CN107856022A - A kind of feeding mechanical arm - Google Patents
A kind of feeding mechanical arm Download PDFInfo
- Publication number
- CN107856022A CN107856022A CN201711222165.3A CN201711222165A CN107856022A CN 107856022 A CN107856022 A CN 107856022A CN 201711222165 A CN201711222165 A CN 201711222165A CN 107856022 A CN107856022 A CN 107856022A
- Authority
- CN
- China
- Prior art keywords
- arm
- taking material
- jaw
- camera
- taking
- 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.)
- Pending
Links
- 238000009434 installation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- 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
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of feeding mechanical arm, including the first arm for taking material, second arm for taking material and controller, first arm for taking material and the second arm for taking material are arranged on base, the distance between first arm for taking material and the second arm for taking material are less than the stroke sum of the first arm for taking material and the second arm for taking material, controller controls the first arm for taking material and the second arm for taking material to work respectively, jaw and camera are mounted on first arm for taking material and the second arm for taking material, and jaw and camera are arranged on the end of the first arm for taking material and the second arm for taking material by connecting plate, camera positions for jaw, first arm for taking material and the second arm for taking material cooperating, loading and unloading action is carried out simultaneously, operating efficiency is high, camera is that jaw positions and monitors jaw work quality in real time simultaneously, so that accurate positioning of the present invention, work quality is high, without carrying out secondary positioning to anchor point, save man-hour.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of feeding mechanical arm.
Background technology
With the development of science and technology, in order to improve the quality of workpiece and production efficiency, gradually adopted in industrial production
Manipulator carrys out band and replaces artificial operation, and at present, the same manipulator of generally use had not only carried out feeding operation to workpiece but also carried out down
Material operation, the loading and unloading work of workpiece can not be carried out simultaneously, and loading and unloading are less efficient, in addition, mechanical arm is determined workpiece at present
Position generally use puts the workpiece in anchor point, and mechanical arm is positioned from the mode of anchor point grabbing workpiece again again, but this
Only have in mode anchor point positioned after confirming after the completion of mechanical arm can just carry out next step action, and mechanical arm in this process
For some time idle so that work pieces process needs more man-hours.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of accurate positioning, can loading and unloading carry out simultaneously, operating efficiency
Feeding mechanical arm that is high and saving man-hour.
In order to solve the above-mentioned technical problem, the invention provides a kind of feeding mechanical arm, including the first arm for taking material, second take
Expect arm and controller, the first arm for taking material and the second arm for taking material are arranged on base, between the first arm for taking material and the second arm for taking material
Distance is less than the stroke sum of the first arm for taking material and the second arm for taking material, and controller controls the first arm for taking material and the second arm for taking material respectively
Work, be mounted on jaw and camera on the first arm for taking material and the second arm for taking material, and jaw and camera are arranged on by connecting plate
The end of first arm for taking material and the second arm for taking material, camera position for jaw, the first arm for taking material and the second arm for taking material cooperating, when
During the first arm for taking material feeding, the second arm for taking material installation material, when the first arm for taking material feeding, the second arm for taking material and the first arm for taking material
Coordinate and transmit material, the first arm for taking material and the second arm for taking material cooperating, loading and unloading action is carried out simultaneously, and operating efficiency is high, together
Shi Xiangji is that jaw positions and monitors jaw work quality in real time so that accurate positioning of the present invention, work quality height.
Further, jaw is flexibly connected with connecting plate, and slide rail is provided with connecting plate, and jaw is arranged on slide plate, sliding
Plate is fixed with the sliding block on slide rail, and cylinder is installed on one end of slide rail, and the push rod of cylinder is fixedly connected with slide plate, can be according to installation
Jaw is released or withdrawn by environment and material situation, and the scope of application is wider.
Further, the jaw on mechanical arm and camera be arranged in parallel, therefore camera can monitor the work of jaw in real time
Quality.
Further, controller is arranged in the base below the first arm for taking material and the second arm for taking material.
Further, the corner below base is provided with adjustment pin, and the side below base is provided with and ground fixes
Base tail margin, to ensure the firm of whole device.
Further, the lens head of camera is provided with light source.
Further, camera is CCD camera.
Compared with the prior art, the invention has the advantages that camera is set together with jaw so that mechanical arm positions
It is more accurate, two mechanical arm seamless connections, without secondary positioning, save man-hour and operating efficiency is higher.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is mechanical arm tool structure schematic diagram of the present invention.
Embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, so that those skilled in the art can be with
More fully understand the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
As shown in Figure 1 and Figure 2, a kind of feeding mechanical arm, including the first arm for taking material 1, the second arm for taking material 2 and controller 4, the
One arm for taking material 1 and the second arm for taking material 2 are installed on the base 3, and the distance between the first arm for taking material 1 and the second arm for taking material 2 are less than the
The stroke sum of one arm for taking material 1 and the second arm for taking material 2, controller 4 are arranged on the first arm for taking material 1 and the lower section of the second arm for taking material 2
In base 3, controller 4 controls the first arm for taking material 1 and the second arm for taking material 2 to work respectively, the first arm for taking material 1 and the second arm for taking material 2
On be mounted on jaw 6 and camera 5, and jaw 6 and camera 5 are arranged on the first arm for taking material 1 and the second arm for taking material by connecting plate 7
2 end, when controller 4 controls the first 1 feeding of arm for taking material, material is arranged on workpiece by the second arm for taking material 2, works as controller
During 4 the first 1 feeding of arm for taking material of control, the second arm for taking material 2 scans the position for the material that the first arm for taking material 1 clamps simultaneously by camera 5
Docked with the first arm for taking material 1, complete the transmission of material, at the same it is equal when the feeding of the first arm for taking material 1 or the second arm for taking material 2 installation material
The Scan orientation of camera 5 is first passed through, to ensure the accuracy of the work of jaw 6.
Specifically, the jaw 6 and camera 5 on mechanical arm be arranged in parallel, it is suitable to monitor the work quality of jaw 6 in real time
Different workpiece and working environment are answered, jaw 6 is flexibly connected with connecting plate 7, and slide rail 8 is provided with connecting plate 7, and jaw 6 is installed
On slide plate 9, slide plate 9 is fixed with the sliding block on slide rail 8, and cylinder 10 is installed on one end of slide rail 8, the push rod and slide plate of cylinder 10
9 are fixedly connected, and jaw 6 can be released or withdrawn as needed.
Preferably, the corner of the lower section of base 3 is provided with adjustment pin 11, to adjust the steadiness of base 3, while under base 3
The side of side is provided with the base tail margin 12 fixed with ground, and fastener is fixed with ground through base tail margin 12, makes entirely to fill
Movement will not be produced because of factors such as the vibrations in the course of work by putting, and camera 5 of the invention uses CCD camera, because CCD camera
With small volume, it is in light weight, be unaffected by the magnetic field, the characteristic with anti-vibration and shock, for ensure CCD camera matter of taking pictures
Amount, light source 13 is additionally provided with the lens head of camera.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
Enclose not limited to this.The equivalent substitute or conversion that those skilled in the art are made on the basis of the present invention, in the present invention
Protection domain within.Protection scope of the present invention is defined by claims.
Claims (7)
1. a kind of feeding mechanical arm, it is characterised in that including the first arm for taking material, the second arm for taking material and controller, described first takes
Expect that arm and the second arm for taking material are arranged on base, the distance between described first arm for taking material and the second arm for taking material are less than described first
The stroke sum of arm for taking material and the second arm for taking material, the controller control the first arm for taking material and the second arm for taking material to work respectively, institute
State and jaw and camera are mounted on the first arm for taking material and the second arm for taking material, and the jaw and camera are arranged on by connecting plate
The end of first arm for taking material and the second arm for taking material.
2. feeding mechanical arm as claimed in claim 1, it is characterised in that the jaw is flexibly connected with the connecting plate, institute
State and slide rail is provided with connecting plate, the jaw is arranged on slide plate, and the slide plate is fixed with the sliding block on the slide rail, cylinder
One end of the slide rail is installed on, the push rod of the cylinder is fixedly connected with the slide plate.
3. feeding mechanical arm as claimed in claim 1, it is characterised in that jaw on the mechanical arm is parallel with camera to be set
Put.
4. feeding mechanical arm as claimed in claim 1, it is characterised in that the controller be arranged on first arm for taking material and
In base below second arm for taking material.
5. feeding mechanical arm as claimed in claim 1, it is characterised in that the corner below the base is provided with adjustment pin,
Side below the base is provided with the base tail margin fixed with ground.
6. feeding mechanical arm as claimed in claim 1, it is characterised in that the lens head of the camera is provided with light source.
7. feeding mechanical arm as claimed in claim 1, it is characterised in that the camera is CCD camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711222165.3A CN107856022A (en) | 2017-11-29 | 2017-11-29 | A kind of feeding mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711222165.3A CN107856022A (en) | 2017-11-29 | 2017-11-29 | A kind of feeding mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107856022A true CN107856022A (en) | 2018-03-30 |
Family
ID=61704209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711222165.3A Pending CN107856022A (en) | 2017-11-29 | 2017-11-29 | A kind of feeding mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107856022A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111438507A (en) * | 2020-04-14 | 2020-07-24 | 中车青岛四方车辆研究所有限公司 | Automatic feeding and discharging device, automatic assembling system and method for retaining ring capsules |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120265344A1 (en) * | 2011-04-15 | 2012-10-18 | Kabushiki Kaisha Yaskawa Denki | Robot system and method for operating robot system |
| CN103693441A (en) * | 2013-12-23 | 2014-04-02 | 苏州博众精工科技有限公司 | Suction mechanism with Z-axis clamping jaws |
| CN103950036A (en) * | 2014-05-15 | 2014-07-30 | 苏州博众精工科技有限公司 | Clamping jaw module with suction cup |
| CN104175008A (en) * | 2014-08-19 | 2014-12-03 | 深圳雷柏科技股份有限公司 | Laser method and laser equipment adopting robot |
| CN105619413A (en) * | 2016-04-01 | 2016-06-01 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic grabbing device for inner-ring workpieces and control method of automatic grabbing device |
| CN205363907U (en) * | 2016-02-03 | 2016-07-06 | 广州市泰立机电设备有限公司 | High -efficient automatic turn -over system |
| CN105792629A (en) * | 2016-03-10 | 2016-07-20 | 温州职业技术学院 | Robot-assisted visual assembly system for PCB (Printed Circuit Board) |
| CN106686906A (en) * | 2017-01-13 | 2017-05-17 | 苏州天蔚创通自动化设备有限公司 | Automatic component inserter for PCB |
| WO2017145349A1 (en) * | 2016-02-26 | 2017-08-31 | 富士機械製造株式会社 | Robot arm control system |
| CN207616567U (en) * | 2017-11-29 | 2018-07-17 | 苏州弘瀚自动化科技有限公司 | A kind of feeding mechanical arm |
-
2017
- 2017-11-29 CN CN201711222165.3A patent/CN107856022A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120265344A1 (en) * | 2011-04-15 | 2012-10-18 | Kabushiki Kaisha Yaskawa Denki | Robot system and method for operating robot system |
| CN103693441A (en) * | 2013-12-23 | 2014-04-02 | 苏州博众精工科技有限公司 | Suction mechanism with Z-axis clamping jaws |
| CN103950036A (en) * | 2014-05-15 | 2014-07-30 | 苏州博众精工科技有限公司 | Clamping jaw module with suction cup |
| CN104175008A (en) * | 2014-08-19 | 2014-12-03 | 深圳雷柏科技股份有限公司 | Laser method and laser equipment adopting robot |
| CN205363907U (en) * | 2016-02-03 | 2016-07-06 | 广州市泰立机电设备有限公司 | High -efficient automatic turn -over system |
| WO2017145349A1 (en) * | 2016-02-26 | 2017-08-31 | 富士機械製造株式会社 | Robot arm control system |
| CN105792629A (en) * | 2016-03-10 | 2016-07-20 | 温州职业技术学院 | Robot-assisted visual assembly system for PCB (Printed Circuit Board) |
| CN105619413A (en) * | 2016-04-01 | 2016-06-01 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic grabbing device for inner-ring workpieces and control method of automatic grabbing device |
| CN106686906A (en) * | 2017-01-13 | 2017-05-17 | 苏州天蔚创通自动化设备有限公司 | Automatic component inserter for PCB |
| CN207616567U (en) * | 2017-11-29 | 2018-07-17 | 苏州弘瀚自动化科技有限公司 | A kind of feeding mechanical arm |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111438507A (en) * | 2020-04-14 | 2020-07-24 | 中车青岛四方车辆研究所有限公司 | Automatic feeding and discharging device, automatic assembling system and method for retaining ring capsules |
| CN111438507B (en) * | 2020-04-14 | 2021-07-20 | 中车青岛四方车辆研究所有限公司 | Automatic feeding and discharging device, automatic assembling system and method for retaining ring capsules |
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