CN108356845A - One kind can positioning type mechanical arm - Google Patents
One kind can positioning type mechanical arm Download PDFInfo
- Publication number
- CN108356845A CN108356845A CN201810260204.7A CN201810260204A CN108356845A CN 108356845 A CN108356845 A CN 108356845A CN 201810260204 A CN201810260204 A CN 201810260204A CN 108356845 A CN108356845 A CN 108356845A
- Authority
- CN
- China
- Prior art keywords
- suction disc
- mechanical arm
- angle
- locating piece
- type mechanical
- 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.)
- Withdrawn
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The invention discloses one kind can positioning type mechanical arm, including mechanical arm and the sucker that is connected on the mechanical arm, the sucker include a suction disc, and the suction disc lower surface is equipped with multiple suction points；Angle locating piece and oblique angle detent mechanism are additionally provided on the suction disc, the angle locating piece is fixed on the position of one jiao of suction disc lower surface, the oblique angle detent mechanism is set to the diagonal position in suction disc lower surface relative to angle locating piece comprising an oblique angle compact heap and a push rod；The suction disc upper surface is installed with a pusher cylinder, and the push rod is fixedly connected by a connecting rod with the piston rod of pusher cylinder, and the pusher cylinder is for pushing oblique angle compact heap to be moved towards angle locating piece.The present invention can positioning type mechanical arm the position of plank can be positioned when adsorb plank so that suction point on suction disc is completely attached to plank, is avoided occurring to adsorb plank and is failed.
Description
Technical field
The present invention relates to field of machinery automation, and in particular to one kind can positioning type mechanical arm.
Background technology
Vacuum cup machinery hand is that the sucker that flexible material manufactures is tightly attached on workpiece using atmospheric pressure, reaches carrying
The purpose of workpiece usually can carry out carrying plate on the automatic assembly line of plate stamping using to vacuum cup machinery hand.It is existing
Manipulator when drawing plank, the position of plank is simultaneously not fixed, might have part inhale point do not contact plank, lead to sucker
Failure is vacuumized, the absorption to plank is influenced.
Invention content
The technical problem to be solved in the present invention is to provide one kind can positioning type mechanical arm, the sucker of the manipulator is in adsorption plate
When material, the position of plank can be positioned so that the suction point on suction disc is completely attached to plank, avoids that absorption plank mistake occurs
The case where losing.
In order to solve the above technical problem, the present invention provides one kind can positioning type mechanical arm, including mechanical arm and connection
In the sucker on mechanical arm, the sucker includes a suction disc, and the suction disc lower surface is equipped with multiple suction points,
Angle locating piece and oblique angle detent mechanism are additionally provided on the suction disc, the angle locating piece is fixed on suction disc following table
The position that one jiao of face, the oblique angle detent mechanism are set to the diagonal position in suction disc lower surface relative to angle locating piece comprising
One oblique angle compact heap and a push rod；The suction disc upper surface is installed with a pusher cylinder, and the push rod passes through a connecting rod and promotion
The piston rod of cylinder is fixedly connected, and the pusher cylinder is for pushing oblique angle compact heap to be moved towards angle locating piece.
In the preferable embodiment of the present invention, the end of the both side plate of the angle locating piece is equipped with arc
Guide surface.
In the preferable embodiment of the present invention, sector is equipped on the angle locating piece and oblique angle compact heap
Supporting plate.
In the preferable embodiment of the present invention, the sector supporting plate is equipped with a plurality of protrusion close to the surface of suction disc
Portion.
In the preferable embodiment of the present invention, the lug boss is the outside spoke by the fan-shaped supporting plate center of circle
It penetrates, and the lug boss that section is triangle.
In the preferable embodiment of the present invention, the position that the suction disc corresponds to push rod offers straight slot, institute
The one end for stating connecting rod is fixed on the piston rod of pusher cylinder, and the other end passes through the straight slot, and is fixedly connected with push rod.
In the preferable embodiment of the present invention, the position that the suction disc lower surface is located at push rod both sides is respectively provided with
One baffle, to guide the movement of push rod.
The beneficial effects of the present invention are：
The present invention can positioning type mechanical arm, in suction disc bottom surface diagonal position be respectively set an angle locating piece and one tiltedly
Angle detent mechanism, when sucker goes to draw plank, oblique angle detent mechanism pushes plank so that plank covers all on suction disc
Inhale point, then suction disc vacuumizes and is sucked plank, avoid it is certain inhale point not with web contact and vacuumize the feelings of failure
Condition.
Secondly, in the present invention, oblique angle detent mechanism can be matched for clamping tightly plank with angle locating piece, avoid plank due to weight
It is excessive and be difficult to adsorb.And fan-shaped supporting plate can hold one jiao of plank, further ensure that sucker in the handling process
Safety, avoids that there is a situation where planks to fall.
Description of the drawings
Fig. 1 be the present invention can positioning type mechanical arm structural schematic diagram；
Fig. 2 is the structural schematic diagram of sucker bottom surface in Fig. 1；
Fig. 3 is the structural schematic diagram of sucker top surface in Fig. 1；
Fig. 4 is the structural schematic diagram of fan-shaped supporting plate in Fig. 1；
Wherein：1, mechanical arm；2, suction disc；21, point is inhaled；22, straight slot；3, angle locating piece；31, mounting groove；32, arc draws
Guide face；4, oblique angle detent mechanism；41, oblique angle compact heap；42, push rod；43, pusher cylinder；44, baffle；5, fan-shaped supporting plate；51、
Lug boss.
Specific implementation mode
The invention will be further described in the following with reference to the drawings and specific embodiments, so that those skilled in the art can be with
It more fully understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
Refer to Fig. 1-Fig. 4, the invention discloses one kind can positioning type mechanical arm, including mechanical arm 1 and be connected to machinery
Sucker on arm 1, the sucker include a suction disc 1, and 2 lower surface of suction disc is equipped with multiple suction points 21 in matrix arrangement.
The diagonal position of the lower surface of suction disc 2 is respectively equipped with angle locating piece 3 and oblique angle detent mechanism 4, wherein angle is fixed
Position block 3 is joined together to form by the end of two blocks of side plates, and according to the shape of plank, angle can be acute angle, right angle or blunt
Angle.Mounting groove 31 is offered on the side plate of both sides, is equipped with screw hole in mounting groove 31, side plate is installed on by screw on suction disc 2.
In the present embodiment, the end of the both side plate of angle locating piece 3 is equipped with arcuate guide surface 32, when plank is by oblique angle detent mechanism 4
When promotion, the end of plank may first be contacted with arcuate guide surface 32, and arcuate guide surface 32 can guide plank to two at this time
Angle between block side plate.
Oblique angle detent mechanism 4 includes an oblique angle compact heap 41 and a push rod 42, and wherein 2 upper surface of suction disc is installed with a promotion
Cylinder 43, push rod 42 are fixedly connected by a connecting rod with the piston rod of pusher cylinder 43, and pusher cylinder 43 is for pushing oblique angle pressure
Tight block 41 is moved towards angle locating piece 3.According to the shape of plank, oblique angle compact heap 41 can at an acute angle, right angle or obtuse angle.This reality
It applies in example, the position that suction disc 2 corresponds to push rod 42 offers straight slot 22, and the piston rod of pusher cylinder 43 is fixed in one end of connecting rod
On, the other end passes through the straight slot 22, and is fixedly connected with push rod 42.In order to preferably guide the movement of push rod 42, this implementation
In example, the position that 42 both sides of push rod are located in 2 lower surface of suction disc is respectively provided with a baffle 44.Certainly, in alternative embodiments,
Guide rail and sliding block can be set between push rod 42 and suction disc 2 to guide the movement of push rod 42.
In the present embodiment, it is equipped with fan-shaped supporting plate 5 on angle locating piece 3 and oblique angle compact heap 41, which can hold in the palm
Firmly one jiao of plank further ensure that the safety of sucker in the handling process, avoid that there is a situation where planks to fall.It is excellent
Choosing, fan-shaped supporting plate 5 is equipped with a plurality of lug boss 51, when fan-shaped supporting plate 5 holds plank, the protrusion close to the surface of suction disc 2
Portion 51 is in contact with plank.In the present embodiment, lug boss 51 is to be set out from 5 center of circle of fan-shaped supporting plate to external radiation, and section is three
Angular lug boss 51.Certainly, in alternative embodiments, the shape of fan-shaped supporting plate 5 can also be rectangle, triangle etc., convex
The section for playing portion 51 is also not necessarily limited to triangle, can also be the other shapes such as semicircle, trapezoidal.
The present embodiment can positioning type mechanical arm, on 2 ground of suction disc, 3 He of an angle locating piece is respectively set in diagonal position
One oblique angle detent mechanism 4, when sucker goes to draw plank, oblique angle detent mechanism 4 pushes plank so that plank covers suction disc 2
On all suction points 21, then suction disc 2 vacuumize and be sucked plank, avoid certain suction points 21 and do not taken out with web contact
The case where vacuum fails.Secondly, oblique angle detent mechanism 4 can be matched for clamping tightly plank with angle locating piece 3, avoid plank due to weight
It is excessive and be difficult to adsorb.And fan-shaped supporting plate 5 can hold one jiao of plank, further ensure that sucker in the handling process
Safety, avoids that there is a situation where planks to fall.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art on the basis of the present invention made by equivalent substitute or transformation, in the present invention
Protection domain within.Protection scope of the present invention is subject to claims.
Claims (7)
1. one kind can positioning type mechanical arm, including mechanical arm and the sucker that is connected on the mechanical arm, the sucker include one
Suction disc, the suction disc lower surface are equipped with multiple suction points；It is characterized in that,
Angle locating piece and oblique angle detent mechanism are additionally provided on the suction disc, the angle locating piece is fixed on suction disc lower surface one
The position at angle, the oblique angle detent mechanism are set to the diagonal position in suction disc lower surface relative to angle locating piece comprising one tiltedly
Angle compact heap and a push rod；The suction disc upper surface is installed with a pusher cylinder, and the push rod passes through a connecting rod and pusher cylinder
Piston rod be fixedly connected, the pusher cylinder for push oblique angle compact heap towards angle locating piece move.
2. as described in claim 1 can positioning type mechanical arm, which is characterized in that the end of the both side plate of the angle locating piece
It is equipped with arcuate guide surface.
3. as described in claim 1 can positioning type mechanical arm, which is characterized in that on the angle locating piece and oblique angle compact heap
It is equipped with fan-shaped supporting plate.
4. as claimed in claim 3 can positioning type mechanical arm, which is characterized in that the sector supporting plate is set close to the surface of suction disc
There is a plurality of lug boss.
5. as claimed in claim 4 can positioning type mechanical arm, which is characterized in that the lug boss is to be gone out by the fan-shaped supporting plate center of circle
It is sent to external radiation, and the lug boss that section is triangle.
6. as described in claim 1 can positioning type mechanical arm, which is characterized in that the position that the suction disc corresponds to push rod opens up
There are straight slot, one end of the connecting rod to be fixed on the piston rod of pusher cylinder, the other end passes through the straight slot, and is fixed with push rod
Connection.
7. as described in claim 1 can positioning type mechanical arm, which is characterized in that the suction disc lower surface is located at push rod both sides
Position is respectively provided with a baffle, to guide the movement of push rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810260204.7A CN108356845A (en) | 2018-03-27 | 2018-03-27 | One kind can positioning type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810260204.7A CN108356845A (en) | 2018-03-27 | 2018-03-27 | One kind can positioning type mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108356845A true CN108356845A (en) | 2018-08-03 |
Family
ID=63001616
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810260204.7A Withdrawn CN108356845A (en) | 2018-03-27 | 2018-03-27 | One kind can positioning type mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108356845A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942902A (en) * | 2018-10-19 | 2018-12-07 | 江门市恒正自动化设备科技有限公司 | A kind of six axis joint robots of loading and unloading |
| CN109093375A (en) * | 2018-11-06 | 2018-12-28 | 中国工程物理研究院激光聚变研究中心 | A kind of flexible assembly method and assembly device for precision element dress school |
| CN109264094A (en) * | 2018-10-26 | 2019-01-25 | 沧州恒睿自动化设备科技有限公司 | Dental appliance packaging box body sorting mechanism and its method for sorting |
-
2018
- 2018-03-27 CN CN201810260204.7A patent/CN108356845A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942902A (en) * | 2018-10-19 | 2018-12-07 | 江门市恒正自动化设备科技有限公司 | A kind of six axis joint robots of loading and unloading |
| CN108942902B (en) * | 2018-10-19 | 2024-04-19 | 江门市恒正自动化设备科技有限公司 | Six-axis joint robot for loading and unloading |
| CN109264094A (en) * | 2018-10-26 | 2019-01-25 | 沧州恒睿自动化设备科技有限公司 | Dental appliance packaging box body sorting mechanism and its method for sorting |
| CN109264094B (en) * | 2018-10-26 | 2024-03-19 | 沧州恒睿自动化设备科技有限公司 | Sorting method of sorting mechanism for dental instrument packaging box bodies |
| CN109093375A (en) * | 2018-11-06 | 2018-12-28 | 中国工程物理研究院激光聚变研究中心 | A kind of flexible assembly method and assembly device for precision element dress school |
| CN109093375B (en) * | 2018-11-06 | 2023-11-03 | 中国工程物理研究院激光聚变研究中心 | Flexible assembly method and assembly device for assembling and calibrating precise element |
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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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180803 |