CN107856048A - A kind of electromagnet manipulator for capturing irregular metal object - Google Patents
A kind of electromagnet manipulator for capturing irregular metal object Download PDFInfo
- Publication number
- CN107856048A CN107856048A CN201711018737.6A CN201711018737A CN107856048A CN 107856048 A CN107856048 A CN 107856048A CN 201711018737 A CN201711018737 A CN 201711018737A CN 107856048 A CN107856048 A CN 107856048A
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- Prior art keywords
- sucker
- guide rod
- absorption
- breach
- crawl
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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
-
- 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
-
- 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
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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 for capturing irregular metal object, 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 for capturing irregular metal object.
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 one kind and grabbed
Take the electromagnet manipulator of irregular metal object.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of electromagnet machine for capturing irregular metal object
Tool hand, including fixed station and connecting rod I, are provided with turntable on the fixed station, and the turntable is provided with and driven by motor I
Can 360 ° of horizontal rotations guide pillar consoles, the screw thread guide pillar being vertically arranged is fixedly connected with the guide pillar console, at this
Screw thread guide pillar be provided be threadedly coupled with it and the guide pillar console rotate can upper and lower displacement movable block, the connecting rod I 1
End is fixedly connected with that the movement is fast, and the other end of the connecting rod I is horizontal-extending and connects horizontally disposed company by articulated link chain I
One end of bar II, the articulated link chain I is driven by motor II can drive the connecting rod II to turn around 360 ° of I level of articulated link chain
It is dynamic, one end connection fixes sleeve straight down of the connecting rod II away from the articulated link chain I, and the connecting rod I is to pass through
Cylinder I drives the telescopic rod that can be extended or shorten；
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；The first chute, the side are provided with the side sucker guide rod
The opening position of first chute correspond on face absorption wire provided with the first contiguous block to the first chute internal projection, described first
The top of contiguous block is provided with the first garter spring；One end of first garter spring connects the top of first contiguous block,
Its other end connects the side wall of first chute after extending straight up, and first garter spring is downwardly against described
The upper end that first contiguous block adsorbs the side wire central indentation is pushed into the side absorption breach；
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；The second chute is provided with the front sucker guide rod, corresponding to described second on the front absorption wire slides
The opening position of groove is provided with the second contiguous block to the second chute internal projection, and the top of second contiguous block is provided with the second clamping bullet
Spring；One end of second garter spring connects the top of second contiguous block, and its other end connects after extending straight up
The side wall of the groove of cunning second；And second garter spring props up second contiguous block and adsorbs in the front in wire
Between breach upper end push into it is described front absorption breach in；
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, the 35, first chute, the 36, first contiguous block, the 37, first garter spring, 38, second
Chute, the 39, second contiguous block, the 40, second garter spring.
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 for capturing irregular metal object, including fixed station 20 and connecting rod I 12,
The fixed station 20 is fixed on locomotive by connecting hole 19.Turntable 17, the rotation are provided with the fixed station 20
Platform 17 be provided with by motor I drive can 360 ° of horizontal rotations guide pillar consoles 16, it is fixed on the guide pillar console 16 to connect
The screw thread guide pillar 15 being vertically arranged is connected to, is provided with and is threadedly coupled with it and with the guide pillar console 16 on the screw thread guide pillar 15
Rotate horizontally can upper and lower displacement movable block 14, being provided with the top of the screw thread guide pillar 15 prevents the movable block 14 to upper
Move the block 13 for departing from the screw thread guide pillar 15.Described one end of connecting rod I 12 is fixedly connected with the movement fast 14, the connecting rod I 12
Other end it is horizontal-extending and one end of horizontally disposed connecting rod II 10 is connected by articulated link chain I 11, the articulated link chain I 11 passes through
Motor II, which drives, can drive the connecting rod II 10 remote around described I 11 level of articulated link chain, 360 ° of rotations, the connecting rod II 10
One end connection fixes sleeve 7 straight down of the articulated link chain I 11, and the connecting rod I 12 is that driven by cylinder I can be with
Elongation or the telescopic rod shortened.
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.
The first chute 35 is provided with the side sucker guide rod 2, corresponding to described first on the side absorption wire 25 slides
The opening position of groove 35 is provided with the first contiguous block 36 to the internal projection of the first chute 35, and the top of first contiguous block 36 is provided with the
One garter spring 37；One end of first garter spring 37 connects the top of first contiguous block 36, and its other end is vertical
The side wall of first chute 35 is connected after upwardly extending, and first garter spring 37 is downwardly against the described first connection
The upper end that block 36 adsorbs the side central indentation of wire 25 is pushed into the side absorption breach 26.Side sucker 1 is not
Before energization, the upper end that the first garter spring 37 adsorbs side downwardly against the first contiguous block 36 central indentation of wire 25 heads into
Adsorb in breach 26 to side, headed into the first plug 27 in corresponding side absorption breach 26 when the first slide bar 29 slides to lead
During the power supply circuit of logical side sucker 1, the first plug 27 can jack the upper end of the side absorption central indentation of wire 25 upwards, and first
The synchronous upward sliding in the first chute 35 of contiguous block 36, in the presence of the first garter spring 37, in side absorption wire 25
Between the upper end of breach can tightly touch the top of the first plug 27, the bottom of the first plug 27 also can tightly touch side absorption and lead
The lower end of the central indentation of line 25, guarantee the power supply circuit of reliable conducting side sucker 1, so as to produce crawl irregular metal
The magnetic force of thing.
The second chute 38 is provided with the front sucker guide rod 4, corresponding to described second on the front absorption wire 30 slides
The opening position of groove 38 is provided with the second contiguous block 39 to the internal projection of the second chute 38, and the top of second contiguous block 39 is provided with the
Two garter springs 40；One end of second garter spring 40 connects the top of second contiguous block 39, and its other end is vertical
The side wall of second groove of cunning 38 is connected after upwardly extending；And second garter spring 40 props up second contiguous block 39
The upper end that the central indentation of wire 30 is adsorbed in the front is pushed into the front absorption breach 29.With turning on side sucker 1
Power supply circuit it is the same, guarantee the power supply circuit of reliable conducting front sucker 2 using above-mentioned design.
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 for capturing irregular metal object, it is characterised in that including fixed station (20) and connecting rod I
(12) turntable (17), is provided with the fixed station (20), the turntable (17) is provided with can be 360 ° by the drive of motor I
The guide pillar console (16) of horizontal rotation, the screw thread guide pillar being vertically arranged is fixedly connected with the guide pillar console (16)
(15), it is provided with to be threadedly coupled with it and rotate horizontally with the guide pillar console (16) on the screw thread guide pillar (15) and bottom can be gone up
The movable block (14) of shifting, described (12) one end of connecting rod I are fixedly connected with the movement soon (14), and other the one of the connecting rod I (12)
One end horizontal-extending and that horizontally disposed connecting rod II (10) is connected by articulated link chain I (11) is held, the articulated link chain I (11) passes through electricity
Machine II, which drives, can drive the connecting rod II (10) around described I (11) level of articulated link chain, 360 ° of rotations, the connecting rod II (10)
The fixes sleeve (7) of one end connection straight down away from the articulated link chain I (11), and the connecting rod I (12) is to pass through gas
Cylinder I drives the telescopic rod that can be extended or shorten；
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 first chute (35) is provided with the side sucker guide rod (2), wire is adsorbed in the side
(25) opening position of first chute (35) is corresponded on provided with the first contiguous block (36) to the first chute (35) internal projection, institute
The top for stating the first contiguous block (36) is provided with the first garter spring (37)；Described in one end connection of first garter spring (37)
The top of first contiguous block (36), its other end connect the side wall of first chute (35), and institute after extending straight up
State the first garter spring (37) and wire (25) central indentation is adsorbed into the side downwardly against first contiguous block (36)
Upper end is pushed into the side absorption breach (26)；
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 front sucker guide rod (4)
Second chute (38), the opening position of second chute (38) correspond on front absorption wire (30) provided with to the second chute
(38) the second contiguous block (39) of internal projection, the top of second contiguous block (39) are provided with the second garter spring (40)；It is described
One end of second garter spring (40) connects the top of second contiguous block (39), and its other end connects after extending straight up
The side wall of the groove of cunning second (38)；And second garter spring (40) prop up second contiguous block (39) by it is described just
The upper end of face absorption wire (30) central indentation is pushed into the front absorption breach (29)；
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. the electromagnet manipulator of crawl irregular metal object according to claim 1, it is characterised in that the control
Platform (18) includes the control centre using ARM as main control module.
3. the electromagnet manipulator of crawl irregular metal object according to claim 1, it is characterised in that the rotation
Sleeve (6) connects the side sucker guide rod (2) by articulated link chain II (5).
4. the electromagnet manipulator of crawl irregular metal object according to claim 1, it is characterised in that in the spiral shell
The top of line guide pillar (15), which is provided with, prevents the movable block (14) from shifting up the block (13) for departing from the screw thread guide pillar (15).
5. the electromagnet manipulator of crawl irregular metal object according to claim 1, it is characterised in that described solid
The top for determining sleeve (7) is provided with the baffle ring (8) for being used to prevent the turnbarrel (6) from departing from the fixes sleeve (7).
6. the electromagnet manipulator of crawl irregular metal object according to claim 1, it is characterised in that the fixation
Platform (20) is fixed on locomotive by connecting hole (19).
7. the electromagnet manipulator of crawl irregular metal object according to claim 1, it is characterised in that the rotation
Sleeve (6) includes the larger part composition in the less part of top radial dimension and bottom radial dimension, and the top is radially
The less part of size is rotatably in the fixes sleeve (7).
8. the electromagnet manipulator of crawl irregular metal object according to any one of claims 1 to 7, it is characterised in that
The motor I, the motor II and the motor III are stepper motor.
9. the electromagnet manipulator of crawl irregular metal object according to any one of claims 1 to 7, it is characterised in that
The camera I (22) is arranged on the turntable (17) by support I (21).
10. the electromagnet manipulator of crawl irregular metal object according to any one of claims 1 to 7, it is characterised in that
The camera II (24) is arranged on by support II (23) in the side wall of the turnbarrel (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711018737.6A CN107856048A (en) | 2017-10-27 | 2017-10-27 | A kind of electromagnet manipulator for capturing irregular metal object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711018737.6A CN107856048A (en) | 2017-10-27 | 2017-10-27 | A kind of electromagnet manipulator for capturing irregular metal object |
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| Publication Number | Publication Date |
|---|---|
| CN107856048A true CN107856048A (en) | 2018-03-30 |
Family
ID=61696943
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711018737.6A Withdrawn CN107856048A (en) | 2017-10-27 | 2017-10-27 | A kind of electromagnet manipulator for capturing irregular metal object |
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| Country | Link |
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| CN (1) | CN107856048A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019205154A1 (en) * | 2018-04-28 | 2019-10-31 | 深圳蓝胖子机器人有限公司 | Composite suction cup, composite suction cup assembly, and mechanical arm |
| CN111844713A (en) * | 2020-07-07 | 2020-10-30 | 广州众人环保工程有限公司 | Auxiliary fixing device for automobile film and using method thereof |
| CN112122808A (en) * | 2020-10-21 | 2020-12-25 | 陈月圆 | Workpiece clamp of laser cutting machine and blanking method |
| CN112320169A (en) * | 2020-11-26 | 2021-02-05 | 佛山市高明区高级技工学校 | Garbage storage vehicle |
| CN112384343A (en) * | 2018-08-08 | 2021-02-19 | 优尼冲压株式会社 | Gripping device and robot device |
| CN113548472A (en) * | 2021-08-09 | 2021-10-26 | 安徽瑞泰智能装备有限公司 | Magnet adsorption device suitable for narrow and small space of multi-vehicle type |
| CN113828530A (en) * | 2020-06-23 | 2021-12-24 | 广东技术师范大学 | Grabbing device based on visual detection |
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| CN201457754U (en) * | 2009-06-29 | 2010-05-12 | 武汉人天包装技术有限公司 | Grabbing robot device in grabbing type case packer |
| CN105397831A (en) * | 2015-12-28 | 2016-03-16 | 桂林电子科技大学 | Multi-suction-cup manipulator capable of grabbing irregular objects |
| 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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| CN201457754U (en) * | 2009-06-29 | 2010-05-12 | 武汉人天包装技术有限公司 | Grabbing robot device in grabbing type case packer |
| CN105397831A (en) * | 2015-12-28 | 2016-03-16 | 桂林电子科技大学 | Multi-suction-cup manipulator capable of grabbing irregular objects |
| CN205238065U (en) * | 2015-12-28 | 2016-05-18 | 桂林电子科技大学 | Snatch many sucking discs manipulator of irregularity body |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019205154A1 (en) * | 2018-04-28 | 2019-10-31 | 深圳蓝胖子机器人有限公司 | Composite suction cup, composite suction cup assembly, and mechanical arm |
| CN112384343A (en) * | 2018-08-08 | 2021-02-19 | 优尼冲压株式会社 | Gripping device and robot device |
| CN113828530A (en) * | 2020-06-23 | 2021-12-24 | 广东技术师范大学 | Grabbing device based on visual detection |
| CN111844713A (en) * | 2020-07-07 | 2020-10-30 | 广州众人环保工程有限公司 | Auxiliary fixing device for automobile film and using method thereof |
| CN112122808A (en) * | 2020-10-21 | 2020-12-25 | 陈月圆 | Workpiece clamp of laser cutting machine and blanking method |
| CN112122808B (en) * | 2020-10-21 | 2022-08-09 | 东莞市创远激光科技有限公司 | Workpiece clamp of laser cutting machine and blanking method |
| CN112320169A (en) * | 2020-11-26 | 2021-02-05 | 佛山市高明区高级技工学校 | Garbage storage vehicle |
| CN113548472A (en) * | 2021-08-09 | 2021-10-26 | 安徽瑞泰智能装备有限公司 | Magnet adsorption device suitable for narrow and small space of multi-vehicle type |
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Application publication date: 20180330 |