CN109693259A - A kind of dynamic grabbing device on mechanical arm - Google Patents
A kind of dynamic grabbing device on mechanical arm Download PDFInfo
- Publication number
- CN109693259A CN109693259A CN201710995861.1A CN201710995861A CN109693259A CN 109693259 A CN109693259 A CN 109693259A CN 201710995861 A CN201710995861 A CN 201710995861A CN 109693259 A CN109693259 A CN 109693259A
- Authority
- CN
- China
- Prior art keywords
- suction head
- single suction
- support plate
- mechanical arm
- grabbing device
- 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
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 238000009434 installation Methods 0.000 claims abstract description 20
- 238000006243 chemical reaction Methods 0.000 claims abstract description 14
- 230000007704 transition Effects 0.000 claims abstract description 14
- 229910001369 Brass Inorganic materials 0.000 claims description 9
- 239000010951 brass Substances 0.000 claims description 9
- 239000004677 Nylon Substances 0.000 claims description 8
- 229920001778 nylon Polymers 0.000 claims description 8
- 239000002184 metal Substances 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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
- 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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The dynamic grabbing device that the invention discloses a kind of on mechanical arm, including support plate, described support plate one end is fixedly connected with four big sucker mounting plates, the other end of the support plate is fixedly connected with single suction head mounting plate, single suction head installing mechanism is equipped between the single suction head mounting plate and single suction head transition plates, the single suction head installing mechanism is identical as the structure of every group of sucker installing mechanism, conversion input connection installing mechanism is additionally provided in the support plate, first locating and detecting device there are two being fixedly mounted on the Z-type frame, the second locating and detecting device is also fixedly installed in the support plate surface, the support plate two sides are mounted on installation shell.The invention has the advantages that may be implemented to will appear the demand for needing robot to grab different operation objects in many application scenarios, structure is simple, saves conversion time, improves robot and runs beat, practical.
Description
Technical field
The present invention relates to mechanized equipment, especially a kind of dynamic grabbing device on mechanical arm.
Background technique
Traditional dynamic crawl generally using fixed handgrip or uses replaceable handgrip, it is each during dynamic grabs
A joint, which needs to cooperate, completes dynamic grasping movement, although dynamic grasping movement itself only needs four freedom degrees, to possessing six
Still there is allowance for the robot of a freedom degree, but freedom degree extra in most cases is needed for evading the surprise that may occur
Dissimilarity and robot motion's scope limitation can not be used freely.
Summary of the invention
The purpose of the present invention is to solve the above problems, devise a kind of dynamic grabbing device on mechanical arm.
Realize above-mentioned purpose the technical scheme is that, a kind of dynamic grabbing device on mechanical arm, including branch
Fagging, described support plate one end are fixedly connected with four big sucker mounting plates, and four corners are set in the four big sucker installation plate surface
There are four groups of sucker installing mechanisms, every group of sucker installing mechanism is by the peace being fixedly mounted in four big sucker installation plate surfaces
Fill hole, the brass quick-release connector that one end is inserted into mounting hole, the fitting joint for being mounted on the brass quick-release connector other end, its
Supporter that one end is mounted in fitting joint, is mounted on bellow expansion joint at the bellow expansion joint being mounted on supporter
On disc type sucker collectively form, the other end of the support plate is fixedly connected with single suction head mounting plate, the single suction head
Single suction head transition plates is equipped with above mounting plate, four corners are fixedly installed between the single suction head mounting plate and single suction head transition plates
Support rod is equipped with single suction head installing mechanism, the single suction head fitting machine between the single suction head mounting plate and single suction head transition plates
Structure is identical as the structure of every group of sucker installing mechanism, and conversion input connection installing mechanism, the branch are additionally provided in the support plate
Z-type frame is fixedly installed on fagging surface, there are two the first locating and detecting device, the supports for fixed installation on the Z-type frame
The second locating and detecting device is also fixedly installed in plate surface, the support plate two sides are mounted on installation shell.
The support plate is mutually perpendicular to four big sucker mounting plate installation sites.
The support plate is L-type metal profile, and the installation shell is L-type metal shell.
The conversion input connection installing mechanism is by being fixedly mounted large flange disk on the supporting plate, being fixedly mounted on big method
What the small flange plate on blue disk collectively formed.
The small flange plate stretches out installation hull outside.
Single-pass nylon connector is additionally provided on the installation surface of shell.
The gas generator of the peripheral hardware can be protruded into single-pass nylon connector by gas-guide tube and is connected with disc type sucker.
The model labor of first locating and detecting device and the second locating and detecting device easily surveys ODSL8 laser ranging sensing
Device.
On the mountable connecting pin on uniaxial or multiaxis driving mechanical arm of the small flange plate of the dynamic grabbing device,
Dynamic grabbing device is mutually perpendicular to the connecting shaft on connecting pin, realizes four groups of sucker installing mechanisms and single suction head installing mechanism
Conversion.
A kind of dynamic grabbing device on mechanical arm made using technical solution of the present invention, may be implemented very
It will appear the demand for needing robot to grab different operation objects in more application scenarios, structure is simple, when saving conversion
Between, it improves robot and runs beat, meanwhile, it is had found by calculating analysis robot singular point position in dynamic crawl work model
The unusual many attitude of robot will not be generated in enclosing, and one such posture can be idle by six axis freedom degrees of robot
Get off, therefore devises based on the 6th idle axis and can carry out handgrip with the handgrip of switching at runtime using the 6th axis freedom degree and cut
It will not influence the effect of dynamic crawl while changing.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of dynamic grabbing device on mechanical arm of the present invention；
Fig. 2 is a kind of main view of dynamic grabbing device on mechanical arm of the present invention；
Fig. 3 is a kind of rearview of dynamic grabbing device on mechanical arm of the present invention；
Fig. 4 is a kind of left view of dynamic grabbing device on mechanical arm of the present invention；
Fig. 5 is a kind of top view of dynamic grabbing device on mechanical arm of the present invention；
Fig. 6 is a kind of bottom view of dynamic grabbing device on mechanical arm of the present invention；
Fig. 7 is a kind of left view section view internal structure chart of dynamic grabbing device on mechanical arm of the present invention；
Fig. 8 is a kind of right view section view internal structure chart of dynamic grabbing device on mechanical arm of the present invention；
In figure, 1, support plate；2, four big sucker mounting plate；3, mounting hole；4, brass quick-release connector；5, fitting joint；6,
Supporter；7, bellow expansion joint；8, disc type sucker；9, single suction head mounting plate；10, single suction head transition plates；11, support rod；
12, Z-type frame；13, the first locating and detecting device；14, the second locating and detecting device；15, shell is installed；16, large flange disk；17,
Small flange plate；18, single-pass nylon connector.
Specific embodiment
The present invention is specifically described with reference to the accompanying drawing, as shown in figures 1-8, a kind of dynamic on mechanical arm is grabbed
Device, including support plate (1) are taken, described support plate (1) one end is fixedly connected with four big sucker mounting plates (2), described four big suctions
Four corners are equipped with four groups of sucker installing mechanisms on disk mounting plate (2) surface, and every group of sucker installing mechanism is by fixed installation
Mounting hole (3), one end on four big sucker mounting plate (2) surfaces are inserted into the brass quick-release connector in mounting hole (3)
(4), it is mounted on the fitting joint (5) of brass quick-release connector (4) other end, one end is mounted on support in fitting joint (5)
Body (6), the bellow expansion joint (7) being mounted on supporter (6), the disc type sucker being mounted on bellow expansion joint (7)
(8) it collectively forms, the other end of the support plate (1) is fixedly connected with single suction head mounting plate (9), the single suction head mounting plate
(9) top is equipped with single suction head transition plates (10), and four corners are solid between the single suction head mounting plate (9) and single suction head transition plates (10)
Dingan County is equipped with support rod (11), and single suction head fitting machine is equipped between the single suction head mounting plate (9) and single suction head transition plates (10)
Structure, the single suction head installing mechanism is identical as the structure of every group of sucker installing mechanism, and it is defeated that conversion is additionally provided on the support plate (1)
Enter and connect installing mechanism, is fixedly installed with Z-type frame (12) on support plate (1) surface, is fixedly mounted on the Z-type frame (12)
There are two the first locating and detecting device (13), the second locating and detecting device is also fixedly installed on support plate (1) surface
(14), support plate (1) two sides are mounted on installation shell (15)；The support plate (1) is pacified with four big sucker mounting plates (2)
Holding position is mutually perpendicular to；The support plate (1) is L-type metal profile, and the installation shell (15) is L-type metal shell；Institute
State conversion input connection installing mechanism by be fixedly mounted on support plate (1) large flange disk (16), be fixedly mounted on large flange
What the small flange plate (17) on disk (16) collectively formed；It is external that the small flange plate (17) stretches out installation shell (15)；The peace
Dress is additionally provided with single-pass nylon connector (18) on shell (15) surface；The gas generator of the peripheral hardware can protrude into list by gas-guide tube
Logical nylon connector (18) are connected with disc type sucker (8)；First locating and detecting device (13) and the second detection and localization dress
The model labor for setting (14) easily surveys ODSL8 laser range sensor；The small flange plate (17) of the dynamic grabbing device is mountable
On the connecting pin on uniaxial or multiaxis driving mechanical arm, dynamic grabbing device is mutually perpendicular to the connecting shaft on connecting pin,
Realize the conversion of four groups of sucker installing mechanisms and single suction head installing mechanism.
The characteristics of the present embodiment, is, including support plate 1, and 1 one end of support plate is fixedly connected with four big sucker mounting plates 2,
Four corners are equipped with four groups of sucker installing mechanisms on four big 2 surfaces of sucker mounting plate, and every group of sucker installing mechanism is by fixed installation
Brass quick-release connector 4 that mounting hole 3, one end on four big 2 surfaces of sucker mounting plate are inserted into mounting hole 3 is mounted on
Supporter 6 that the fitting joint 5 of 4 other end of brass quick-release connector, one end are mounted in fitting joint 5 is mounted on supporter 6
On bellow expansion joint 7, the disc type sucker 8 that is mounted in bellow expansion joint 7 collectively form, support plate 1 it is another
End is fixedly connected with single suction head mounting plate 9, is equipped with single suction head transition plates 10 above single suction head mounting plate 9, single suction head mounting plate 9 with
Four corners are fixedly installed with support rod 11 between single suction head transition plates 10, between single suction head mounting plate 9 and single suction head transition plates 10
Equipped with single suction head installing mechanism, single suction head installing mechanism is identical as the structure of every group of sucker installing mechanism, is additionally provided in support plate 1
Conversion input connection installing mechanism, Z-type frame 12 is fixedly installed on 1 surface of support plate, is fixedly mounted that there are two the on Z-type frame 12
One locating and detecting device 13 is also fixedly installed with the second locating and detecting device 14 on 1 surface of support plate, and 1 two sides of support plate are pacified
Equipped with installation shell 15, may be implemented, which will appear in many application scenarios, needs robot to grab different operation objects
Demand, structure is simple, save conversion time, improve robot run beat, meanwhile, pass through calculate analysis robot singular point
Position, which has found, will not generate the unusual many attitude of robot in dynamic crawl working range, and one such posture can
The six axis freedom degree free time of robot to be got off, thus based on the 6th idle axis devise can with the handgrip of switching at runtime,
The effect that will not influence dynamic crawl while handgrip switching is carried out using the 6th axis freedom degree.
In the present embodiment, for the application of dynamic grabbing device, the small flange plate of dynamic grabbing device it is mountable
On connecting pin on uniaxial or multiaxis driving mechanical arm, dynamic grabbing device is mutually perpendicular to the connecting shaft on connecting pin, real
The conversion of existing four groups of sucker installing mechanisms and single suction head installing mechanism.
In the present embodiment, it after being installed, then can be stretched by gas-guide tube by gas generator in the prior art
Enter single-pass nylon connector to be connected with each disc type sucker, thus realize that clamping acts on, it can be into when connecting shaft rotation
The switching of the four groups of sucker installing mechanisms and single suction head installing mechanism of Mobile state grabbing device.When six axis of use drive mechanical arm
When, during crawl and placement, five axis of six axis driving mechanical arm will keep horizontal, thus to ensure to grab posture, and
During six axis drive manipulator motion, the speed of service is guaranteed by the suitable path point of calculating selection of computer,
Meanwhile it can realize that targetedly selection uses according to the type of crawl article.
In the present embodiment, the dynamic grabbing device of L-type, which not only ensure that in crawl placement process, not will cause interference, but also
It ensure that switch speed will not influence the uniaxial or multiaxis driving mechanical arm speed of service, and the mounting means chosen guarantees single shaft
Or multiaxis driving mechanical arm will not generate unusual and lead to exception in crawl placement process.
In the present embodiment, the first locating and detecting device and the second locating and detecting device, which pass through to choose, uses model labor
ODSL8 laser range sensor is easily surveyed, whether the height that may be implemented to judge to grab article is suitable, and judgement crawl article is
No midway is fallen, while to guarantee to wrap up recognition accuracy, what article mistake was grabbed caused by avoiding because of 3D recognition accuracy problem is asked
Topic.Laser range sensor: laser pulse is first emitted by laser diode alignment target.Laser is to all directions after target reflects
Scattering.Some scattered light returns to transducer receivers, is imaged on avalanche photodide after being received by optical system.Snowslide
Photodiode is a kind of optical sensor of the inside with enlarging function, therefore it can detect extremely faint optical signal.Note
It records and handles and be issued to return from light pulse and be received the time experienced, target range can be measured, there is following characteristics: measurement
Range is wide, fast response time；Telemeasurement is not necessarily to reflector；Measurement accuracy high range is big；905 nanometers of safe laser are to human eye
Fanout free region；Installation and debugging small in size are convenient；Online continuous measurement reaches unattended continuous monitoring.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
The principle of the present invention is embodied to some variations that some of them part may be made, belongs to the scope of protection of the present invention it
It is interior.
Claims (9)
1. a kind of dynamic grabbing device on mechanical arm, which is characterized in that including support plate (1), the support plate (1) one
End is fixedly connected with four big sucker mounting plates (2), and four corners are equipped with four groups of sucker peaces on four big sucker mounting plate (2) surface
Mounting mechanism, every group of sucker installing mechanism by the mounting hole (3) being fixedly mounted on four big sucker mounting plate (2) surfaces,
Brass quick-release connector (4) that one end is inserted into mounting hole (3), the assembly for being mounted on brass quick-release connector (4) other end connect
Head (5), the supporter (6) that one end is mounted in fitting joint (5), the bellow expansion joint being mounted on supporter (6)
(7), what the disc type sucker (8) being mounted on bellow expansion joint (7) collectively formed, the other end of the support plate (1) is solid
Surely it is connected with single suction head mounting plate (9), is equipped with single suction head transition plates (10), the single suction above the single suction head mounting plate (9)
Four corners are fixedly installed with support rod (11) between head mounting plate (9) and single suction head transition plates (10), the single suction head mounting plate
(9) single suction head installing mechanism is equipped between single suction head transition plates (10), the single suction head installing mechanism is installed with every group of sucker
The structure of mechanism is identical, is additionally provided on the support plate (1) and converts input connection installing mechanism, on support plate (1) surface
It is fixedly installed with Z-type frame (12), there are two the first locating and detecting device (13), the branch for fixed installation on the Z-type frame (12)
It is also fixedly installed with the second locating and detecting device (14) on fagging (1) surface, support plate (1) two sides are mounted on mounting shell
Body (15).
2. a kind of dynamic mechanically grabbing device on mechanical arm according to claim 1, which is characterized in that the branch
Fagging (1) is mutually perpendicular to four big sucker mounting plate (2) installation sites.
3. a kind of dynamic grabbing device on mechanical arm according to claim 1, which is characterized in that the support plate
It (1) is L-type metal profile, the installation shell (15) is L-type metal shell.
4. a kind of dynamic grabbing device on mechanical arm according to claim 1, which is characterized in that the conversion is defeated
Enter to connect installing mechanism by be fixedly mounted on support plate (1) large flange disk (16), be fixedly mounted on large flange disk (16)
Small flange plate (17) collectively form.
5. a kind of dynamic grabbing device on mechanical arm according to claim 4, which is characterized in that the small flange
It is external that disk (17) stretches out installation shell (15).
6. a kind of dynamic grabbing device on mechanical arm according to claim 1, which is characterized in that the mounting shell
Single-pass nylon connector (18) is additionally provided on body (15) surface.
7. a kind of dynamic grabbing device on mechanical arm according to claim 1 or 6, which is characterized in that described outer
If gas generator can protrude into single-pass nylon connector (18) by gas-guide tube and be connected with disc type sucker (8).
8. a kind of dynamic grabbing device on mechanical arm according to claim 1, which is characterized in that described first is fixed
The model labor of level detecting apparatus (13) and the second locating and detecting device (14) easily surveys ODSL8 laser range sensor.
9. a kind of application of the dynamic grabbing device on mechanical arm, which is characterized in that the small method of the dynamic grabbing device
On the mountable connecting pin on uniaxial or multiaxis driving mechanical arm of blue disk (17), the company on dynamic grabbing device and connecting pin
Spindle is mutually perpendicular to, and realizes the conversion of four groups of sucker installing mechanisms and single suction head installing mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710995861.1A CN109693259A (en) | 2017-10-23 | 2017-10-23 | A kind of dynamic grabbing device on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710995861.1A CN109693259A (en) | 2017-10-23 | 2017-10-23 | A kind of dynamic grabbing device on mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109693259A true CN109693259A (en) | 2019-04-30 |
Family
ID=66226028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710995861.1A Pending CN109693259A (en) | 2017-10-23 | 2017-10-23 | A kind of dynamic grabbing device on mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109693259A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101676074A (en) * | 2008-09-16 | 2010-03-24 | 鸿富锦精密工业（深圳）有限公司 | Manipulator reloading method |
| EP2463065A1 (en) * | 2010-12-07 | 2012-06-13 | CAMA 1 SpA | Vacuum gripping head for an industrial robot |
| CN204487246U (en) * | 2015-02-12 | 2015-07-22 | 重庆罗博泰尔机器人研究院有限公司 | For the rotary fixing device of clamping rod class part |
| CN205310289U (en) * | 2015-11-11 | 2016-06-15 | 江苏汇博机器人技术股份有限公司 | Nimble changeable robot clamp |
| CN205766199U (en) * | 2016-05-30 | 2016-12-07 | 杭州开浦科技有限公司 | A kind of overall upset feeding gas pawl |
| CN106272498A (en) * | 2016-09-22 | 2017-01-04 | 佛山华数机器人有限公司 | The multi-functional composite fixture 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 |
| CN106985152A (en) * | 2017-04-01 | 2017-07-28 | 佛山华数机器人有限公司 | A kind of multi-function robot fixture |
| CN207448496U (en) * | 2017-10-23 | 2018-06-05 | 天津施格自动化科技有限公司 | A kind of dynamic grabbing device on mechanical arm |
-
2017
- 2017-10-23 CN CN201710995861.1A patent/CN109693259A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101676074A (en) * | 2008-09-16 | 2010-03-24 | 鸿富锦精密工业（深圳）有限公司 | Manipulator reloading method |
| EP2463065A1 (en) * | 2010-12-07 | 2012-06-13 | CAMA 1 SpA | Vacuum gripping head for an industrial robot |
| CN204487246U (en) * | 2015-02-12 | 2015-07-22 | 重庆罗博泰尔机器人研究院有限公司 | For the rotary fixing device of clamping rod class part |
| CN205310289U (en) * | 2015-11-11 | 2016-06-15 | 江苏汇博机器人技术股份有限公司 | Nimble changeable robot clamp |
| CN205766199U (en) * | 2016-05-30 | 2016-12-07 | 杭州开浦科技有限公司 | A kind of overall upset feeding gas pawl |
| CN106272498A (en) * | 2016-09-22 | 2017-01-04 | 佛山华数机器人有限公司 | The multi-functional composite fixture 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 |
| CN106985152A (en) * | 2017-04-01 | 2017-07-28 | 佛山华数机器人有限公司 | A kind of multi-function robot fixture |
| CN207448496U (en) * | 2017-10-23 | 2018-06-05 | 天津施格自动化科技有限公司 | A kind of dynamic grabbing device on mechanical arm |
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