CN108189015A - A kind of oil nozzle gripping manipulator - Google Patents
A kind of oil nozzle gripping manipulator Download PDFInfo
- Publication number
- CN108189015A CN108189015A CN201810121124.3A CN201810121124A CN108189015A CN 108189015 A CN108189015 A CN 108189015A CN 201810121124 A CN201810121124 A CN 201810121124A CN 108189015 A CN108189015 A CN 108189015A
- Authority
- CN
- China
- Prior art keywords
- bolt
- cylinder
- straight line
- line module
- oil nozzle
- 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
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
-
- 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
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of oil nozzle gripping manipulators, including top plate, longitudinal straight line module, guide rail, sliding block, riser, lateral straight line module, connecting plate, slider cylinder, displacement gripping body, plate is fixed, longitudinal straight line module work, so that sliding block is slided along guide rail, so as to which riser be driven to be vertically moved, then, lateral straight line module drives the slider cylinder being connected with connecting plate to carry out transverse shifting, when displacement gripping body is moved to above oil nozzle, slider cylinder drives displacement gripping body to move down oil nozzle gripping and displacement.The apparatus structure is simple, can carry out the gripping of oil nozzle automatically, production efficiency is greatly improved, meanwhile, it can be changed automatically away from adapting to different working condition requirements.
Description
Technical field
The present invention relates to a kind of mechanical device more particularly to a kind of oil nozzle gripping manipulators.
Background technology
The oil nozzle of one of critical component as engine, its fine or not performance by serious influence engine of work,
Therefore, it in order to be managed oil nozzle, monitor, needs to be marked on oil nozzle, traditional method is manually by oil nozzle
It is placed in laser marking machine and carries out laser marking, due to manually placing oil nozzle not only low production efficiency, in addition, it is desirable to grasp
Make personnel to stretch into hand in laser marking machine, there is certain security risk.In view of disadvantages described above, it is really necessary to design a kind of oil nozzle folder
Take manipulator.
Invention content
The purpose of the present invention is to provide a kind of oil nozzle gripping manipulator, which can carry out oil nozzle automatically
Gripping, production efficiency is greatly improved, meanwhile, can be changed automatically away from adapting to different working condition requirements.
In order to solve the above technical problems, the technical scheme is that：A kind of oil nozzle gripping manipulator including top plate, is indulged
To straight line module, guide rail, sliding block, riser, lateral straight line module, connecting plate, slider cylinder, displacement gripping body, described is vertical
It is located at top plate lower end to straight line module, longitudinal straight line module is connected with top plate by bolt, and the guide rail is located at top
Plate lower end, the guide rail are connected with top plate by bolt, and the sliding block is located at guide rail lower end, and the sliding block can be along leading
Rail slides, and the riser is located at sliding block lower end and positioned at longitudinal straight line module lower end, and the riser passes through bolt with sliding block
It is connected and is connected with longitudinal straight line module by bolt, the lateral straight line module is located at riser side, and described is laterally straight
Line module is connected with riser by bolt, and the connecting plate is located at lateral straight line module side, the connecting plate and transverse direction
Straight line module is connected by bolt, and the slider cylinder is located at connecting plate side, and the slider cylinder passes through with connecting plate
Bolt is connected, and the displacement gripping body is located at slider cylinder lower end, and the displacement gripping body passes through with slider cylinder
Bolt is connected.
Further improvement of the invention is as follows：
Further, the riser is additionally provided with lightening hole, and the lightening hole runs through riser.
Further, the riser is additionally provided with reinforcing rib, and the reinforcing rib is weldingly connected with riser.
Further, the displacement gripping body further includes bottom plate, fixed seat, changes away from cylinder, the first clamping jaw cylinder,
One finger, Mobile base, the second clamping jaw cylinder, second finger, first laser sensor, second laser sensor, the bottom plate
Positioned at slider cylinder lower end, the bottom plate is connected with slider cylinder by bolt, and the fixed seating is in a bottom plate lower end left side
Side, the fixed seat are connected with bottom plate by bolt, and described changing is located at away from cylinder on the left of fixed seat, and described changes away from cylinder
It is connected with fixed seat by bolt, the first clamping jaw cylinder is located at fixed seat lower end, and the first clamping jaw cylinder is with consolidating
Reservation is connected by bolt, and first finger is located at the first clamping jaw cylinder lower end, first finger and the first clamping jaw
Cylinder screw thread is connected, and the sliding seats are in pedestal lower end and positioned at changing away from the right side of cylinder, and the Mobile base is with changing away from gas
Cylinder screw thread is connected, and the Mobile base can horizontally slip along pedestal, and the second clamping jaw cylinder is located at Mobile base lower end, institute
The the second clamping jaw cylinder stated is connected with Mobile base by bolt, and the second finger is located at the second clamping jaw cylinder lower end, described
Second finger be connected with the second clamping jaw cylinder screw thread, the first laser sensor is located on the left of fixed seat, described the
One laser sensor is connected with fixed seat by bolt, and the second laser sensor is located at Mobile base lower end and positioned at second
On the right side of clamping jaw cylinder, the second laser sensor is connected with fixed seat by bolt.
Further, the second finger is identical with the first finger.
Further, the bottom plate is additionally provided with first close to switch, and the described first close switch is located at bottom plate lower end,
Described first is connected close to switch with including bottom plate by bolt.
Further, the fixed seat is additionally provided with second close to switch, and the described second close switch runs through fixed seat,
Described second is connected close to switch with fixed seat screw thread.
Further, first finger is additionally provided with card slot, and the card slot is located at first-hand finger lower end.
Compared with prior art, the oil nozzle gripping manipulator, during work, top plate is fixed, longitudinal straight line module work so that
Sliding block is slided along guide rail, and so as to which riser be driven to be vertically moved, then, lateral straight line module drives the cunning being connected with connecting plate
Platform cylinder carries out transverse shifting, and when displacement gripping body is moved to above oil nozzle, slider cylinder is driven under displacement gripping body
It moves oil nozzle gripping and displacement.The action process of displacement gripping body is：First clamping jaw cylinder and the second clamping jaw cylinder band respectively
Dynamic first finger and second finger action grip oil nozzle, first laser sensor and second laser sensor for detecting whether
Oil nozzle is normally gripped, then, changes and pushes Mobile base away from cylinder so that Mobile base is slided along pedestal, until the first close switch
Triggering, so as to change the first finger and second finger gripping oil nozzle between centre-to-centre spacing, so as to complete oil nozzle gripping change away from.It should
Apparatus structure is simple, can carry out the gripping of oil nozzle automatically, production efficiency is greatly improved, meanwhile, it can be changed automatically away from adaptation is not
Same working condition requirement.
Description of the drawings
Fig. 1 shows graphics of the present invention
Fig. 2 shows displacement gripping body structure diagrams of the present invention
In figure：Top plate 1, longitudinal straight line module 2, guide rail 3, sliding block 4, riser 5, lateral straight line module 6, connecting plate 7, slide unit
Cylinder 8, lightening hole 501, reinforcing rib 502, bottom plate 901, fixed seat 902, is changed and is pressed from both sides away from cylinder 903, first displacement gripping body 9
Pawl cylinder 904, the first finger 905, Mobile base 906, the second clamping jaw cylinder 907, second finger 908, first laser sensor
909th, second laser sensor 910, first is close to opening 911, second close to switch 912, card slot 913.
Specific embodiment
As shown in Figure 1 and Figure 2, a kind of oil nozzle gripping manipulator, including top plate 1, longitudinal straight line module 2, guide rail 3, sliding block 4,
Riser 5, lateral straight line module 6, connecting plate 7, slider cylinder 8, displacement gripping body 9, longitudinal straight line module 2 are located at top
1 lower end of plate, longitudinal straight line module 2 are connected with top plate 1 by bolt, and the guide rail 3 is located at 1 lower end of top plate, described
Guide rail 3 be connected with top plate 1 by bolt, the sliding block 4 is located at 3 lower end of guide rail, and the sliding block 4 can be slided along guide rail 3
Dynamic, the riser 5 is located at 4 lower end of sliding block and positioned at longitudinal 2 lower end of straight line module, and the riser 5 passes through bolt with sliding block 4
It is connected and is connected with longitudinal straight line module 2 by bolt, the lateral straight line module position 6 is in 5 side of riser, the transverse direction
Straight line module 6 is connected with riser 5 by bolt, and the connecting plate 7 is located at lateral 6 side of straight line module, the connecting plate 7
Be connected with lateral straight line module 6 by bolt, the slider cylinder 8 is located at 7 side of connecting plate, the slider cylinder 8 with
Connecting plate 7 is connected by bolt, and the displacement gripping body 9 is located at 8 lower end of slider cylinder, the displacement gripping body 9
It is connected with slider cylinder 8 by bolt, the riser 5 is additionally provided with lightening hole 501, and the lightening hole 501 runs through riser 5,
The riser 5 is additionally provided with reinforcing rib 502, and the reinforcing rib 502 is weldingly connected with riser 5, the displacement gripping body 9
It further includes bottom plate 901, fixed seat 902, change away from cylinder 903, the first clamping jaw cylinder 904, the first finger 905, Mobile base 906,
Two clamping jaw cylinders 907, second finger 908, first laser sensor 909, second laser sensor 910, the bottom plate 901
In 8 lower end of slider cylinder, the bottom plate 901 is connected with slider cylinder 8 by bolt, and the fixed seat 902 is located at bottom plate
On the left of 901 lower ends, the fixed seat 902 is connected with bottom plate 901 by bolt, and described changing is located at fixed seat away from cylinder 903
902 left sides, described changing are connected away from cylinder 903 with fixed seat 902 by bolt, and the first clamping jaw cylinder 904 is located at solid
902 lower end of reservation, the first clamping jaw cylinder 904 are connected with fixed seat 902 by bolt, 905, first finger
In 904 lower end of the first clamping jaw cylinder, first finger 905 is connected with 904 screw thread of the first clamping jaw cylinder, the Mobile base
906 are located at 901 lower end of pedestal and positioned at changing away from 903 right side of cylinder, and the Mobile base 906 is connected with changing away from 903 screw thread of cylinder,
The Mobile base 906 can horizontally slip along pedestal 901, and the second clamping jaw cylinder 907 is located at 906 lower end of Mobile base,
The second clamping jaw cylinder 907 is connected with Mobile base 906 by bolt, and the second finger 908 is located at the second clamping jaw gas
907 lower end of cylinder, the second finger 908 are connected with 907 screw thread of the second clamping jaw cylinder, the first laser sensor 909
Positioned at 902 left side of fixed seat, the first laser sensor 909 is connected with fixed seat 902 by bolt, and described second swashs
Optical sensor 910 is located at 906 lower end of Mobile base and positioned at 907 right side of the second clamping jaw cylinder, the second laser sensor 910
It is connected with fixed seat 902 by bolt, the second finger 908 is identical with the first finger 905, and the bottom plate 901 is also set
There is the first close switch 911, described first is located at 901 lower end of bottom plate, the described first close switch 911 close to switch 911
It is connected with including bottom plate 901 by bolt, the fixed seat 902 is additionally provided with second close to switch 912, and described second close to opening
It closes 912 through fixed seat, described second close to switch 912 with 902 screw thread of fixed seat to be connected, first finger 905 is also
Equipped with card slot 913, the card slot 913 is located at 905 lower end of the first finger, the oil nozzle gripping manipulator, and during work, top plate 1 is solid
Fixed, longitudinal straight line module 2 works so that sliding block 4 is slided along guide rail 3, so as to which riser 5 be driven to be vertically moved, then, laterally
Straight line module 6 drives the slider cylinder 8 being connected with connecting plate 7 to carry out transverse shifting, when displacement gripping body 9 is moved on oil nozzle
Fang Shi, slider cylinder 8 drive displacement gripping body 9 to move down oil nozzle gripping and displacement.The action process of displacement gripping body 9
For：First clamping jaw cylinder 904 and the second clamping jaw cylinder 907 drive the first finger 905 and second finger 908 to act oil nozzle respectively
Gripping, first laser sensor 909 and second laser sensor 910 are for detecting whether oil nozzle is normally gripped, then, change away from
Cylinder 903 pushes Mobile base 906 so that Mobile base 906 is slided along pedestal 1, is triggered until first close to switch 912, so as to change
Become the centre-to-centre spacing between the oil nozzle that the first finger 905 and second finger 908 grip, so as to complete oil nozzle gripping change away from.The device
It is simple in structure, the gripping of oil nozzle can be carried out automatically, and production efficiency is greatly improved, meanwhile, it can be changed automatically away from adapting to different
Working condition requirement.
The present invention is not limited to above-mentioned specific embodiment, those of ordinary skill in the art from above-mentioned design,
Without performing creative labour, the various transformation made are within the scope of the present invention.
Claims (8)
1. a kind of oil nozzle gripping manipulator, it is characterised in that including top plate, longitudinal straight line module, guide rail, sliding block, riser, transverse direction
Straight line module, connecting plate, slider cylinder, displacement gripping body, longitudinal straight line module are located at top plate lower end, and described is vertical
It is connected to straight line module with top plate by bolt, the guide rail is located at top plate lower end, and the guide rail passes through bolt with top plate
Be connected, the sliding block is located at guide rail lower end, and the sliding block can be slided along guide rail, the riser be located at sliding block lower end and
Positioned at longitudinal straight line module lower end, the riser is connected by bolt with sliding block and passes through bolt phase with longitudinal straight line module
Even, the lateral straight line module is located at riser side, and the lateral straight line module is connected with riser by bolt, described
Connecting plate is located at lateral straight line module side, and the connecting plate is connected with lateral straight line module by bolt, the slide unit
Cylinder is located at connecting plate side, and the slider cylinder is connected with connecting plate by bolt, and the displacement gripping body is located at
Slider cylinder lower end, the displacement gripping body are connected with slider cylinder by bolt.
2. oil nozzle gripping manipulator as described in claim 1, it is characterised in that the riser is additionally provided with lightening hole, described
Lightening hole runs through riser.
3. oil nozzle gripping manipulator as described in claim 1, it is characterised in that the riser is additionally provided with reinforcing rib, described
Reinforcing rib is weldingly connected with riser.
4. oil nozzle gripping manipulator as described in claim 1, it is characterised in that the displacement gripping body further include bottom plate,
Fixed seat is changed away from cylinder, the first clamping jaw cylinder, the first finger, Mobile base, the second clamping jaw cylinder, second finger, first laser biography
Sensor, second laser sensor, the bottom plate are located at slider cylinder lower end, and the bottom plate passes through bolt phase with slider cylinder
Even, the fixed seating is on the left of bottom plate lower end, and the fixed seat is connected with bottom plate by bolt, and described changes away from cylinder
On the left of fixed seat, described changing is connected away from cylinder with fixed seat by bolt, and the first clamping jaw cylinder, which is located at, to be fixed
Seat lower end, the first clamping jaw cylinder are connected with fixed seat by bolt, and first finger is located at the first clamping jaw cylinder
Lower end, first finger are connected with the first clamping jaw cylinder screw thread, the sliding seats in pedestal lower end and positioned at change away from
On the right side of cylinder, the Mobile base is connected with changing away from cylinder screw thread, and the Mobile base can horizontally slip along pedestal, described
Second clamping jaw cylinder is located at Mobile base lower end, and the second clamping jaw cylinder is connected with Mobile base by bolt, and described second
Finger is located at the second clamping jaw cylinder lower end, and the second finger is connected with the second clamping jaw cylinder screw thread, the first laser
Sensor is located on the left of fixed seat, and the first laser sensor is connected with fixed seat by bolt, the second laser
Sensor is located at Mobile base lower end and on the right side of the second clamping jaw cylinder, and the second laser sensor passes through spiral shell with fixed seat
Bolt is connected.
5. oil nozzle gripping manipulator as claimed in claim 4, it is characterised in that the second finger is identical with the first finger.
6. oil nozzle gripping manipulator as claimed in claim 4, it is characterised in that the bottom plate is additionally provided with the first close switch,
Described first is located at bottom plate lower end close to switch, and described first is connected close to switch with including bottom plate by bolt.
7. oil nozzle gripping manipulator as claimed in claim 4, it is characterised in that the fixed seat is additionally provided with second close to opening
It closes, described second is connected through fixed seat, described second close to switch close to switch with fixed seat screw thread.
8. oil nozzle gripping manipulator as claimed in claims 4 and 5, it is characterised in that first finger is additionally provided with card slot,
The card slot is located at first-hand finger lower end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810121124.3A CN108189015A (en) | 2018-02-07 | 2018-02-07 | A kind of oil nozzle gripping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810121124.3A CN108189015A (en) | 2018-02-07 | 2018-02-07 | A kind of oil nozzle gripping manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108189015A true CN108189015A (en) | 2018-06-22 |
Family
ID=62593120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810121124.3A Pending CN108189015A (en) | 2018-02-07 | 2018-02-07 | A kind of oil nozzle gripping manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108189015A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111376460A (en) * | 2018-12-29 | 2020-07-07 | 深圳市远望工业自动化设备有限公司 | Blanking robot and injection molding and stamping equipment with same |
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| CN106477314A (en) * | 2016-11-08 | 2017-03-08 | 苏州巨智能装备有限公司 | A kind of transplanting mechanism for Hard Roll battery core automatic transporting and displacement |
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| CN206760144U (en) * | 2017-05-19 | 2017-12-19 | 湖北锐鑫自动化科技有限公司 | A kind of edible fungus bag crawl moves bagging apparatus |
| CN107598950A (en) * | 2017-10-12 | 2018-01-19 | 上海松盛机器人系统有限公司 | A kind of dynamic lithium battery fixture |
| CN208215332U (en) * | 2018-02-07 | 2018-12-11 | 苏州司巴克自动化设备股份有限公司 | A kind of oil nozzle gripping manipulator |
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2018
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080228320A1 (en) * | 2007-03-15 | 2008-09-18 | Azusa Amino | Robot |
| CN103707311A (en) * | 2013-12-23 | 2014-04-09 | 苏州博众精工科技有限公司 | Retractable clamping jaw with changeable pitch |
| CN105110004A (en) * | 2015-09-29 | 2015-12-02 | 无锡帕尔弗工业设备科技有限公司 | Conveying mechanical hand with automatic pitch varying function |
| CN107263487A (en) * | 2016-04-08 | 2017-10-20 | 广州协鸿工业机器人技术有限公司 | A kind of robot applied to engine assembly production line is grabbed |
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| CN106477314A (en) * | 2016-11-08 | 2017-03-08 | 苏州巨智能装备有限公司 | A kind of transplanting mechanism for Hard Roll battery core automatic transporting and displacement |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111376460A (en) * | 2018-12-29 | 2020-07-07 | 深圳市远望工业自动化设备有限公司 | Blanking robot and injection molding and stamping equipment with same |
| CN111376460B (en) * | 2018-12-29 | 2024-06-04 | 深圳市远望工业自动化设备有限公司 | Blanking robot and injection stamping equipment with same |
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