away from the turnbarrel
(6) one end is equipped with the side sucker (1) for adsorbing side of the object；The side sucker (1) is discoid electromagnetism
Wires (25) are adsorbed in iron, centre position in each side sucker guide rod (2) both sides side wall embedded with two sides, and two
The side sucker (1) corresponding to one end connection of side absorption wire (25) described in root, its other end are inhaled along the side
The interior of disk guide rod (2) extends and connects the both positive and negative polarity of power supply after passing to side sucker guide rod (2) outside respectively, in institute
The centre position for stating side absorption wire (25) is provided with the side absorption breach (26) disconnected, the side sucker guide rod
(2) opening position that side wall is corresponded on the inside of side absorption breach (26) be slidably provided with closure side absorption breach (26) with
The first plug (27) for the circuit turn-on that power supply is powered to the side sucker (1)；Set in the side absorption breach (26)
There is the first spring (28), and one end of first spring (28) connects one end of first plug (27), its other end
It is connected to after through side absorption breach (26) on the inwall of side absorption breach (26)；First plug (27) is remote
One end of first spring (28) is to extend into the internal inclined-plane of the side sucker guide rod (2), and the inclined-plane is from top to bottom
Side up towards being extended obliquely out on the outside of the side sucker guide rod (2)；It can be slided inside each side sucker guide rod (2)
Dynamic being provided with heads into first plug (27) in corresponding side surface absorption breach (26) to turn on to the side sucker (1) confession
The first slide bar (29) of circuit；
The hollow front sucker guide rod that upper and lower displacement can be achieved by the drive of cylinder II is additionally provided with the turnbarrel (6)
(4) the front sucker (3) for adsorbing object upper surface, is provided with the lower end of each front sucker guide rod (4)；The front
Sucker (3) is discoid electromagnet, and centre position is embedded with two in the side wall of each front sucker guide rod (4) both sides
Root front absorption wire (30), the front sucker (3) corresponding to one end connection of two front absorption wires (30), its
Interior of the other end along the front sucker guide rod (4) extends and also divided after passing to front sucker guide rod (4) outside
Not Lian Jie power supply both positive and negative polarity, described two front absorption wires (30) centre positions be provided with is disconnected front adsorb
Breach (29), the opening position that front sucker guide rod (4) side wall is corresponded on the inside of the front absorption breach (29) are slidable
Provided with closure front absorption breach (29) with the second plug of the circuit turn-on that power supply is powered to the front sucker (3)
(30)；Second spring (33), and one end connection institute of the second spring (33) are provided with the front absorption breach (29)
One end of the second plug (30) is stated, its other end is connected to front absorption breach (29) after adsorbing breach (29) through the front
Inwall on；The one end of second plug (30) away from the second spring (33) is to extend into the front sucker guide rod
(4) internal inclined-plane, the inclined-plane is in side from top to bottom up towards being extended obliquely out on the outside of the front sucker guide rod (4)；
Second plug (30) is headed into corresponding front absorption breach by being provided with for each front sucker guide rod (4) inner slidable
(29) the second slide bar (34) in conducting to front sucker (3) power supply circuit；
It is provided with the side sucker guide rod (2) and the front sucker guide rod (4) on the connecting rod II (10) simultaneously
The vacuum generator (9) vacuumized；The vacuum generator (9) vacuumizes the side sucker guide rod (2) with described in drive
First slide bar (29) slide simultaneously will first plug (27) head into corresponding to side absorption breach (26) it is interior, it is by the front
Sucker guide rod (4) is vacuumized to drive second sliding bar (32) and second plug (30) is headed into corresponding front
Adsorb in breach (29)；
Camera I (22) is provided with the turntable (17), in the turnbarrel (6) bottom and is in the fixes sleeve
(7) camera II (24) is additionally provided with outside side wall, console (18), the console is provided with the fixed station (20)
(18) with the camera I (22), the camera II (24), the motor I, the motor II, the motor III, the gas
Cylinder I and the Electricity Federation of the cylinder II, and the console (18) imaging come to crawl thing according to the camera I (22)
Azimuth-range is positioned, and the console (18) calculates the sky of crawl thing always according to the shooting of the camera II (24)
Between coordinate, the last console (18) controls the motor I, the motor according to the positioning to crawl thing and space coordinates
IIth, the crawl of object is realized in the operation of the motor III, the cylinder I and the cylinder II.
2. electromagnet manipulator according to claim 1, it is characterised in that the console (18) is included based on ARM
Control the control centre of module.
3. electromagnet manipulator according to claim 1, it is characterised in that the turnbarrel (6) passes through articulated link chain II
(5) the side sucker guide rod (2) is connected.
4. electromagnet manipulator according to claim 1, it is characterised in that be provided with the top of the screw thread guide pillar (15)
Prevent the movable block (14) from shifting up the block (13) for departing from the screw thread guide pillar (15).
5. electromagnet manipulator according to claim 1, it is characterised in that be provided with the top of the fixes sleeve (7)
For preventing the turnbarrel (6) from departing from the baffle ring (8) of the fixes sleeve (7).
6. electromagnet manipulator according to claim 1, it is characterised in that the fixed station (20) passes through connecting hole (19)
It is fixed on locomotive.
7. electromagnet manipulator according to claim 1, it is characterised in that the turnbarrel (6) includes top radially
The less part of size and the larger part composition of bottom radial dimension, and the less part of top radial dimension is rotatable
In the fixes sleeve (7).
8. electromagnet manipulator according to any one of claims 1 to 7, it is characterised in that the motor I, the motor II
It is stepper motor with the motor III.
9. electromagnet manipulator according to any one of claims 1 to 7, it is characterised in that the camera I (22) passes through branch
Frame I (21) is arranged on the turntable (17).
10. electromagnet manipulator according to any one of claims 1 to 7, it is characterised in that the camera II (24) passes through
Support II (23) is arranged in the side wall of the turnbarrel (6).
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| CN201711018740.8A CN107791271A (en) | 2017-10-27 | 2017-10-27 | A kind of electromagnet manipulator |
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| CN201711018740.8A CN107791271A (en) | 2017-10-27 | 2017-10-27 | A kind of electromagnet manipulator |
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| CN107791271A true CN107791271A (en) | 2018-03-13 |
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| CN201711018740.8A Withdrawn CN107791271A (en) | 2017-10-27 | 2017-10-27 | A kind of electromagnet manipulator |
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| CN108380719A (en) * | 2018-03-20 | 2018-08-10 | 桂林电子科技大学 | It is a kind of based on the building mortion for taking part clutch monoblock type corrugated sheet automatically |
| CN108434687A (en) * | 2018-05-11 | 2018-08-24 | 萍乡学院 | Shot game service robot |
| CN110109192A (en) * | 2019-05-23 | 2019-08-09 | 南充市嘉恒建设工程质量检测有限公司 | A kind of reinforcing bar survey meter auxiliary detection device and its application method |
| CN110254772A (en) * | 2019-05-05 | 2019-09-20 | 郑州工程技术学院 | A kind of work of fine arts fully-automatic packaging system and method |
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| CN205238065U (en) * | 2015-12-28 | 2016-05-18 | 桂林电子科技大学 | Snatch many sucking discs manipulator of irregularity body |
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| CN108380719A (en) * | 2018-03-20 | 2018-08-10 | 桂林电子科技大学 | It is a kind of based on the building mortion for taking part clutch monoblock type corrugated sheet automatically |
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| CN108434687A (en) * | 2018-05-11 | 2018-08-24 | 萍乡学院 | Shot game service robot |
| CN108434687B (en) * | 2018-05-11 | 2023-11-03 | 萍乡学院 | Service robot for shot game |
| CN110254772A (en) * | 2019-05-05 | 2019-09-20 | 郑州工程技术学院 | A kind of work of fine arts fully-automatic packaging system and method |
| CN110109192A (en) * | 2019-05-23 | 2019-08-09 | 南充市嘉恒建设工程质量检测有限公司 | A kind of reinforcing bar survey meter auxiliary detection device and its application method |
| CN110395895A (en) * | 2019-06-29 | 2019-11-01 | 东莞泰升玻璃有限公司 | A kind of sucker structure |
| CN111015717A (en) * | 2019-12-25 | 2020-04-17 | 西安理工大学 | Controllable electrostatic adsorption structure for foot of soft robot |
| CN112960395A (en) * | 2021-03-18 | 2021-06-15 | 中国工程物理研究院机械制造工艺研究所 | Multipurpose end face positioning type vacuum suction device |
| CN113910255A (en) * | 2021-10-13 | 2022-01-11 | 邦世科技(南京)有限公司 | Intelligent ferry robot for surgical instruments and control method thereof |
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