CN108705553A - A kind of loading and unloading manipulator with protective device - Google Patents
A kind of loading and unloading manipulator with protective device Download PDFInfo
- Publication number
- CN108705553A CN108705553A CN201810877422.5A CN201810877422A CN108705553A CN 108705553 A CN108705553 A CN 108705553A CN 201810877422 A CN201810877422 A CN 201810877422A CN 108705553 A CN108705553 A CN 108705553A
- Authority
- CN
- China
- Prior art keywords
- loading
- fixing bracket
- clamping jaw
- protective device
- workpiece
- 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
-
- 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
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
The present invention relates to a kind of loading and unloading manipulators with protective device, including fixing bracket, three sets of grasping mechanisms are fixedly mounted on the fixing bracket, the often set grasping mechanism includes flexible pneumatic clamper, the flexible pneumatic clamper both ends are symmetrical arranged two clamping jaws, and pressure sensor is arranged on the clamping jaw.Loading and unloading manipulator of the present invention is mounted on by fixing bracket on robot arm, and cooperation robot completes material process up and down, avoids manually-operated security risk, reduces production cost, and three stations of setting further increase production efficiency；Pressure sensor is set on clamping jaw, and the dynamics that clamping jaw is gripped to workpiece is controlled in certain numerical value, it is ensured that workpiece is from damage.
Description
Technical field
The present invention relates to manipulator fields, and in particular to a kind of loading and unloading manipulator with protective device.
Background technology
In the existing numerically controlled lathe course of work, most of loading and unloading are of high cost by the way of artificial loading and unloading, Er Qiejing
Spend relatively low, bigger particularly with which weight, and the workpiece that diameter is thicker, manual operation is very laborious, exists
It is low to work at the same time efficiency for some potential safety problems；Although manipulator handling equipment exists in the prior art, it is to workpiece
The bad control of gripping dynamics, precision is poor, be easy to cause the damage of workpiece.
Invention content
The purpose of the present invention is to provide a kind of loading and unloading manipulators with protective device, to solve in the prior art
Artificial loading and unloading working efficiency it is low, the problem of manipulator disfiguring workpiece.
The present invention provides a kind of loading and unloading manipulator with protective device, including fixing bracket, the fixing brackets
Three sets of grasping mechanisms of upper fixed installation, the often set grasping mechanism includes flexible pneumatic clamper, and the flexible pneumatic clamper both ends are symmetrical arranged
Pressure sensor is arranged on the clamping jaw in two clamping jaws.
Further, the fixing bracket is square structure, and three sets of grasping mechanisms are connected to fixing bracket
Three sides on.
Further, it is set as V-arrangement on the inside of the clamping jaw.
Advantageous effect using aforementioned present invention technical solution is：
Loading and unloading manipulator of the present invention is mounted on by fixing bracket on robot arm, and cooperation robot completes loading and unloading work
Sequence avoids manually-operated security risk, reduces production cost, and three stations of setting further increase production efficiency；It is pressing from both sides
Pressure sensor is set on pawl, and the dynamics that clamping jaw is gripped to workpiece is controlled in certain numerical value, it is ensured that workpiece is from damage.
Description of the drawings
Fig. 1 is the loading and unloading manipulator structural schematic diagram that the present invention has protective device；
In attached drawing, parts list represented by the reference numerals are as follows：
1- fixing brackets, 2- stretch pneumatic clamper, 3- clamping jaws, 4- pressure sensors.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.
As shown in Figure 1, the present invention provides a kind of loading and unloading manipulator with protective device, including fixing bracket 1, institute
Three sets of grasping mechanisms of fixed installation on fixing bracket 1 are stated, the often set grasping mechanism includes flexible pneumatic clamper 2, the flexible pneumatic clamper 2
Both ends are symmetrical arranged two clamping jaws 3, and pressure sensor 4 is arranged on the clamping jaw 3.The present invention is mounted on machine by fixing bracket 1
In device human arm, coordinate robot motion, the gripping and placement of two clamping jaws 3 are realized in pneumatic clamper 2 of stretching action, complete loading and unloading work
Sequence, wherein grasping mechanism stable structure and reasonable design can and diameter range wide workpiece larger with weight capacity, improve
Pressure sensor 4 is arranged on clamping jaw 3 in the applicability of fixture, in real time by pressure to being transmitted to external control system, control system
The flexible pneumatic clamper 2 of control acts, and grasping force is controlled in a certain range, workpiece damage is avoided.
Specifically, the fixing bracket 1 is square structure, three sets of grasping mechanisms are connected to fixing bracket 1
Three sides on, three stations work at the same time, improve production efficiency.
Specifically, 3 inside of clamping jaw is set as V-arrangement, convenient for completing the crawl of workpiece.
To sum up, loading and unloading manipulator of the present invention is mounted on by fixing bracket on robot arm, and cooperation robot completes
Upper and lower material process avoids manually-operated security risk, reduces production cost, and three stations of setting further increase production effect
Rate；Pressure sensor is set on clamping jaw, and the dynamics that clamping jaw is gripped to workpiece is controlled in certain numerical value, it is ensured that workpiece is from damage
Wound.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (3)
1. a kind of loading and unloading manipulator with protective device, which is characterized in that solid on the fixing bracket including fixing bracket
Dingan County fills three sets of grasping mechanisms, and the often set grasping mechanism includes flexible pneumatic clamper, and the flexible pneumatic clamper both ends are symmetrical arranged two
Pressure sensor is arranged on the clamping jaw in clamping jaw.
2. the loading and unloading manipulator according to claim 1 with protective device, which is characterized in that the fixing bracket is
Square structure, three sets of grasping mechanisms are connected on support bracket fastened three sides.
3. the loading and unloading manipulator according to claim 1 with protective device, which is characterized in that set on the inside of the clamping jaw
It is set to V-arrangement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810877422.5A CN108705553A (en) | 2018-08-03 | 2018-08-03 | A kind of loading and unloading manipulator with protective device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810877422.5A CN108705553A (en) | 2018-08-03 | 2018-08-03 | A kind of loading and unloading manipulator with protective device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108705553A true CN108705553A (en) | 2018-10-26 |
Family
ID=63875483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810877422.5A Pending CN108705553A (en) | 2018-08-03 | 2018-08-03 | A kind of loading and unloading manipulator with protective device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108705553A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509303A (en) * | 2019-08-29 | 2019-11-29 | 四川大学 | A kind of electronic clip claw mechanism containing screw pair |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002066861A (en) * | 2000-08-29 | 2002-03-05 | Shinichi Saito | Hand |
| CN203650528U (en) * | 2013-12-23 | 2014-06-18 | 苏州博众精工科技有限公司 | Multifunctional mechanical manipulator gripper mechanism |
| CN204844205U (en) * | 2015-07-24 | 2015-12-09 | 安徽鸿森智能装备股份有限公司 | Intelligent robot clamping jaw |
| CN207326545U (en) * | 2017-08-21 | 2018-05-08 | 苏州市海研电子科技有限公司 | A kind of robot charge fixture |
-
2018
- 2018-08-03 CN CN201810877422.5A patent/CN108705553A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002066861A (en) * | 2000-08-29 | 2002-03-05 | Shinichi Saito | Hand |
| CN203650528U (en) * | 2013-12-23 | 2014-06-18 | 苏州博众精工科技有限公司 | Multifunctional mechanical manipulator gripper mechanism |
| CN204844205U (en) * | 2015-07-24 | 2015-12-09 | 安徽鸿森智能装备股份有限公司 | Intelligent robot clamping jaw |
| CN207326545U (en) * | 2017-08-21 | 2018-05-08 | 苏州市海研电子科技有限公司 | A kind of robot charge fixture |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509303A (en) * | 2019-08-29 | 2019-11-29 | 四川大学 | A kind of electronic clip claw mechanism containing screw pair |
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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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181026 |
|
| WD01 | Invention patent application deemed withdrawn after publication |