CN108202320B - Flexible full-automatic carrying manipulator - Google Patents

Flexible full-automatic carrying manipulator Download PDF

Info

Publication number
CN108202320B
CN108202320B CN201711495225.9A CN201711495225A CN108202320B CN 108202320 B CN108202320 B CN 108202320B CN 201711495225 A CN201711495225 A CN 201711495225A CN 108202320 B CN108202320 B CN 108202320B
Authority
CN
China
Prior art keywords
finger
cylinder
valve body
sliding plate
fixedly connected
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.)
Active
Application number
CN201711495225.9A
Other languages
Chinese (zh)
Other versions
CN108202320A (en
Inventor
邵伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GAOTANG Rongzhi Rongzhi Technology Service Co.,Ltd.
Original Assignee
Wenzhou Kehong Robot Technology Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Wenzhou Kehong Robot Technology Co ltd filed Critical Wenzhou Kehong Robot Technology Co ltd
Priority to CN201711495225.9A priority Critical patent/CN108202320B/en
Publication of CN108202320A publication Critical patent/CN108202320A/en
Application granted granted Critical
Publication of CN108202320B publication Critical patent/CN108202320B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B25J15/08—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
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B23P19/007—Picking-up and placing mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • 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
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • 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
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more 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
    • B25J19/0025—Means for supplying energy to the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Program-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Program-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
    • B23P2700/50—Other automobile vehicle parts, i.e. manufactured in assembly lines

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to automatic assembly equipment, in particular to automatic carrying equipment for valve accessories. Flexible full automated transport manipulator includes: the self-adaptive valve body clamping device comprises a support, a self-adaptive manipulator for realizing a carrying function and a clamp body for placing a valve body, wherein the self-adaptive manipulator is fixedly connected to the support, and the clamp body is positioned in a clamping range of the self-adaptive manipulator; the adaptive manipulator includes: the device comprises fingers, a front cylinder, a rear cylinder, an upper cylinder, a lower cylinder, a finger cylinder, a palm, a push plate, a connecting plate, a main sliding plate, a secondary sliding plate, a transverse linear guide rail, a longitudinal linear guide rail and a discharging shaft. The valve body is clamped by the hand finger under the action of elastic force due to the elastic constraint of the O-shaped hoop, the whole clamping process is simple and clear in action, and the valve body can be automatically clamped by the hand finger after being inserted into the hand finger; meanwhile, the fingers automatically adapt to the valve bodies with different outer diameters.

Description

Flexible full-automatic carrying manipulator
Technical Field
The application is a divisional application, and the application number of a parent application is as follows: 2016101238783. the invention relates to automatic assembly equipment, in particular to automatic carrying equipment for valve accessories.
Background
The gasoline injector plays an important role in the normal running of an automobile as an important component of an automobile engine.
Because the structure of the valve core of the oil nozzle is small and exquisite, the requirement on the reliability of the product is high, and the oil nozzle is assembled manually in the traditional process. The requirement on automatic production is high and the difficulty is high.
Wherein the transport and the transport of each spare part all rely on the manual work to operate, and the human resource waste is serious, and production efficiency is low.
Need adopt automation equipment, realize the transport and the transport of each part on the fuel sprayer, proportion valve body.
Disclosure of Invention
The invention aims to provide a flexible full-automatic carrying manipulator which is used for moving a valve body of an oil nozzle from one position to another position; the self-adaptive manipulator is utilized to realize grabbing and carrying, the action is simple and reliable, the requirement on a control system is low, and unmanned operation and automatic work are realized.
In order to achieve the above object, the present invention discloses a flexible full-automatic carrying manipulator, comprising: the self-adaptive valve body clamping device comprises a support, a self-adaptive manipulator for realizing a carrying function and a clamp body for placing a valve body, wherein the self-adaptive manipulator is fixedly connected to the support, and the clamp body is positioned in a clamping range of the self-adaptive manipulator;
the adaptive manipulator includes: the device comprises fingers, a front cylinder, a rear cylinder, an upper cylinder, a lower cylinder, a finger cylinder, a palm, a push plate, a connecting plate, a main sliding plate, a secondary sliding plate, a transverse linear guide rail, a longitudinal linear guide rail and a discharging shaft, wherein two sides of the main sliding plate are fixedly connected to the connecting plate, the connecting plate is movably connected to a support through the transverse linear guide rail, a cylinder body of the front cylinder and a cylinder body of the rear cylinder are fixedly connected to the support, the tail ends of piston rods of the front cylinder and the rear cylinder are fixedly connected to the main sliding plate, and the secondary sliding plate; the cylinder bodies of the upper and lower cylinders are fixedly connected with the main sliding plate, and the tail ends of the piston rods of the upper and lower cylinders are fixedly connected with the secondary sliding plate; the fingers are fixedly connected with the palm, the palm is fixedly connected with the secondary sliding plate, a cylinder body of the finger cylinder is fixedly connected with the secondary sliding plate, the tail end of a piston rod of the secondary sliding plate is provided with the push plate, the unloading shaft is movably connected with the fingers, the unloading shaft is positioned inside the fingers, and the tail end of the unloading shaft is fixedly connected with the push plate;
the finger includes: the O-shaped hoop is arranged outside the main finger and the manual finger in a concentric mode and used for containing the clamping space of the clamping part, and the clamping space is matched with the shape of the clamping part.
Preferably, a middle groove is arranged between the main finger and the movable finger, an offset groove is arranged at the middle section of the middle groove, and transverse gaps are arranged at the upper part and the lower part of the offset groove and are connected with the middle groove and the offset groove.
Preferably, the transverse slits have a size of ten to twenty filaments.
Preferably, dampers are provided on the carriage at both end positions of the main slide stroke.
Preferably, the number of fingers is one to five.
Preferably, the transverse linear guide rails are positioned on two sides of the main sliding plate, and the number of the transverse linear guide rails is two.
Preferably, the O-ring is a tension spring.
Compared with the prior art, the active functions and the beneficial effects of the flexible full-automatic carrying manipulator are described in detail as follows:
the valve body is located on the fixture body, and the valve body is located in a clamping range of the self-adaptive manipulator.
And in the starting state, the piston rods of the front and rear cylinders, the upper and lower cylinders and the finger cylinder are all in a retraction state. At this time, the finger is positioned at an upper portion of the clamp body. The size of the clamping space is smaller than the outer diameter of the clamping part.
The movable finger is movably connected with the main finger, and the O-shaped hoop with the elastic stretching function is arranged outside the main finger and the movable finger, so that the movable finger is tightly attached to the main finger under the action of elastic force due to the elastic constraint of the O-shaped hoop.
The finger grips the valve body. And piston rods of the upper and lower cylinders extend out, and the secondary sliding plate moves downwards for a certain distance relative to the main sliding plate under the guidance of the longitudinal linear guide rail. The palm moves downwards to enable the fingers to move towards the valve body, and the clamping portion of the valve body enters the clamping space of the fingers. The clamping space is propped open by the clamping part, the hand-operated finger moves relative to the main finger along the transverse gap, so that the sizes of the middle groove and the offset groove are increased, the clamping part is positioned between the hand-operated finger and the hand-operated finger, the clamping part and the hand-operated finger are bound together by the O-shaped hoop due to the elastic constraint of the O-shaped hoop, so that the clamping of the valve body by the finger is realized. The O-shaped hoop enables the valve body to be connected to the finger, and enables the valve body to move along with the finger.
The adaptive manipulator moves the valve body. And piston rods of the front and rear cylinders, the upper and lower cylinders and the finger cylinder are all in a retraction state. The palm rises, the valve body moves upwards along with the fingers, and the valve body is separated from the clamp body.
And then, piston rods of the front and rear cylinders are in an extending state, and piston rods of the upper and lower cylinders and the finger cylinder are in a retracting state. The two sides of the main sliding plate are fixedly connected with the connecting plate, the connecting plate is movably connected with the support through the transverse linear guide rail, and the main sliding plate is guided by the transverse linear guide rail to be driven by the front and rear air cylinders to move. The valve body moves a certain distance after being clamped by the self-adaptive manipulator and reaches another position.
The self-adaptive manipulator loosens the valve body. The cylinder body of the finger cylinder is fixedly connected with the secondary sliding plate, the tail end of a piston rod of the secondary sliding plate is provided with the push plate, and the piston rod of the finger cylinder extends out to enable the push plate to move towards the direction of the palm. The discharging shaft is movably connected to the fingers, the discharging shaft is located inside the fingers, and the tail end of the discharging shaft is fixedly connected to the push plate. The unloading shaft moves towards the direction of the valve body under the pushing of the palm and the guiding of the fingers, contacts the upper part of the clamping part and pushes the clamping part to be separated from the clamping space.
The detailed structure, the working process and the working principle of the self-adaptive manipulator of the flexible full-automatic carrying manipulator are described in detail as follows:
the clamping space is opened by the clamping part, and the manual finger moves relative to the main finger along the transverse gap, so that the sizes of the middle groove and the offset groove are increased. The transverse gap plays a role in motion guiding for the motion of the hand finger, so that the hand finger does translational motion relative to the main finger, and the clamping space is always kept in a cylindrical shape. If the guide of the transverse slit is absent, the clamping space may form a conical shape in the course of becoming larger, thereby reducing the accuracy of the clamping. Due to the transverse gap, the clamping precision is improved, and the clamping stability is ensured. The valve body is clamped by the hand finger under the action of elastic force due to the elastic constraint of the O-shaped hoop, the whole clamping process is simple and clear in action, and the valve body can be automatically clamped by the hand finger after being inserted into the hand finger; meanwhile, the fingers automatically adapt to the valve bodies with different outer diameters.
In the conventional technology, the workpiece is usually grabbed by using a pneumatic finger, and the pneumatic finger is high in price, complex in structure and not beneficial to long-term use. The finger adopts a simple cylinder structure, so that the valve body can be grabbed, the use of a pneumatic finger is avoided, the action is simple, the structure is simple, the service life is long, the cost is low, and the requirement on a control system is greatly reduced.
After the valve body is clamped by the fingers, the valve body can be separated by simple action. The piston rod of the finger cylinder extends out, so that the unloading shaft pushes the valve body to be separated from the clamping space, and the valve body can be separated. The downward movement process exists in the process of disengaging the fingers of the valve body, the valve body can be assembled in another clamp in the downward movement process, and the working efficiency of the flexible full-automatic carrying manipulator is greatly improved.
The flexible fully automated handling robot of the present invention will become more apparent from the following description when taken in conjunction with the accompanying drawings which illustrate embodiments of the present invention.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a flexible automated handling robot of the present invention;
2, 3, 4 and 5 are partial structural schematic diagrams of the flexible full-automatic carrying manipulator of the invention under another view angle;
FIG. 6 is a schematic cross-sectional view of a flexible fully automated handling robot according to the present invention;
FIGS. 7, 8 and 9 are partial schematic structural views of the flexible fully automated handling robot of the present invention from another perspective;
fig. 10 is a schematic structural view of the valve body.
3 valve body, 4 ears, 5 inner holes, 6 cylinders, 23 clamp bodies, 24 clamping parts, 25 self-adaptive mechanical arms, 26 brackets, 27 fingers, 28 front and back cylinders, 29 upper and lower cylinders, 30 finger cylinders, 31 dampers, 32 palms, 33 push plates, 34 connecting plates, 35 main sliding plates, 36 secondary sliding plates, 37 transverse linear guide rails, 38 longitudinal linear guide rails, 39 discharging shafts, 40 main fingers, 41 movable fingers and 42O-shaped hoops.
Detailed Description
Embodiments of the present invention will now be described with reference to the drawings, wherein like element numerals represent like elements. As described above, the invention provides a flexible full-automatic carrying manipulator, which is used for moving a valve body from one place to another place, grabbing the valve body by an adaptive manipulator and conveying the valve body to a position to be assembled, is operated fully automatically, realizes unmanned operation and has high working efficiency.
Referring to fig. 10, the structural composition of the valve body 3 is described first, and the valve body 3 includes: ear 4, hole 5, cylinder 6, ear 4 is located the middle upper part of valve body 3, the lower part of ear 4 is cylinder 6 the lower part of ear 4 has hole 5, the upper portion of ear 4 is clamping part 24. The valve body 3 is manufactured into a blank by adopting a precision forging process, and a cylindrical structure is turned by a numerical control lathe.
Fig. 1 is a schematic structural view of an embodiment of a flexible fully-automated carrying robot according to the present invention, fig. 2, 3, 4, and 5 are schematic partial structural views of the flexible fully-automated carrying robot according to the present invention at another view angle, fig. 6 is a schematic sectional structural view of the flexible fully-automated carrying robot according to the present invention, fig. 7, 8, and 9 are schematic partial structural views of the flexible fully-automated carrying robot according to the present invention at another view angle, and fig. 10 is a schematic structural view of a valve body.
The invention relates to a flexible full-automatic carrying manipulator, which comprises: the valve body 3 carrying device comprises a support 26, an adaptive manipulator 25 for realizing a carrying function and a clamp body 23 for placing the valve body 3, wherein the adaptive manipulator 25 is fixedly connected to the support 26, and the clamp body 23 is located in a clamping range of the adaptive manipulator 25;
the adaptive manipulator 25 includes: the device comprises fingers 27, front and rear cylinders 28, an upper and lower cylinder 29, a finger cylinder 30, a palm 32, a push plate 33, a connecting plate 34, a main sliding plate 35, a secondary sliding plate 36, a transverse linear guide rail 37, a longitudinal linear guide rail 38 and a discharging shaft 39, wherein two sides of the main sliding plate 35 are fixedly connected to the connecting plate 34, the connecting plate 34 is movably connected to the support 26 through the transverse linear guide rail 37, cylinder bodies of the front and rear cylinders 28 are fixedly connected to the support 26, the tail ends of piston rods of the front and rear cylinders 28 are fixedly connected to the main sliding plate 35, and the secondary sliding plate 36 is movably connected to the main sliding plate 35 through the longitudinal linear guide rail 38; the cylinder body of the up-down cylinder 29 is fixedly connected with the main sliding plate 35, and the tail end of the piston rod of the up-down cylinder 29 is fixedly connected with the secondary sliding plate 36; the finger 27 is fixedly connected to the palm 32, the palm 32 is fixedly connected to the secondary sliding plate 36, the cylinder body of the finger cylinder 30 is fixedly connected to the secondary sliding plate 36, the push plate 33 is arranged at the tail end of the piston rod of the secondary sliding plate 36, the unloading shaft 39 is movably connected to the finger 27, the unloading shaft 39 is positioned inside the finger 27, and the tail end of the unloading shaft 39 is fixedly connected to the push plate 33;
the finger 27 includes: the clamping device comprises a main finger 40, a movable finger 41 and an O-shaped hoop 42, wherein the movable finger 41 is movably connected with the main finger 40, the O-shaped hoop 42 with an elastic telescopic function is arranged outside the main finger 40 and the movable finger 41, the main finger 40 and the movable finger 41 form a concentric arrangement and form a clamping space 43 for accommodating the clamping part 24, and the clamping space 43 is matched with the clamping part 24 in shape.
More specifically, a middle groove 44 is provided between the main finger 40 and the operating finger 41, an offset groove 45 is provided at a middle section of the middle groove 44, a transverse slit 46 is provided at upper and lower portions of the offset groove 44, and the transverse slit 46 connects the middle groove 44 and the offset groove 45.
More specifically, the transverse slits 46 have a size of ten to twenty filaments.
More specifically, dampers 31 are provided on the bracket 26, the dampers 31 being located at both end positions of the stroke of the main slide 35.
More specifically, the number of the fingers 27 is one to five.
More specifically, the transverse linear guides 37 are located on both sides of the main sliding plate 35, and the number of the transverse linear guides 37 is two.
More specifically, the O-ring 42 is a tension spring.
The working process and the working principle of each step of the flexible full-automatic carrying manipulator of the invention are described in detail in the following with reference to fig. 1 to 9:
the valve body 3 is positioned on the fixture body 23, and the valve body 3 is positioned in the clamping range of the self-adaptive manipulator 25.
In the starting state, the piston rods of the front and rear cylinders 28, the up and down cylinders 29, and the finger cylinder 30 are all in the retracted state. At this time, the finger 27 is positioned on the upper portion of the gripper body 23. The size of the clamping space 43 is smaller than the outer diameter of the clamping portion 24.
Because the movable finger 41 is movably connected with the main finger 40, and because the O-shaped hoop 42 with the elastic expansion function is arranged outside the main finger 40 and the movable finger 41, the movable finger 41 is tightly attached to the main finger 40 under the action of the elastic force because of the elastic constraint of the O-shaped hoop 42.
The finger 27 grips the valve body 3. The piston rod of the upper and lower cylinder 29 is extended, and the secondary slide plate 36 moves downwards a distance relative to the primary slide plate 35 under the guidance of the longitudinal linear guide 38. The palm 32 moves downward to move the finger 27 toward the valve body 3, and the grip portion 24 of the valve body 3 enters the grip space 43 of the finger 27. The clamping space 43 is opened by the clamping part 24, the movable finger 41 moves relative to the main finger 40 along the transverse gap 46, so that the sizes of the middle groove 44 and the offset groove 45 are increased, the clamping part 24 is positioned between the main finger 40 and the movable finger 41, and due to the elastic constraint of the O-shaped hoop 42, the movable finger 41, the clamping part 24 and the main finger 40 are bound together by the O-shaped hoop 42, and the clamping of the finger 27 on the valve body 3 is realized. The O-ring 42 connects the valve body 3 to the finger 27, allowing the valve body 3 to move with the finger 27.
The adaptive manipulator 25 moves the valve body 3. The piston rods of the front and rear air cylinders 28, the upper and lower air cylinders 29 and the finger air cylinder 30 are all in a retraction state. The palm 32 rises, the valve body 3 moves upward together with the finger 27, and the valve body 3 is detached from the clamp body 23.
Then, the piston rods of the front and rear cylinders 28 are in an extended state, and the piston rods of the up-down cylinder 29 and the finger cylinder 30 are in a retracted state. The two sides of the main sliding plate 35 are fixedly connected to the connecting plate 34, the connecting plate 34 is movably connected to the bracket 26 through the transverse linear guide rail 37, and the main sliding plate 35 is driven by the front and rear cylinders 28 to move under the guidance of the transverse linear guide rail 37. So that the valve body 3 moves a certain distance to another position after being clamped by the adaptive manipulator 25.
The adaptive manipulator 25 releases the valve body 3. The cylinder body of the finger cylinder 30 is fixedly connected with the secondary sliding plate 36, the tail end of the piston rod of the secondary sliding plate 36 is provided with the push plate 33, and the piston rod of the finger cylinder 30 extends out, so that the push plate 33 moves towards the direction of the palm 32. The unloading shaft 39 is movably connected to the finger 27, the unloading shaft 39 is located inside the finger 27, and the tail end of the unloading shaft 39 is fixedly connected to the push plate 33. The unloading shaft 39 moves towards the valve body 3 under the pushing of the palm 32 and the guiding of the fingers 27, the unloading shaft 39 contacts the upper part of the clamping part 24 and pushes the clamping part 24 to be separated from the clamping space 43.
The detailed structure, the working process and the working principle of the self-adaptive manipulator of the flexible full-automatic carrying manipulator are described in detail as follows:
the clamping space 43 is opened by the clamping part 24, and the movable finger 41 moves relative to the main finger 40 along the transverse gap 46, so that the sizes of the middle groove 44 and the offset groove 45 are increased. The transverse slit 46 serves as a motion guide for the movement of the movable finger 41, so that the movable finger 41 makes a translational motion relative to the main finger 40, and the clamping space 43 always maintains a cylindrical shape. In the absence of the guidance of the transverse slot 46, the clamping space 43 may form a conical shape in the course of becoming larger, thereby reducing the accuracy of the clamping. The existence of the transverse gap 46 improves the clamping precision and ensures the clamping stability. The movable finger 41 clamps the valve body 3 under the action of the elastic force due to the elastic constraint of the O-shaped hoop 42, the whole clamping process is simple and clear in action, and the valve body 3 is inserted into the finger 27, so that the finger 27 can automatically clamp the valve body 3; at the same time, the finger 27 automatically adapts to the valve body 3 of different outer diameters.
In the conventional technology, the workpiece is usually grabbed by using a pneumatic finger, and the pneumatic finger is high in price, complex in structure and not beneficial to long-term use. The finger 27 adopts a simple cylinder structure, so that the valve body 3 can be grabbed, the use of a pneumatic finger is avoided, the action is simple, the structure is simple, the service life is long, the cost is low, and the requirement on a control system is greatly reduced.
After the valve body 3 is clamped by the fingers 27, the valve body 3 can be separated by simple action. The piston rod of the finger cylinder 30 extends out, so that the unloading shaft 39 pushes the valve body 3 to be separated from the clamping space 43, and the valve body 3 can be separated. The downward movement process exists simultaneously in the process of disengaging the finger 27 from the valve body 3, and the downward movement process can realize the assembly of the valve body 3 into another clamp, so that the working efficiency of the flexible full-automatic carrying manipulator is greatly improved.
The size of the transverse gap 46 is ten to twenty wires, and the manual finger 41 can be cut from the cylindrical shaft for preparing the main finger 40 by adopting a linear cutting process by adopting the size of ten to twenty wires, and after the cutting is finished, the manual finger 41 and the main finger 40 can be obtained at the same time.
Dampers 31 are provided on the bracket 26, the dampers 31 being located at both end positions of the stroke of the main slide 35. The main sliding plate 35 obtains a certain damping deceleration effect at the position of the stroke end, and the main sliding plate 35 is prevented from being impacted and collided in the moving process.
The number of the fingers 27 is one to five, and a plurality of the fingers 27 work simultaneously, so that the working efficiency is improved by times.
The transverse linear guide rails 37 are positioned on two sides of the main sliding plate 35, and the number of the transverse linear guide rails 37 is two. The gripper body 23 can be located under the finger 27, facilitating a rational arrangement of the production equipment.
The O-ring 42 is a tension spring. Because the preparation technology of the spring is mature, and the spring has long service life, the O-shaped hoop 42 made of the tension spring is stable and reliable in performance.
Finally, it should be noted that the above embodiments are merely representative examples of the present invention. It is obvious that the invention is not limited to the above-described embodiments, but that many variations are possible. Any simple modification, equivalent change and modification made to the above embodiments in accordance with the technical spirit of the present invention should be considered to be within the scope of the present invention.

Claims (1)

1. The utility model provides a flexible full automatization transport manipulator of fuel sprayer valve body which characterized in that includes: the self-adaptive valve body clamping device comprises a support, a self-adaptive manipulator for realizing a carrying function and a clamp body for placing a valve body, wherein the self-adaptive manipulator is fixedly connected to the support, and the clamp body is positioned in a clamping range of the self-adaptive manipulator;
the adaptive manipulator includes: the device comprises fingers, a front cylinder, a rear cylinder, an upper cylinder, a lower cylinder, a finger cylinder, a palm, a push plate, a connecting plate, a main sliding plate, a secondary sliding plate, a transverse linear guide rail, a longitudinal linear guide rail and a discharging shaft, wherein two sides of the main sliding plate are fixedly connected to the connecting plate, the connecting plate is movably connected to a support through the transverse linear guide rail, a cylinder body of the front cylinder and a cylinder body of the rear cylinder are fixedly connected to the support, the tail ends of piston rods of the front cylinder and the rear cylinder are fixedly connected to the main sliding plate, and the secondary sliding plate; the cylinder bodies of the upper and lower cylinders are fixedly connected with the main sliding plate, and the tail ends of the piston rods of the upper and lower cylinders are fixedly connected with the secondary sliding plate; the fingers are fixedly connected with the palm, the palm is fixedly connected with the secondary sliding plate, a cylinder body of the finger cylinder is fixedly connected with the secondary sliding plate, the tail end of a piston rod of the secondary sliding plate is provided with the push plate, the unloading shaft is movably connected with the fingers, the unloading shaft is positioned inside the fingers, and the tail end of the unloading shaft is fixedly connected with the push plate;
the finger includes: the clamping device comprises a main finger, a manual finger and an O-shaped hoop, wherein the manual finger is movably connected with the main finger, the O-shaped hoop with an elastic telescopic function is arranged outside the main finger and the manual finger, the main finger and the manual finger form a concentric arrangement and form a clamping space for accommodating a clamping part, and the clamping space is matched with the clamping part in shape;
the palm moves downwards to enable the fingers to move towards the valve body, and the clamping part of the valve body enters the clamping space of the fingers; the clamping space is propped open by the clamping part, the movable finger moves relative to the main finger along a transverse gap, so that the sizes of the middle groove and the offset groove are increased, the clamping part is positioned between the main finger and the movable finger, the clamping part and the main finger are bound together by the O-shaped hoop due to the elastic constraint of the O-shaped hoop, so that the clamping of the valve body by the finger is realized.
CN201711495225.9A 2016-03-04 2016-03-04 Flexible full-automatic carrying manipulator Active CN108202320B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711495225.9A CN108202320B (en) 2016-03-04 2016-03-04 Flexible full-automatic carrying manipulator

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610123878.3A CN105538298B (en) 2016-03-04 2016-03-04 High-efficiency handling manipulator system for injector valve body
CN201711495225.9A CN108202320B (en) 2016-03-04 2016-03-04 Flexible full-automatic carrying manipulator

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201610123878.3A Division CN105538298B (en) 2016-03-04 2016-03-04 High-efficiency handling manipulator system for injector valve body

Publications (2)

Publication Number Publication Date
CN108202320A CN108202320A (en) 2018-06-26
CN108202320B true CN108202320B (en) 2020-12-29

Family

ID=55818091

Family Applications (9)

Application Number Title Priority Date Filing Date
CN201710272025.0A Expired - Fee Related CN106863343B (en) 2016-03-04 2016-03-04 Flexible clamping type manipulator main body mechanism
CN201710272340.3A Expired - Fee Related CN107088890B (en) 2016-03-04 2016-03-04 Flexibility adaptively can tolerance formula new mechanical arm mechanism
CN201711495203.2A Active CN108202319B (en) 2016-03-04 2016-03-04 Rapid operation method of carrying manipulator
CN201710272071.0A Expired - Fee Related CN106891329B (en) 2016-03-04 2016-03-04 For carrying the high-accuracy manipulator of valve body
CN201710272072.5A Expired - Fee Related CN107053150B (en) 2016-03-04 2016-03-04 High speed conveying robot for valve body assembly
CN201610123878.3A Expired - Fee Related CN105538298B (en) 2016-03-04 2016-03-04 High-efficiency handling manipulator system for injector valve body
CN201710272325.9A Active CN107053237B (en) 2016-03-04 2016-03-04 More finger parallel connection type high-efficient homework manipulators
CN201711495225.9A Active CN108202320B (en) 2016-03-04 2016-03-04 Flexible full-automatic carrying manipulator
CN201711495252.6A Active CN108214470B (en) 2016-03-04 2016-03-04 Self-adaptive fast grabbing manipulator

Family Applications Before (7)

Application Number Title Priority Date Filing Date
CN201710272025.0A Expired - Fee Related CN106863343B (en) 2016-03-04 2016-03-04 Flexible clamping type manipulator main body mechanism
CN201710272340.3A Expired - Fee Related CN107088890B (en) 2016-03-04 2016-03-04 Flexibility adaptively can tolerance formula new mechanical arm mechanism
CN201711495203.2A Active CN108202319B (en) 2016-03-04 2016-03-04 Rapid operation method of carrying manipulator
CN201710272071.0A Expired - Fee Related CN106891329B (en) 2016-03-04 2016-03-04 For carrying the high-accuracy manipulator of valve body
CN201710272072.5A Expired - Fee Related CN107053150B (en) 2016-03-04 2016-03-04 High speed conveying robot for valve body assembly
CN201610123878.3A Expired - Fee Related CN105538298B (en) 2016-03-04 2016-03-04 High-efficiency handling manipulator system for injector valve body
CN201710272325.9A Active CN107053237B (en) 2016-03-04 2016-03-04 More finger parallel connection type high-efficient homework manipulators

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201711495252.6A Active CN108214470B (en) 2016-03-04 2016-03-04 Self-adaptive fast grabbing manipulator

Country Status (1)

Country Link
CN (9) CN106863343B (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106863343B (en) * 2016-03-04 2019-04-05 温州市科泓机器人科技有限公司 Flexible clamping type manipulator main body mechanism
CN108098814B (en) * 2018-01-19 2024-03-19 苏州工业职业技术学院 Flexible clamping system
CN108637163A (en) * 2018-06-15 2018-10-12 浙江鹤群智能装备股份有限公司 The full-automatic assembly equipment and full-automatic assembly method of a kind of saw chain
CN111673784B (en) * 2020-06-23 2022-09-23 郑州大学 Self-positioning gripping hand and gripping device
CN111805520B (en) * 2020-08-11 2025-01-21 中国电子科技集团公司第五十四研究所 A two-rotation-one-translation low-profile parallel mechanism with three constrained branches
CN111907757B (en) * 2020-09-03 2022-10-04 青岛朗锐智能科技有限公司 Tableware snatchs manipulator and automatic case packer
CN113910273A (en) * 2021-10-25 2022-01-11 苏州灵猴机器人有限公司 Terminal protective structure of robot and robot

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0364832B1 (en) * 1988-10-11 1994-06-08 Bridgestone Corporation Catching head of apparatus for handling works such as lipstick and the like
CN201776603U (en) * 2010-07-30 2011-03-30 金湖金石阀业有限公司 Valve seat assembling tool for valves
JP4839238B2 (en) * 2007-02-09 2011-12-21 Ｎｋｅ株式会社 Gripping device and loading device
JP2012091275A (en) * 2010-10-27 2012-05-17 Japan Atomic Energy Agency Illumination lamp replacement method and replacement fixture
CN103987498A (en) * 2011-10-07 2014-08-13 雄克有限公司 Gripping or clamping device
CN204771380U (en) * 2015-06-30 2015-11-18 苏州昌飞自动化设备厂 Pneumatic type vacuum extracting device of automatic kludge of case
WO2016031582A1 (en) * 2014-08-29 2016-03-03 川崎重工業株式会社 End effector, industrial robot, and operating method thereof

Family Cites Families (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4132318A (en) * 1976-12-30 1979-01-02 International Business Machines Corporation Asymmetric six-degree-of-freedom force-transducer system for a computer-controlled manipulator system
JPH04348887A (en) * 1991-05-23 1992-12-03 B L Oototetsuku Kk Device for inserting rod member into insertion hole and method thereof
JP2540904Y2 (en) * 1991-06-24 1997-07-09 富士通テン株式会社 Tool attachment / detachment structure for operating members
JPH05382A (en) * 1991-06-25 1993-01-08 Matsushita Electric Works Ltd Joining method for energizing fittings
JP2761637B2 (en) * 1997-06-20 1998-06-04 株式会社ブリヂストン Device for gripping parts
JP2001341089A (en) * 2000-06-01 2001-12-11 Yasuo Yamanaka Article sucking device and its method
US7114243B2 (en) * 2002-01-22 2006-10-03 Seagate Technology Llc Gripper with parts ejector system
CN201036271Y (en) * 2007-05-12 2008-03-19 周立人 Picking device for high branch melon and fruit
CN201376277Y (en) * 2009-02-10 2010-01-06 上海电机学院 a robotic hand
NL1037512C2 (en) * 2009-11-30 2011-05-31 Vanderlande Ind Bv DEVICE FOR GRIPPING OBJECTS.
US20110255948A1 (en) * 2010-04-19 2011-10-20 Malinowski Mark A Suction Device
CN201856077U (en) * 2010-10-26 2011-06-08 宁波优适捷传动件有限公司 Tool for assembling retainer ring
CN102173030B (en) * 2010-12-30 2015-08-19 东莞艾尔发自动化机械有限公司 The device of manipulator jig preparation method and enforcement the method
CN102180355A (en) * 2011-03-11 2011-09-14 浙江省电力公司 Electric energy meter carrying manipulator suitable for meter box
CN202357168U (en) * 2011-12-14 2012-08-01 吴江市博众精工科技有限公司 Four-shaft mechanical arm module
CN103240733B (en) * 2012-02-01 2016-08-24 昆山市工业技术研究院有限责任公司 Five-degree-of-freedmanipulator manipulator
CN202846537U (en) * 2012-09-29 2013-04-03 广州市海同机电设备有限公司 Expanding core clamp
CN203045736U (en) * 2013-02-19 2013-07-10 中山火炬职业技术学院 A three-jaw manipulator
CN103212986B (en) * 2013-05-15 2015-08-19 浙江华龙巨水科技股份有限公司 A kind of valve body feeding device of ball valve automatic assembling
CN203390931U (en) * 2013-08-02 2014-01-15 河南省杜甫机械制造有限公司 Cantilever type mechanical arm device
CN203510207U (en) * 2013-10-10 2014-04-02 深圳市策维科技有限公司 Grabbing device
CN103817510B (en) * 2014-03-13 2016-04-13 严松法 For the valve body load module of automatic assembling machine
CN103950034B (en) * 2014-04-09 2015-11-25 哈尔滨博强机器人技术有限公司 A kind of O Xing Quan robot Auto-mounting paw
WO2015181896A1 (en) * 2014-05-27 2015-12-03 川崎重工業株式会社 End effector, industrial robot, and method for operating same
CN203919076U (en) * 2014-06-06 2014-11-05 余胜东 Band lines type resilient clamp manipulator
CN104028986B (en) * 2014-06-12 2016-02-24 苏州乔岳软件有限公司 A kind of pad automatic joint device
CN105364921A (en) * 2014-08-24 2016-03-02 江西理工大学 Mechanical arm
CN104960910A (en) * 2015-06-30 2015-10-07 苏州昌飞自动化设备厂 Valve element ejection mechanism of automatic valve element assembling machine
CN104942561A (en) * 2015-06-30 2015-09-30 苏州昌飞自动化设备厂 Pneumatic type vacuum material collecting device of automatic valve element assembling machine
CN104985437B (en) * 2015-07-28 2017-06-20 上海美科阀门有限公司 A kind of valve kludge
CN204957788U (en) * 2015-08-28 2016-01-13 杭州永昌玻璃机械有限公司 On valve body, feeding mechanical arm module supporting structure
CN205033207U (en) * 2015-09-30 2016-02-17 芜湖顺威精密塑料有限公司 Grabbing device's top manipulator
CN205058047U (en) * 2015-10-22 2016-03-02 兰溪市瑞鼎数控机械有限公司 Manipulator at valve body mesopore installation hexagon nut
CN205380670U (en) * 2016-03-04 2016-07-13 邵伟 High -efficient transport arm -and -hand system of fuel sprayer valve body
CN106863343B (en) * 2016-03-04 2019-04-05 温州市科泓机器人科技有限公司 Flexible clamping type manipulator main body mechanism

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0364832B1 (en) * 1988-10-11 1994-06-08 Bridgestone Corporation Catching head of apparatus for handling works such as lipstick and the like
JP4839238B2 (en) * 2007-02-09 2011-12-21 Ｎｋｅ株式会社 Gripping device and loading device
CN201776603U (en) * 2010-07-30 2011-03-30 金湖金石阀业有限公司 Valve seat assembling tool for valves
JP2012091275A (en) * 2010-10-27 2012-05-17 Japan Atomic Energy Agency Illumination lamp replacement method and replacement fixture
CN103987498A (en) * 2011-10-07 2014-08-13 雄克有限公司 Gripping or clamping device
WO2016031582A1 (en) * 2014-08-29 2016-03-03 川崎重工業株式会社 End effector, industrial robot, and operating method thereof
CN204771380U (en) * 2015-06-30 2015-11-18 苏州昌飞自动化设备厂 Pneumatic type vacuum extracting device of automatic kludge of case

Also Published As

Publication number Publication date
CN108202319A (en) 2018-06-26
CN108202319B (en) 2020-05-12
CN107053237B (en) 2019-08-13
CN107088890A (en) 2017-08-25
CN106891329B (en) 2019-01-18
CN108214470A (en) 2018-06-29
CN107053150A (en) 2017-08-18
CN107053150B (en) 2019-08-27
CN105538298A (en) 2016-05-04
CN105538298B (en) 2018-02-09
CN108202320A (en) 2018-06-26
CN106891329A (en) 2017-06-27
CN106863343B (en) 2019-04-05
CN106863343A (en) 2017-06-20
CN107088890B (en) 2018-08-24
CN108214470B (en) 2020-05-08
CN107053237A (en) 2017-08-18

Similar Documents

Publication Publication Date Title
CN108202320B (en) Flexible full-automatic carrying manipulator
CN211991757U (en) Copper shell feeding mechanism for automatic fire extinguisher valve body assembling machine
EP2671662B1 (en) Resistance welding device
CN108747358B (en) Automatic valve body assembly line
CN112248024A (en) Flexible grabbing method of flexible pneumatic robot
CN112454402A (en) Grabbing method of flexible pneumatic manipulator
CN106363382A (en) An automatic feeding assembly line for robot wire harness sleeves
CN110340656B (en) Tailgate stay production line
CN107030162A (en) A kind of multiple site punching system
CN206185885U (en) Lamp shade combination air clamper for robot
CN209717187U (en) A kind of full-automatic line system of processing of gear blank
CN115626459A (en) A linkage loading type buckle robot
CN206140077U (en) An automatic feeding assembly line for robot wire harness sleeves
CN210413710U (en) Blanking manipulator for production of stop valve
CN211615634U (en) Robot end effector capable of horizontally grabbing workpiece
CN203527095U (en) Multistage automatic head-replacing device of machine tool
CN209442245U (en) A kind of Intelligent Truss Structures with versatility gripping structure
CN209614755U (en) A kind of booster master cylinder main piston grasping mechanism
CN211278414U (en) Flexible pneumatic manipulator
CN210210127U (en) Part clamping tool
CN111993006B (en) Spacer assembling mechanism for producing escalator chain
CN221101866U (en) Feeding mechanism of sheet type magnetic core winding machine
CN208099008U (en) A kind of circular grip automatic charging, punching press and blanking production line
CN113066618A (en) Pipe moving and penetrating mechanism
CN217552439U (en) Arm fast-assembling winding displacement structure

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20211215

Address after: 252000 No. 2, Huixin South Road, Gaotang Economic Development Zone, Liaocheng City, Shandong Province (Development Zone Management Committee)

Patentee after: GAOTANG Rongzhi Rongzhi Technology Service Co.,Ltd.

Address before: Room 522 and 524, building C, science and technology business incubator, entrepreneurship service center, high tech Industrial Development Zone, Longwan District, Wenzhou City, Zhejiang Province, 325000

Patentee before: WENZHOU KEHONG ROBOT TECHNOLOGY Co.,Ltd.