CN108555918A - A kind of multifunctional and composite type paw being adapted to industrial robot training - Google Patents
A kind of multifunctional and composite type paw being adapted to industrial robot training Download PDFInfo
- Publication number
- CN108555918A CN108555918A CN201810147469.6A CN201810147469A CN108555918A CN 108555918 A CN108555918 A CN 108555918A CN 201810147469 A CN201810147469 A CN 201810147469A CN 108555918 A CN108555918 A CN 108555918A
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- China
- Prior art keywords
- loading
- gripping
- industrial robot
- multifunctional
- fixed
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Classifications
-
- 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
-
- 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
- B25J15/0019—End effectors other than grippers
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of multifunctional and composite type paw being adapted to industrial robot training, visual mechanisms, vacuum adsorption mechanism, gripping body and coordinate locating mechanism, which are fixedly mounted on, to be loaded on body；Visual structure includes vision camera and image processing system；Vision camera is electrically connected with image processing system；Vacuum adsorption mechanism includes vacuum cup and vacuum generating assembly, and vacuum generating assembly is fixed on the bottom for loading body, and vacuum cup is connected with vacuum generating assembly；Gripping body includes cylinder and gripping hand, and one end of cylinder, which is fixed on, to be loaded on body, and the other end is connect with gripping palmistry, and gripping hand includes loading disk and several fingers, and finger movement, which is fixed on, to be loaded on disk；Coordinate setting structure includes coordinate setting pointer and mounting structure, and coordinate setting pointer is fixed on by mounting structure and is loaded on body.The present invention tool multifunctional and composite type paw for being adapted to industrial robot training integrates the functions such as identification, positioning, gripping, absorption and transport.
Description
Technical field
The present invention relates to robot device fields, and in particular to a kind of to be adapted to the multi-functional compound of industrial robot training
Type paw.
Background technology
With industry 4.0 and made in China 2025, a series of strategy such as intelligence manufacture proposes that industrial robot obtains
It is more and more widely used and payes attention to.
Industrial robot training market is also hot therewith, and industrial robot training mainly understands the track movement of robot,
Coordinate setting is arranged, sucker, and cylinder clamping is carried, the fields such as vision application.
It is at present that each function module is made to different paws respectively compared with the training method of mainstream, is completed wherein in training
After one application, paw is removed from robot, the paw for installing another function module manually carries out other trainings,
Not only have an impact to paw and robot service life, also seriously affects training working hour, cause the waste of data.
Also by using hand-off disk, master is assembled in robot end, by the paw of each different function module
On bracket panel, paw disassembly and assembly time can be saved, but the price and its costliness of hand-off disk, cost are relatively high.
Invention content
The object of the present invention is to provide a kind of multifunctional and composite type paws being adapted to industrial robot training, solve
The above technical problem；
Following technical scheme may be used to realize in technical problem solved by the invention：
A kind of multifunctional and composite type paw being adapted to industrial robot training, including load body, visual mechanisms, vacuum and inhale
Random structure, gripping body and coordinate locating mechanism；
The visual mechanisms, the vacuum adsorption mechanism, the gripping body and the coordinate locating mechanism are fixedly mounted
On the loading body；
The visual structure includes vision camera and image processing system；The vision camera is fixed on the loading body
On, the vision camera is electrically connected with described image processing system；
The vacuum adsorption mechanism includes vacuum cup and vacuum generating assembly, and the vacuum generating assembly is fixed on described
The bottom of body is loaded, the vacuum cup is connected with institute vacuum generating assembly；
The gripping body includes cylinder and gripping hand, and one end of the cylinder is fixed on the loading body, the gas
The other end of cylinder is connect with the gripping palmistry, and the gripping hand includes loading disk and several fingers, each finger movement
It is fixed on the loading disk；
The coordinate setting structure includes coordinate setting pointer and mounting structure, and the coordinate setting pointer passes through the peace
Assembling structure is fixed on the loading body.
Further, the camera lens of the vision camera is rotating lens, and rotation angle is 15 degree.
Further, the vacuum generating assembly includes hollow tracheae, plunger and oscillating cylinder；The pendulum of the oscillating cylinder
Moved end is connected with one end of the plunger, and the other end of the plunger is inserted into the hollow tracheal strips, the hollow tracheae
The other end is connected with the vacuum cup.
Further, three fingers are equipped in the gripping body, three fingers are separately fixed at the dress
The different arrangements on load plate surface, the corresponding central angle of the two neighboring finger is 120 degree.
Further, the loading disc side is set there are one locking screw.
Further, the on-fixed end of the coordinate setting pointer is set there are one tip.
Further, the loading body is a block length cube steel plate, and the loading body is equipped with multiple mounting holes.
Advantageous effect：Due to using the technology described above, the more work(of the present invention for being adapted to industrial robot training
The compound paw of energy can combine visual mechanisms, vacuum adsorption mechanism, gripping body and coordinate locating mechanism together, in industry
Nothing, which needs to change component, in robot training process can complete each task, save the hand-off time, improve efficiency of assembling.
Meanwhile the multifunctional and composite type paw of the present invention for being adapted to industrial robot training contains industrial machine
The basic functions such as people's positioning, identification, absorption and carrying, it is simple in structure, it is applied widely.
Description of the drawings
Fig. 1 is the front view of the multifunctional and composite type paw of the present invention for being adapted to industrial robot training.
Fig. 2 is the left view of the multifunctional and composite type paw of the present invention for being adapted to industrial robot training.
Fig. 3 is the rearview of the multifunctional and composite type paw of the present invention for being adapted to industrial robot training.
Fig. 4 is the vertical view of the multifunctional and composite type paw of the present invention for being adapted to industrial robot training.
Fig. 5 is the three-dimensional view of the multifunctional and composite type paw of the present invention for being adapted to industrial robot training.
Reference numeral：1, body is loaded；2, visual mechanisms；3, vacuum adsorption mechanism；4, gripping body；5, Counterbalanced coordinate positioning machine
Structure；6, vision camera；7, coordinate setting pointer；8, hollow tracheae；9, vacuum cup；10, adsorbent article；11, disk is loaded；12、
Finger；13；Grip article；14, locking screw.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments 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 obtained under the premise of not making creative work it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The invention will be further described in the following with reference to the drawings and specific embodiments, but not as limiting to the invention.
Referring to Fig.1 shown in -5, shows that a kind of preferred embodiment is a kind of and being adapted to the multi-functional multiple of industrial robot training
Mould assembly paw, including load body 1, visual mechanisms 2, vacuum adsorption mechanism 3, gripping body 4 and coordinate locating mechanism 5；
The visual mechanisms 2, the vacuum adsorption mechanism 3, the gripping body 4 and the coordinate locating mechanism 5 are fixed
On the loading body 1；
2 structure of the vision machine includes vision camera 6 and image processing system；The vision camera 6 is fixed on the loading
On body 1, the vision camera 6 is electrically connected with described image processing system；
The vacuum adsorption mechanism 3 includes vacuum cup 9 and vacuum generating assembly, and the vacuum generating assembly is fixed on institute
The bottom for loading body 1 is stated, the vacuum cup 9 is connected with institute vacuum generating assembly；
The gripping body 4 includes cylinder and gripping hand, and one end of the cylinder is fixed on the loading body 1, described
The other end of cylinder is connect with the gripping palmistry, and the gripping hand includes loading disk 11 and several fingers 12, each hand
Refer to 12 to be movably fixed on the loading disk 11；
The coordinate locating mechanism 5 includes coordinate setting pointer 7 and mounting structure, and the coordinate setting pointer 7 passes through institute
Mounting structure is stated to be fixed on the loading body 1.
A kind of multifunctional and composite type paw being adapted to industrial robot training of the present invention is a kind of collection vision machine
The compound paw of structure 2, vacuum adsorption mechanism 3, gripping body 4 and coordinate locating mechanism 5, traditional industrial robot
Different paws is needed replacing when completing different job tasks, it is both time- and labor-consuming.
As preferred embodiment, the camera lens of the vision camera 6 is rotating lens, and rotation angle is 15 degree.
Vision camera 6 is main identification component, it can help robotic view and identify the state of converted products, such as
Fruit finds that product flaw occurs or generates waste product, can be eliminated in time.
Critical piece is exactly camera lens in vision camera 6, and the range of observation of camera lens is exactly that the range that can identify of robot is big
It is small, so be arranged to the increase that rotary lens are more advantageous to range of observation through camera lens, rotation angle without excessive because
Excessive angle can cause excessive invalid vision area, so-called invalid vision area be exactly camera lens rotate observe during, in picture with plus
Work produces unrelated part picture.
As preferred embodiment, the vacuum generating assembly includes hollow tracheae 8, plunger and oscillating cylinder；The swing
The swinging end of cylinder is connected with one end of the plunger, and the other end of the plunger is inserted into the hollow tracheae 8, the sky
The other end of motive pipe 8 is connected with the vacuum cup 9.
Above-described embodiment mainly describes a kind of structure type of vacuum generating assembly, i.e. plunger-type structure, this knot
Structure is by a relatively simple, and technology is also more mature, while can also meet absorption demand.
Movement in adsorption process by plunger in hollow tracheae 8 can realize the vacuum of hollow tracheae 8, thus will
Adsorbent article 10 is together with 9 adsorbed close of vacuum cup.
It is of course possible to structure as vacuum subassembly also there are many kinds of, such as air draft mechanism etc..
As preferred embodiment, three fingers 12 are equipped in the gripping body 4, three fingers 12 are solid respectively
The different arrangements on 11 surface of the loading disk are scheduled on, 12 corresponding central angle of the two neighboring finger is 120 degree.
Further, 11 side of loading disk is set there are one locking screw 14.
Gripping body 4 is to be clamped by finger 12 by article 13 is gripped, then be transported to the mechanism of designated position, gripping body
12 numbers of finger in 4 can be configured according to actual demand, but in order to which the stability of gripping considers, it is general to be arranged 3-4
Finger 12 is relatively reasonable.
Locking screw 13 can fix finger 12, prevent the loosening of finger 12 from gripping article 13 being caused to fall.
As preferred embodiment, the on-fixed end of the coordinate setting pointer 7 sets that there are one tips.
In the mobile operational process of robot, need to define a coordinate system for robot, then this coordinate system
Origin is exactly coordinate setting point, and the precise degrees of coordinate setting positioning determine the levels of precision of robot hand motion track.
Coordinate setting pointer 7 is actually that the origin of definition is projected a structure on desktop, in order to be more in line with
The definition of point, there are one tips for the front of motor generally tool of coordinate setting pointer 7.
As preferred embodiment, the loading body 1 is a block length cube steel plate, and the loading body 1 is equipped with multiple installations
Hole.
The main loading part that body 1 is whole device is loaded, each mechanism is fixed on by components such as bolts and loads body 1
On, it is exactly to be installed in order to facilitate each mechanism to load the mounting hole being arranged on body 1.
In conclusion the multifunctional and composite type paw of the present invention for being adapted to industrial robot training can be by vision
Mechanism 2, vacuum adsorption mechanism 3, gripping body 4 and coordinate locating mechanism 5 combine together, in industrial robot training process
Each task can be completed without component is needed to change, the hand-off time is saved, improves efficiency of assembling.
Meanwhile the multifunctional and composite type paw of the present invention for being adapted to industrial robot training contains industrial machine
The basic functions such as people's positioning, identification, absorption and carrying, it is simple in structure, it is applied widely.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (7)
1. a kind of multifunctional and composite type paw being adapted to industrial robot training, it is characterised in that：Including loading body, vision machine
Structure, vacuum adsorption mechanism, gripping body and coordinate locating mechanism；
The visual mechanisms, the vacuum adsorption mechanism, the gripping body and the coordinate locating mechanism are fixedly mounted on institute
It states and loads on body；
The visual mechanisms include vision camera and image processing system；The vision camera is fixed on the loading body, institute
Vision camera is stated to be electrically connected with described image processing system；
The vacuum adsorption mechanism includes vacuum cup and vacuum generating assembly, and the vacuum generating assembly is fixed on the loading
The bottom of body, the vacuum cup are connected with the vacuum generating assembly；
The gripping body includes cylinder and gripping hand, and one end of the cylinder is fixed on the loading body, the cylinder
The other end is connect with the gripping palmistry, and the gripping hand includes loading disk and several fingers, and each finger movement is fixed
On the loading disk；
The coordinate locating mechanism includes coordinate setting pointer and mounting structure, and the coordinate setting pointer is tied by the installation
Structure is fixed on the loading body.
2. a kind of multifunctional and composite type paw being adapted to industrial robot training according to claim 1, feature exist
In：The camera lens of the vision camera is rotating lens, and rotation angle is 15 degree.
3. a kind of multifunctional and composite type paw being adapted to industrial robot training according to claim 1, feature exist
In：The vacuum generating assembly includes hollow tracheae, plunger and oscillating cylinder；The swinging end of the oscillating cylinder and the plunger
One end be connected, the other end of the plunger is inserted into the hollow tracheal strips, the other end of the hollow tracheae with it is described true
Suction disk is connected.
4. a kind of multifunctional and composite type paw being adapted to industrial robot training according to claim 1, feature exist
In：Three fingers are equipped in the gripping body, three fingers are separately fixed at the difference for loading panel surface
Arrangement, the corresponding central angle of the two neighboring finger is 120 degree.
5. a kind of multifunctional and composite type paw being adapted to industrial robot training according to claim 1, feature exist
In：The loading disc side is set there are one locking screw.
6. a kind of multifunctional and composite type paw being adapted to industrial robot training according to claim 1, feature exist
In：The on-fixed end of the coordinate setting pointer is set there are one tip.
7. a kind of multifunctional and composite type paw being adapted to industrial robot training according to claim 1, feature exist
In：The loading body is a block length cube steel plate, and the loading body is equipped with multiple mounting holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147469.6A CN108555918A (en) | 2018-02-12 | 2018-02-12 | A kind of multifunctional and composite type paw being adapted to industrial robot training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147469.6A CN108555918A (en) | 2018-02-12 | 2018-02-12 | A kind of multifunctional and composite type paw being adapted to industrial robot training |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108555918A true CN108555918A (en) | 2018-09-21 |
Family
ID=63531157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810147469.6A Pending CN108555918A (en) | 2018-02-12 | 2018-02-12 | A kind of multifunctional and composite type paw being adapted to industrial robot training |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108555918A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3719337A1 (en) * | 1987-06-10 | 1988-12-29 | Liebherr Verzahntech Gmbh | Gripper for a robot |
| KR20030052069A (en) * | 2001-12-20 | 2003-06-26 | 주식회사 포스코 | Apparatus for extracting of specimen |
| CN202264222U (en) * | 2011-09-30 | 2012-06-06 | 李学敏 | Automatic egg catching mechanical hand |
| CN103707307A (en) * | 2013-12-23 | 2014-04-09 | 苏州博众精工科技有限公司 | Multifunctional clamping jaw mechanism of mechanical arm |
| CN205201525U (en) * | 2015-11-25 | 2016-05-04 | 北京机械工业自动化研究所 | Be used for electronic components to paste dress and welded industrial robot and hand claw thereof |
| CN105818132A (en) * | 2016-03-31 | 2016-08-03 | 湖南化工职业技术学院 | Calibration and location method of sucking disc type tool hand of industrial robot |
| CN106313089A (en) * | 2016-10-21 | 2017-01-11 | 苏州哈工海渡工业机器人有限公司 | Composite fixture for industrial robot |
| CN106507658A (en) * | 2015-09-07 | 2017-03-15 | 松下知识产权经营株式会社 | Apparatus for mounting component |
| CN206335596U (en) * | 2016-12-20 | 2017-07-18 | 大连大橡工程技术有限公司 | The novel steel wire spindle crawl fixture of robot |
| CN107186696A (en) * | 2017-06-02 | 2017-09-22 | 天津工程机械研究院有限公司 | Trick servo Work robot actual training device |
| CN208246831U (en) * | 2018-02-12 | 2018-12-18 | 上海发那科机器人有限公司 | A kind of multifunctional and composite type gripper being adapted to industrial robot training |
-
2018
- 2018-02-12 CN CN201810147469.6A patent/CN108555918A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3719337A1 (en) * | 1987-06-10 | 1988-12-29 | Liebherr Verzahntech Gmbh | Gripper for a robot |
| KR20030052069A (en) * | 2001-12-20 | 2003-06-26 | 주식회사 포스코 | Apparatus for extracting of specimen |
| CN202264222U (en) * | 2011-09-30 | 2012-06-06 | 李学敏 | Automatic egg catching mechanical hand |
| CN103707307A (en) * | 2013-12-23 | 2014-04-09 | 苏州博众精工科技有限公司 | Multifunctional clamping jaw mechanism of mechanical arm |
| CN106507658A (en) * | 2015-09-07 | 2017-03-15 | 松下知识产权经营株式会社 | Apparatus for mounting component |
| CN205201525U (en) * | 2015-11-25 | 2016-05-04 | 北京机械工业自动化研究所 | Be used for electronic components to paste dress and welded industrial robot and hand claw thereof |
| CN105818132A (en) * | 2016-03-31 | 2016-08-03 | 湖南化工职业技术学院 | Calibration and location method of sucking disc type tool hand of industrial robot |
| CN106313089A (en) * | 2016-10-21 | 2017-01-11 | 苏州哈工海渡工业机器人有限公司 | Composite fixture for industrial robot |
| CN206335596U (en) * | 2016-12-20 | 2017-07-18 | 大连大橡工程技术有限公司 | The novel steel wire spindle crawl fixture of robot |
| CN107186696A (en) * | 2017-06-02 | 2017-09-22 | 天津工程机械研究院有限公司 | Trick servo Work robot actual training device |
| CN208246831U (en) * | 2018-02-12 | 2018-12-18 | 上海发那科机器人有限公司 | A kind of multifunctional and composite type gripper being adapted to industrial robot training |
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