CN108466278A - Both hands manipulator for different workpieces crawl - Google Patents

Both hands manipulator for different workpieces crawl Download PDF

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Publication number
CN108466278A
CN108466278A CN201810552248.7A CN201810552248A CN108466278A CN 108466278 A CN108466278 A CN 108466278A CN 201810552248 A CN201810552248 A CN 201810552248A CN 108466278 A CN108466278 A CN 108466278A
Authority
CN
China
Prior art keywords
crawl
grabbing
arm
workpiece
expansion cylinder
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Withdrawn
Application number
CN201810552248.7A
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Chinese (zh)
Inventor
王肖烨
梁凯
Original Assignee
梁凯
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 梁凯 filed Critical 梁凯
Priority to CN201810552248.7A priority Critical patent/CN108466278A/en
Publication of CN108466278A publication Critical patent/CN108466278A/en
Withdrawn legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members

Abstract

A kind of both hands manipulator for different workpieces crawl is provided, it is separately installed with left grabbing device and right grabbing device on the skew back face at connecting bracket both ends, two crawl arms in the left grabbing device and the crawl arm in right grabbing device and crawl arm I promptly or unclamp corresponding workpiece, are fixedly connected with and are moved to by the left grabbing device of flexible drive of telescopic arm and right grabbing device crawl or the placement location of workpiece in the middle part of the connecting bracket with the telescopic arm of robot.The present invention can capture the left grabbing device of different workpieces and right grabbing device by being separately provided on the skew back face at connecting bracket both ends, realize that manipulator can disposably capture two identical or different workpiece, improve the crawl efficiency of workpiece, it is simple in structure, convenient operating maintenance, it is versatile.

Description

Both hands manipulator for different workpieces crawl
Technical field
The invention belongs to manipulator technical fields, and in particular to a kind of both hands manipulator for different workpieces crawl.
Background technology
Contemporary society, robot rapid development have become one of indispensable technology, machinery in industrial processes production Hand is robot and extraneous one of the main means for interacting and operating, and plays irreplaceable role, is presently used for capturing The manipulator of workpiece can only generally capture a workpiece to the crawl of workpiece, and crawl efficiency is low, and manipulator is complicated, lead to It is poor with property, two different workpiece can not be captured simultaneously, since grasping force low precision is susceptible to crawl defect when crawl, such as Situations such as workpiece surface slight deformation, in view of the above-mentioned problems, it is necessary to be improved.
Invention content
Present invention solves the technical problem that:A kind of both hands manipulator for different workpieces crawl is provided, by connecting It is separately provided for that the left grabbing device of different workpieces and right grabbing device can be captured on the skew back face at holder both ends, realizes Manipulator can disposably capture two identical or different workpiece, improve the crawl efficiency of workpiece, simple in structure, Operation and Maintenance It is convenient, it is versatile.
The technical solution adopted by the present invention:For the both hands manipulator of different workpieces crawl, there is connecting bracket, the company It connects and is separately installed with left grabbing device and right grabbing device on the skew back face at holder both ends, two in the left grabbing device Crawl arm and crawl arm in right grabbing device and crawl arm I promptly or unclamp corresponding workpiece, in the middle part of the connecting bracket It is fixedly connected with the telescopic arm of robot and work is moved to by the left grabbing device of flexible drive of telescopic arm and right grabbing device The crawl of part or placement location.
Wherein, the left grabbing device includes that bi-directional expansion cylinder described in two crawl arms and bi-directional expansion cylinder is fixed on connection On inclined-plane and two piston rod ends of bi-directional expansion cylinder are fixedly connected with two crawl arm ends respectively on the left of holder, and described two There are two the rubber block of positional symmetry and stretching by two piston rods of bi-directional expansion cylinder for the crawl mouth inner wall fixation of a crawl arm Contracting realize two crawl arms 4 to workpiece promptly or unclamp.
Further, the right grabbing device includes crawl arm, crawl arm I and bi-directional expansion cylinder I, the bi-directional expansion cylinder I be fixed on 1 right side inclined-plane of connecting bracket and two piston rod ends of bi-directional expansion cylinder I respectively with the crawl arm positioned inside It is fixedly connected with I end of crawl arm positioned at outside, fixed on the crawl arm opening inner wall there are two the rubber of positional symmetry Block and the rubber block being fixed on the opening inner wall of crawl arm I correspond to the middle part of two rubber blocks on crawl arm, and by double To telescoping cylinder I flexible drive crawl arm and crawl arm I by the crawl or release of workpiece.
The present invention compared with prior art the advantages of:
1, the technical program is separately provided for a left side for crawl different workpieces on the skew back face at mounting bracket both ends Grabbing device and right grabbing device capture while realizing different workpieces, improve the efficiency of workpiece grabbing;
2, the technical program is inside two crawl arms of left grabbing device and the crawl arm and crawl arm I of right grabbing device Inner wall on, be correspondingly arranged on rubber block, left grabbing device and right grabbing device can be effectively prevent during workpiece grabbing The phenomenon that contact surface of workpiece is scratched or scuffing, to ensure the quality of workpiece;
3, the technical program is simple in structure, convenient operating maintenance, versatile, and use value is high.
Description of the drawings
Fig. 1 is schematic structural view of the invention.
Specific implementation mode
A kind of embodiment of the 1 description present invention below in conjunction with the accompanying drawings.
For the both hands manipulator of different workpieces crawl, there is connecting bracket 1, the skew back at 1 both ends of the connecting bracket Left grabbing device 2 and right grabbing device 3 are separately installed on face, two crawl arms 4 in the left grabbing device 2 and right crawl Crawl arm 4 and crawl arm I 5 in device 3 promptly or unclamp corresponding workpiece, 1 middle part of the connecting bracket and robot Telescopic arm is fixedly connected and is moved to the crawl of workpiece by the left grabbing device 2 of the flexible drive of telescopic arm and right grabbing device 3 Or placement location;Specifically, the left grabbing device 2 includes bi-directional expansion cylinder 6 described in two crawl arms 4 and bi-directional expansion cylinder 6 It is fixed on 1 left side inclined-plane of connecting bracket and two piston rod ends of bi-directional expansion cylinder 6 is solid with two 4 ends of crawl arm respectively The crawl mouth inner wall of fixed connection, described two crawl arms 4 fixes the rubber block 7 there are two positional symmetry and passes through bi-directional expansion cylinder Two crawl arms 4 of flexible realization of 6 two piston rods to workpiece promptly or unclamp;Specifically, the right grabbing device 3 includes Crawl arm 4, crawl arm I 5 and bi-directional expansion cylinder I 8, the bi-directional expansion cylinder I 8 are fixed on 1 right side inclined-plane of connecting bracket and double It is fixed respectively with the crawl arm 4 positioned inside and I 5 end of crawl arm positioned at outside to two piston rod ends of telescoping cylinder I 8 It connects, the rubber block 7 there are two positional symmetry is fixed on the opening inner wall of the crawl arm 4 and is fixed on the opening inner wall of crawl arm I 5 On rubber block 7 correspond to the middle parts of two rubber blocks 7 on crawl arm 4, and grabbed by the flexible drive of bi-directional expansion cylinder I 8 Take arm 4 and crawl arm I 5 by the crawl or release of workpiece.
It grabs on the left side that the technical program is separately provided for crawl different workpieces on the skew back face at 1 both ends of mounting bracket Device 2 and right grabbing device 3 are taken, is captured while realizing different workpieces, the efficiency of workpiece grabbing is improved, in left grabbing device On 2 two crawl arms, 4 inside and the inner wall of the crawl arm 4 of right grabbing device 3 and crawl arm I 5, it is correspondingly arranged on rubber block 7, it is can effectivelying prevent that left grabbing device 2 and right grabbing device 3 scratch the contact surface of workpiece during workpiece grabbing or draw The phenomenon that hindering, to ensure the quality of workpiece, simple in structure, convenient operating maintenance is versatile, and use value is high.
Above-described embodiment, only presently preferred embodiments of the present invention, is not used for limiting the scope of the present invention, therefore all with this The equivalence changes that content is done described in invention claim should all be included within scope of the invention as claimed.

Claims (3)

1. for the both hands manipulator of different workpieces crawl, there is connecting bracket (1), it is characterised in that:The connecting bracket (1) Left grabbing device (2) and right grabbing device (3) are separately installed on the skew back face at both ends, in the left grabbing device (2) Crawl arm (4) and crawl arm I (5) in two crawl arms (4) and right grabbing device (3) promptly or unclamp corresponding workpiece, The left grabbing device of flexible drive for being fixedly connected with the telescopic arm of robot in the middle part of the connecting bracket (1) and passing through telescopic arm (2) and right grabbing device (3) is moved to crawl or the placement location of workpiece.
2. the both hands manipulator according to claim 1 for different workpieces crawl, it is characterised in that:The left crawl dress It includes that two crawl arms (4) and bi-directional expansion cylinder (6) the bi-directional expansion cylinder (6) are fixed on the left of connecting bracket (1) tiltedly to set (2) On face and two piston rod ends of bi-directional expansion cylinder (6) are fixedly connected with two crawl arm (4) ends respectively, described two to grab The crawl mouth inner wall of arm (4) is taken to fix there are two the rubber block (7) of positional symmetry and by (6) two piston rods of bi-directional expansion cylinder Two crawl arms (4) of flexible realization to workpiece promptly or unclamp.
3. the both hands manipulator according to claim 1 for different workpieces crawl, it is characterised in that:The right crawl dress It includes crawl arm (4), crawl arm I (5) and bi-directional expansion cylinder I (8) to set (3), and the bi-directional expansion cylinder I (8) is fixed on connection branch On the right side of frame (1) on inclined-plane and two piston rod ends of bi-directional expansion cylinder I (8) respectively with positioned inside crawl arm (4) and position It is fixedly connected in crawl arm I (5) end in outside, fixed on crawl arm (4) the opening inner wall there are two the rubbers of positional symmetry Blob of viscose (7) and be fixed on crawl arm I (5) opening inner wall on rubber block (7) correspond to crawl arm (4) on two rubber blocks (7) middle part, and by the flexible drive crawl arm (4) of bi-directional expansion cylinder I (8) and crawl arm I (5) by the crawl of workpiece or pine It opens.
CN201810552248.7A 2018-05-31 2018-05-31 Both hands manipulator for different workpieces crawl Withdrawn CN108466278A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810552248.7A CN108466278A (en) 2018-05-31 2018-05-31 Both hands manipulator for different workpieces crawl

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810552248.7A CN108466278A (en) 2018-05-31 2018-05-31 Both hands manipulator for different workpieces crawl

Publications (1)

Publication Number Publication Date
CN108466278A true CN108466278A (en) 2018-08-31

Family

ID=63261786

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810552248.7A Withdrawn CN108466278A (en) 2018-05-31 2018-05-31 Both hands manipulator for different workpieces crawl

Country Status (1)

Country Link
CN (1) CN108466278A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110757490A (en) * 2019-12-03 2020-02-07 徐州欧普莱斯工业机械有限公司 A stable, safe type manipulator for tire transport
CN111791046A (en) * 2020-07-11 2020-10-20 宁波考比锐特智能科技有限公司 Assembled camshaft pressure equipment machine
US11148696B2 (en) 2018-12-27 2021-10-19 Toyota Research Institute, Inc. Assistive robots including assemblies for accommodating obstacles and methods for using the same

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11148696B2 (en) 2018-12-27 2021-10-19 Toyota Research Institute, Inc. Assistive robots including assemblies for accommodating obstacles and methods for using the same
CN110757490A (en) * 2019-12-03 2020-02-07 徐州欧普莱斯工业机械有限公司 A stable, safe type manipulator for tire transport
CN111791046A (en) * 2020-07-11 2020-10-20 宁波考比锐特智能科技有限公司 Assembled camshaft pressure equipment machine

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Application publication date: 20180831