CN108214528A - A kind of bulb picking manipulator of adjustable opening angle - Google Patents
A kind of bulb picking manipulator of adjustable opening angle Download PDFInfo
- Publication number
- CN108214528A CN108214528A CN201810085829.4A CN201810085829A CN108214528A CN 108214528 A CN108214528 A CN 108214528A CN 201810085829 A CN201810085829 A CN 201810085829A CN 108214528 A CN108214528 A CN 108214528A
- Authority
- CN
- China
- Prior art keywords
- bulb
- opening angle
- oil cylinder
- electric oil
- mainboard frame
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated 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
- B25J15/0033—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
- B25J15/08—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
Abstract
The invention discloses a kind of bulb picking manipulators of adjustable opening angle, including mainboard frame, the corner location of the mainboard frame is hinged by torsion axis and rotation large arm, the bottom end of the rotation large arm is connect by threaded fastener with adjustment forearm, foam-rubber cushion is coated at the bottom tip position of the adjustment forearm, the mainboard frame is detachably connected by several connecting ribs with electric oil cylinder, mounting flange is welded at the top of the electric oil cylinder, the piston rod of the electric oil cylinder coordinates with connector sleeve, the outer rim of the connector sleeve is welded with several slope surface push plates, the top of the rotation large arm is coordinated by wheel shaft and idler wheel, the idler wheel is contacted with the slope surface push plate.The bulb picking manipulator of this is adjustable opening angle is simple in structure, and operation is easy, the surface of bulb is not damaged in pick process, can be suitable for the pickup work of plurality of specifications bulb, assembling is simple, and maintenance cost is low.
Description
Technical field
The present invention relates to machinery equipment field, specially a kind of bulb picking manipulator of adjustable opening angle.
Background technology
In machinery production work, the use of manipulator is very extensive, is either still being machined in flow line production
In field, the use of manipulator is all very common, and according to different work requirements, the structure of manipulator is also different, spherical
Part is widely used in machinery equipment field, the bad crawl due to shape of such part, the machinery used at present
Hand is of high cost, complicated, improves production cost, and a kind of manipulator of model can not be suitable for a variety of types well
The pickup of number bulb so in production work, needs to be equipped with the ball that various types of manipulators carry out mating different model
Shape part pickup now needs a kind of robot device that disclosure satisfy that bulb crawl demand of low cost.
Invention content
The purpose of the present invention is to provide a kind of bulb picking manipulator of adjustable opening angle, to solve the above-mentioned back of the body
The problem of being proposed in scape technology.
To achieve the above object, the present invention provides following technical solution：A kind of bulb pickup of adjustable opening angle
Manipulator, including mainboard frame, the corner location of the mainboard frame is hinged by torsion axis and rotation large arm, the rotation large arm
Bottom end by threaded fastener with adjustment forearm connect, it is described adjust forearm bottom tip position at be coated with foam-rubber cushion,
The mainboard frame is detachably connected by several connecting ribs with electric oil cylinder, and Method for Installation is welded at the top of the electric oil cylinder
Orchid, the piston rod of the electric oil cylinder coordinate with connector sleeve, and the outer rim of the connector sleeve is welded with several slope surface push plates, described turn
The top of dynamic large arm is coordinated by wheel shaft and idler wheel, and the idler wheel is contacted with the slope surface push plate.
Preferably, the center position of the mainboard frame offers relief hole, and the corner location of the mainboard frame opens up
There is mounting groove, the torsion axis is installed in the mounting groove.
Preferably, the both ends of the connecting rib are respectively provided with step, and several connection bolts are coated on the step, described
Connecting rib is detachably connected by the bolt and the mainboard frame or the electric oil cylinder.
Preferably, taper hole is offered on the connector sleeve, the connector sleeve passes through the taper hole and the piston rod self-locking
Cooperation.
Preferably, several installation bolts are coated on the mounting flange.
Compared with prior art, the beneficial effects of the invention are as follows：The bulb picking manipulator of this is adjustable opening angle
In use, mounting flange is connect with other mechanical arm kind equipments, this manipulator is controlled to be moved by mechanical arm kind equipment, it will
This manipulator, which is moved to, to be needed to decline after above the bulb that picks up so that the adjustment forearm in open configuration allowed spherical shape
Part, user is by outside connected switch control electric oil cylinder work at this time, and the piston rod stretching of electric oil cylinder, piston rod will connection
It being pushed away under set, then slope surface push plate declines therewith, and the rotation large arm contacted at this time with slope surface push plate by idler wheel is passive to deflect,
The adjustment forearm for then rotating large arm bottom end makes gathering action with the rotation of rotation large arm, and such four adjustment forearm just will
Bulb collapse centre so that bulb caught, at this time can by mechanical arm kind equipment to this robot device into
Line position puts movement, completes the transfer of bulb, and after reaching appointed place, control electric oil cylinder does contractive action, then piston rod
It withdraws, slope surface push plate rises, and rotates rebound effect Regression initial position of the large arm in torsion axis, then adjusts forearm opening,
Bulb is fallen, and so far completes the pickup transfer of bulb, the tip for adjusting forearm is coated with foam-rubber cushion, such design
Bulb is scratched when adjustment forearm can be effectively prevent to collapse, adjustment forearm can adjust by threaded fastener with rotation large arm matches
It closes, threaded fastener can be twisted threaded fastener tune pine by user again after adjustment forearm then is turned to the position of needs
Tightly, such design allows the cooperation angle between adjustment forearm and rotation large arm to adjust so that this manipulator is applicable
In the pickup work of the bulb of different-diameter, the scope of application of this manipulator has been widened, has been solved in actual production work
The problem of different size part needs to be equipped with different size picking manipulator, has saved production cost；The present apparatus is simple in structure, behaviour
It is easy to make, and the surface of bulb is not damaged in pick process, can be suitable for the pickup of plurality of specifications bulb
Work, assembling is simple, and maintenance cost is low.
Description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is the structure diagram after Fig. 1 removes connecting rib.
Fig. 3 is the vertical view after Fig. 2 removes mounting flange, torsion axis, rotation large arm.
Fig. 4 is the vertical view of mainboard frame of the present invention.
The vertical view that Fig. 5 is connector sleeve of the present invention and slope surface push plate coordinates.
In figure：1st, mainboard frame, 2, torsion axis, 3, rotation large arm, 4, threaded fastener, 5, adjustment forearm, 6, foam-rubber cushion, 7,
Connecting rib, 8, electric oil cylinder, 9, mounting flange, 10, piston rod, 11, connector sleeve, 12, slope surface push plate, 13, wheel shaft, 14, rolling
Wheel, 15, relief hole, 16, mounting groove, 17, step, 18, connection bolt, 19, taper hole, 20, installation bolt.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
- 5 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of bulb pickup machinery of adjustable opening angle
Hand, including mainboard frame 1, the corner location of the mainboard frame 1 is hinged by torsion axis 2 and rotation large arm 3, the rotation large arm
3 bottom end is connect by threaded fastener 4 with adjustment forearm 5, and sponge is coated at the bottom tip position of the adjustment forearm 5
Pad 6, the mainboard frame 1 are detachably connected by several connecting ribs 7 with electric oil cylinder 8, the top welding of the electric oil cylinder 8
There is mounting flange 9, piston rod 10 and the connector sleeve 11 of the electric oil cylinder 8 coordinate, if the outer rim of the connector sleeve 11 is welded with
Dry slope surface push plate 12, the top of the rotation large arm 3 are coordinated by wheel shaft 13 and idler wheel 14, and the idler wheel 14 is pushed away with the slope surface
Plate 12 contacts, and the center position of the mainboard frame 1 offers relief hole 15, and the corner location of the mainboard frame 1 offers
Mounting groove 16, the torsion axis 2 are installed in the mounting groove 16, and the both ends of the connecting rib 7 are respectively provided with step 17, described
Several connection bolts 18 are coated on step 17, the connecting rib 7 passes through the bolt 18 and the mainboard frame 1 or the electricity
Dynamic oil cylinder 8 is detachably connected, and offers taper hole 19 on the connector sleeve 11, the connector sleeve 11 by the taper hole 19 with it is described
10 self-locking of piston rod coordinates, and several installation bolts 20 are coated on the mounting flange 9.
Operation principle：In the bulb picking manipulator for using the adjustable opening angle, mounting flange 9 and other machines
Tool arm kind equipment connects, this manipulator is controlled to be moved by mechanical arm kind equipment, this manipulator, which is moved to, to be needed to pick up
Bulb above after decline so that the adjustment forearm 5 in open configuration allowed bulb, and user passes through outer at this time
It connects switch control electric oil cylinder 8 to work, the piston rod 10 of electric oil cylinder 8 stretches out, and piston rod 10 will push away under connector sleeve 11, then slope surface
Push plate 12 declines therewith, and the rotation large arm 3 contacted at this time with slope surface push plate 12 by idler wheel 14 is passive to deflect, then rotates
The adjustment forearm 5 of 3 bottom end of large arm makes gathering action with the rotation of rotation large arm 3, and such four adjustment forearm 5 is just by ball
Shape part is collapsed so that bulb is caught in centre, this robot device can be carried out by mechanical arm kind equipment at this time
Position is moved, and completes the transfer of bulb, and after reaching appointed place, control electric oil cylinder 8 does contractive action, then piston rod 10
It withdraws, slope surface push plate 12 rises, and rotation large arm 3 then adjusts forearm 5 in the rebound effect Regression initial position of torsion axis 2
It opening, bulb is fallen, and so far completes the pickup transfer of bulb, and the tip of adjustment forearm 5 is coated with foam-rubber cushion 6, this
The design of sample scratches bulb when adjustment forearm 5 can be effectively prevent to collapse, adjustment forearm 5 passes through threaded fastener 4 and rotation
Threaded fastener 4 can be adjusted pine by the adjustable cooperation of large arm 3, user, then be turned to adjustment forearm 5 behind the position of needs again
Threaded fastener 4 is tightened, such design allows the cooperation angle between adjustment forearm 5 and rotation large arm 3 to adjust, and makes
The pickup work that this manipulator is applicable to the bulb of different-diameter is obtained, the scope of application of this manipulator has been widened, has solved
The problem of different size part needs to be equipped with different size picking manipulator in actual production work, has saved production cost.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of bulb picking manipulator of adjustable opening angle, including mainboard frame（1）, it is characterised in that：The mainboard
Frame（1）Corner location pass through torsion axis（2）With rotating large arm（3）It is hinged, the rotation large arm（3）Bottom end pass through screw thread
Fastener（4）With adjusting forearm（5）Connection, the adjustment forearm（5）Bottom tip position at be coated with foam-rubber cushion（6）, institute
State mainboard frame（1）Pass through several connecting ribs（7）With electric oil cylinder（8）It is detachably connected, the electric oil cylinder（8）Top weldering
It is connected to mounting flange（9）, the electric oil cylinder（8）Piston rod（10）With connector sleeve（11）Cooperation, the connector sleeve（11）'s
Outer rim is welded with several slope surface push plates（12）, the rotation large arm（3）Top pass through wheel shaft（13）With idler wheel（14）Cooperation, institute
State idler wheel（14）With the slope surface push plate（12）Contact.
2. a kind of bulb picking manipulator of adjustable opening angle according to claim 1, it is characterised in that：It is described
Mainboard frame（1）Center position offer relief hole（15）, the mainboard frame（1）Corner location offer mounting groove
（16）, the torsion axis（2）It is installed in the mounting groove（16）In.
3. a kind of bulb picking manipulator of adjustable opening angle according to claim 1, it is characterised in that：It is described
Connecting rib（7）Both ends be respectively provided with step（17）, the step（17）On be coated with several connection bolts（18）, the connection
Gusset（7）Pass through the bolt（18）With the mainboard frame（1）Or the electric oil cylinder（8）It is detachably connected.
4. a kind of bulb picking manipulator of adjustable opening angle according to claim 1, it is characterised in that：It is described
Connector sleeve（11）On offer taper hole（19）, the connector sleeve（11）Pass through the taper hole（19）With the piston rod（10）Self-locking
Cooperation.
5. a kind of bulb picking manipulator of adjustable opening angle according to claim 1, it is characterised in that：It is described
Mounting flange（9）On be coated with several installation bolts（20）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810085829.4A CN108214528A (en) | 2018-01-29 | 2018-01-29 | A kind of bulb picking manipulator of adjustable opening angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810085829.4A CN108214528A (en) | 2018-01-29 | 2018-01-29 | A kind of bulb picking manipulator of adjustable opening angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108214528A true CN108214528A (en) | 2018-06-29 |
Family
ID=62669283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810085829.4A Pending CN108214528A (en) | 2018-01-29 | 2018-01-29 | A kind of bulb picking manipulator of adjustable opening angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108214528A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109041786A (en) * | 2018-10-17 | 2018-12-21 | 北京中医药大学 | Hand-held medlar-picking machine |
| CN111702856A (en) * | 2020-06-03 | 2020-09-25 | 余冬连 | Mop head take-out device for manufacturing clean collodion mop |
| CN111805565A (en) * | 2020-06-30 | 2020-10-23 | 安徽机电职业技术学院 | Automatic material taking industrial robot |
| CN113427516A (en) * | 2021-08-26 | 2021-09-24 | 向海重工集团股份有限公司 | Mechanical arm for mining machinery capable of adapting to irregular shape |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563219A (en) * | 2016-03-09 | 2016-05-11 | 宁夏机械研究院股份有限公司 | Workpiece gripping device |
| CN106006006A (en) * | 2016-05-25 | 2016-10-12 | 美的集团武汉制冷设备有限公司 | Intelligent clamping device |
| CN206536452U (en) * | 2017-02-16 | 2017-10-03 | 遨博（江苏）机器人有限公司 | A kind of six-joint robot claw |
| CN107378984A (en) * | 2017-07-07 | 2017-11-24 | 佛山市正略信息科技有限公司 | A kind of adjustable mechanical hand with locating rod |
| CN206840133U (en) * | 2017-05-15 | 2018-01-05 | 泉州市汇康工业设计有限公司 | A kind of Product processing mechanical gripper |
-
2018
- 2018-01-29 CN CN201810085829.4A patent/CN108214528A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563219A (en) * | 2016-03-09 | 2016-05-11 | 宁夏机械研究院股份有限公司 | Workpiece gripping device |
| CN106006006A (en) * | 2016-05-25 | 2016-10-12 | 美的集团武汉制冷设备有限公司 | Intelligent clamping device |
| CN206536452U (en) * | 2017-02-16 | 2017-10-03 | 遨博（江苏）机器人有限公司 | A kind of six-joint robot claw |
| CN206840133U (en) * | 2017-05-15 | 2018-01-05 | 泉州市汇康工业设计有限公司 | A kind of Product processing mechanical gripper |
| CN107378984A (en) * | 2017-07-07 | 2017-11-24 | 佛山市正略信息科技有限公司 | A kind of adjustable mechanical hand with locating rod |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109041786A (en) * | 2018-10-17 | 2018-12-21 | 北京中医药大学 | Hand-held medlar-picking machine |
| CN109041786B (en) * | 2018-10-17 | 2023-10-31 | 北京中医药大学 | Handheld medlar picking machine |
| CN111702856A (en) * | 2020-06-03 | 2020-09-25 | 余冬连 | Mop head take-out device for manufacturing clean collodion mop |
| CN111702856B (en) * | 2020-06-03 | 2022-07-01 | 浙江省永康市溯源工贸有限公司 | Mop head take-out device for manufacturing clean collodion mop |
| CN111805565A (en) * | 2020-06-30 | 2020-10-23 | 安徽机电职业技术学院 | Automatic material taking industrial robot |
| CN113427516A (en) * | 2021-08-26 | 2021-09-24 | 向海重工集团股份有限公司 | Mechanical arm for mining machinery capable of adapting to irregular shape |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180629 |