CN108851355A - A kind of industrial robot sole crawl positioning device - Google Patents
A kind of industrial robot sole crawl positioning device Download PDFInfo
- Publication number
- CN108851355A CN108851355A CN201811077541.9A CN201811077541A CN108851355A CN 108851355 A CN108851355 A CN 108851355A CN 201811077541 A CN201811077541 A CN 201811077541A CN 108851355 A CN108851355 A CN 108851355A
- Authority
- CN
- China
- Prior art keywords
- sole
- industrial robot
- connecting rod
- positioning device
- pricker
- 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
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D8/00—Machines for cutting, ornamenting, marking or otherwise working up shoe part blanks
-
- 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
- B25J15/06—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
Abstract
The present invention relates to a kind of industrial robot soles to grab positioning device, connecting rod including being mounted on industrial robot end, the connecting rod has several prickers far from one end of industrial robot, also have to make to open with respect to connecting rod on the connecting rod and be moved with gathering to adsorb the adsorption section of sole, the adsorption section is used to adsorb sole and cooperate with pricker, complete positioning, the overall movement of sole is realized by the connecting rod on industrial robot end, it is convenient and efficient, intelligence degree is high, strong flexibility；The positioning of sole is realized by stretching drawing mechanism and several vacuum chucks, and mechanism is simple, and manufacturing cost is low, is conducive to large-scale promotion.
Description
Technical field
The present invention relates to footwear material technical field of processing equipment, specifically a kind of industrial robot sole grabs positioning dress
It sets.
Background technique
The application of product orientation in the industrial production is more and more wider, it is desirable that it is also higher and higher, current product orientation or
It is a kind of vision positioning device based on personal computer, structure is complicated, and it is bulky, it is difficult to install；It is some algorithms
Real-time difference or the performance indicator for being unable to reach formulation at all, it is expensive and at high cost, for positioning sole, excessively high cost
Common factory can't afford, and cause the market vacancy.
As disclosed the feeding sucker of sole processing machine, including sucker in Chinese Publication No. CN201520476997.8
Plate, vacuum cups, suction nozzle installation part；Sucker plate is equipped with multiple strip through-holes；The quantity of vacuum cups is multiple, vacuum cups
It is corresponded with suction nozzle installation part；Vacuum cups is fixed on sucker plate by the way that suction nozzle installation part is detachable, and wherein suction nozzle is pacified
The advantages of piece installing is fixed in strip through-hole, which has structure simple, easy to operate, is suitable for different shoe styles, in addition to
It can be applied to outside sole laser cutting device, moreover it is possible to be applied to other footwear material automatic chargings, belong to footwear material process equipment technology neck
Domain, but be in three-dimensional space when needing mobile position, not easily shifted, flexibility is poor, intelligent lower.
Summary of the invention
To solve the above-mentioned problems, the present invention proposes a kind of industrial robot sole crawl positioning device.
A kind of industrial robot grabs positioning device with sole, and the connecting rod including being mounted on industrial robot end is described
Connecting rod there are several prickers far from one end of industrial robot, also having on the connecting rod can open and receive with respect to connecting rod
Hold together movement to adsorb the adsorption section of sole, the adsorption section is used to adsorb sole and cooperate with pricker, completes positioning.
It is provided on the connecting rod and stretches drawing mechanism with collapse movement for completing to open, it is described to stretch drawing mechanism and be
Hydraulic cylinder or cylinder.
There is the fixed board for connecting pricker, the pricker is formed by needle region on fixed board on the connecting rod
It matches with the outer outline area of sole.
The adsorption section includes movable plate, several vacuum chucks being arranged on movable plate.
The movement guide post of several and connecting rod cooperation is provided on the movable plate.
The area that the surface profile of binding domain and sole that the suction nozzle of the vacuum chuck is formed by space is surrounded
Domain matches.
Several through-holes that interference is prevented with pricker cooperation are provided on the movable plate.
The pricker is upper coarse and lower fine, the taper end face sole of pricker.
The beneficial effects of the invention are as follows：The present invention realizes that the whole of sole moves by the connecting rod on industrial robot end
Dynamic, convenient and efficient, intelligence degree is high, strong flexibility；The positioning of sole is realized by stretching drawing mechanism and several vacuum chucks,
Mechanism is simple, and manufacturing cost is low, is conducive to large-scale promotion.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the schematic perspective view that the present invention is mounted on industrial robot；
Fig. 2 is schematic perspective view of the invention；
Fig. 3 is fixed board schematic perspective view of the invention；
Fig. 4 is movable plate of the invention and through-hole schematic perspective view.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below it is right
The present invention is further described.
As shown in Figures 1 to 4, a kind of industrial robot grabs positioning device with sole, including is mounted on industrial robot
The connecting rod 1 of end, the connecting rod 1 have several prickers 4 far from one end of industrial robot, also have on the connecting rod 1
It can make to open with respect to connecting rod 1 with movement is collapsed to adsorb the adsorption section of sole 6, the adsorption section is used for the absorption of sole 6 simultaneously
Cooperate with pricker 4, completes positioning.
It is provided on the connecting rod 1 and stretches drawing mechanism 2 with what gathering moved for completing to open, described stretches drawing mechanism 2
It can be hydraulic cylinder or cylinder.
The overall movement of sole 6 is realized by the connecting rod 1 on industrial robot end, convenient and efficient, intelligence degree is high,
Strong flexibility.
There is the fixed board 7 for connecting pricker 4, the pricker 4 is formed by needle on fixed board 7 on the connecting rod 1
Sharp region matches with the outer outline area of sole 6.
The positioning of sole 6 is realized by stretching drawing mechanism 2 and several vacuum chucks 5, and mechanism is simple, and manufacturing cost is low, benefit
In large-scale promotion.
The adsorption section includes movable plate 8, several vacuum chucks 5 being arranged on movable plate 8.
Several movement guide posts 3 cooperated with connecting rod 1 are provided on the movable plate 8.
Motion guide is realized in the movement guide post 3 and the cooperation of fixed board 7.
The connecting rod 1 that sole 6 completes to form on postindustrial robot end drives vacuum chuck 5 to adsorb and be moved to institute
Position is needed, then driving stretches drawing mechanism 2 and pulls back so that several prickers 4 are pierced into sole 6 and are fixed.
What the surface profile of binding domain and sole 6 that the suction nozzle of the vacuum chuck 5 is formed by space was surrounded
Region matches.
It is provided with several on the movable plate 8 and cooperates the through-hole 8a for preventing interference with pricker 4.
The pricker 4 is upper coarse and lower fine, the taper end face sole 6 of pricker 4.
Application method of the invention：The connecting rod 1 that sole 6 completes to form on postindustrial robot end drives vacuum chuck 5
It is adsorbed and is moved to required position, then driving stretches drawing mechanism 2 and pulls back so that several prickers 4 are pierced into sole 6 and are consolidated
It is fixed.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Object defines.
Claims (8)
1. a kind of industrial robot sole grabs positioning device, the connecting rod (1) including being mounted on industrial robot end is special
Sign is：The connecting rod (1) has several prickers (4) far from one end of industrial robot, also has on the connecting rod (1)
It can make to open with movement is collapsed to adsorb the adsorption section of sole (6) with respect to connecting rod (1), the adsorption section is used for sole (6)
It adsorbs and cooperates with pricker (4), complete positioning.
2. a kind of industrial robot according to claim 1 grabs positioning device with sole, it is characterised in that：The company
It is provided on bar (1) for completing to open and collapsing stretching drawing mechanism (2) for movement, the drawing mechanism (2) of stretching can be hydraulic cylinder
Or cylinder.
3. a kind of industrial robot according to claim 1 grabs positioning device with sole, it is characterised in that：The company
There is the fixed board (7) for connecting pricker (4), the pricker (4) is formed by needle region on fixed board (7) on bar (1)
It matches with the outer outline area of sole (6).
4. a kind of industrial robot according to claim 1 grabs positioning device with sole, it is characterised in that：The suction
Attached portion includes several vacuum chucks (5) of movable plate (8), setting on movable plate (8).
5. a kind of industrial robot according to claim 4 grabs positioning device with sole, it is characterised in that：Described is dynamic
The movement guide post (3) of several and connecting rod (1) cooperation is provided on plate (8).
6. a kind of industrial robot according to claim 4 grabs positioning device with sole, it is characterised in that：Described is true
The binding domain that the suction nozzle of suction disk (5) is formed by space matches with the surface profile area defined of sole (6).
7. a kind of industrial robot according to claim 4 grabs positioning device with sole, it is characterised in that：Described is dynamic
Several through-holes (8a) that interference is prevented with pricker (4) cooperation are provided on plate (8).
8. a kind of industrial robot according to claim 1 grabs positioning device with sole, it is characterised in that：The thorn
Needle (4) is upper coarse and lower fine, the taper end face sole (6) of pricker (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811077541.9A CN108851355A (en) | 2018-09-15 | 2018-09-15 | A kind of industrial robot sole crawl positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811077541.9A CN108851355A (en) | 2018-09-15 | 2018-09-15 | A kind of industrial robot sole crawl positioning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108851355A true CN108851355A (en) | 2018-11-23 |
Family
ID=64324179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811077541.9A Pending CN108851355A (en) | 2018-09-15 | 2018-09-15 | A kind of industrial robot sole crawl positioning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108851355A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113287838A (en) * | 2021-05-20 | 2021-08-24 | 知守科技(杭州)有限公司 | Novel intelligent bottom pasting production line |
| CN114916750A (en) * | 2022-06-24 | 2022-08-19 | 泉州华数机器人有限公司 | To full automatic scanning of traditional shoemaking production line sole and spout gluey workstation |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204196170U (en) * | 2014-11-12 | 2015-03-11 | 晋江市陈埭华堂鞋底厂 | A kind of manipulator for capturing sole |
| CN104476553A (en) * | 2014-11-13 | 2015-04-01 | 常州先进制造技术研究所 | Sucker type stacking manipulator capable of remaining gap |
| CN204747789U (en) * | 2015-06-30 | 2015-11-11 | 广州锐速电气有限公司 | Material loading sucking disc of sole processing machine |
| CN206085039U (en) * | 2016-07-20 | 2017-04-12 | 中山市盛屹机电科技有限公司 | Piece machinery cell -phone of inhaling of battery wrapper sheet machine constructs |
| CN107183841A (en) * | 2017-07-13 | 2017-09-22 | 宁波慈星股份有限公司 | A kind of vamp positioner and its localization method for pressing vamp |
| CN207172107U (en) * | 2017-09-30 | 2018-04-03 | 武汉库柏特科技有限公司 | A kind of flexible manipulator of cylinder driving |
| CN207616604U (en) * | 2017-12-25 | 2018-07-17 | 哈工大机器人（合肥）国际创新研究院 | A kind of adaptive aspirated-air type robot end grasping mechanism |
| CN209073626U (en) * | 2018-09-15 | 2019-07-09 | 芜湖慧盈自动化设备有限公司 | A kind of industrial robot sole crawl positioning device |
-
2018
- 2018-09-15 CN CN201811077541.9A patent/CN108851355A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204196170U (en) * | 2014-11-12 | 2015-03-11 | 晋江市陈埭华堂鞋底厂 | A kind of manipulator for capturing sole |
| CN104476553A (en) * | 2014-11-13 | 2015-04-01 | 常州先进制造技术研究所 | Sucker type stacking manipulator capable of remaining gap |
| CN204747789U (en) * | 2015-06-30 | 2015-11-11 | 广州锐速电气有限公司 | Material loading sucking disc of sole processing machine |
| CN206085039U (en) * | 2016-07-20 | 2017-04-12 | 中山市盛屹机电科技有限公司 | Piece machinery cell -phone of inhaling of battery wrapper sheet machine constructs |
| CN107183841A (en) * | 2017-07-13 | 2017-09-22 | 宁波慈星股份有限公司 | A kind of vamp positioner and its localization method for pressing vamp |
| CN207172107U (en) * | 2017-09-30 | 2018-04-03 | 武汉库柏特科技有限公司 | A kind of flexible manipulator of cylinder driving |
| CN207616604U (en) * | 2017-12-25 | 2018-07-17 | 哈工大机器人（合肥）国际创新研究院 | A kind of adaptive aspirated-air type robot end grasping mechanism |
| CN209073626U (en) * | 2018-09-15 | 2019-07-09 | 芜湖慧盈自动化设备有限公司 | A kind of industrial robot sole crawl positioning device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113287838A (en) * | 2021-05-20 | 2021-08-24 | 知守科技(杭州)有限公司 | Novel intelligent bottom pasting production line |
| CN114916750A (en) * | 2022-06-24 | 2022-08-19 | 泉州华数机器人有限公司 | To full automatic scanning of traditional shoemaking production line sole and spout gluey workstation |
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