CN111037591A - Soft material and micro-curved surface hard material gripping device - Google Patents
Soft material and micro-curved surface hard material gripping device Download PDFInfo
- Publication number
- CN111037591A CN111037591A CN201911335053.8A CN201911335053A CN111037591A CN 111037591 A CN111037591 A CN 111037591A CN 201911335053 A CN201911335053 A CN 201911335053A CN 111037591 A CN111037591 A CN 111037591A
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- material grabbing
- base body
- hard material
- micro
- base
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- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a gripping device for soft materials and micro-curved hard materials. The flexible material grabbing device comprises a base body, wherein soft material grabbing units and micro-curved hard material grabbing units are assembled on the base body, the number of the soft material grabbing units is four, the soft material grabbing units are uniformly distributed on four boundaries of the base body, and the positions of the soft material grabbing units are positioned at the center of each edge of the base body; the micro-curved surface hard material units are assembled on the base body, and are four in number and uniformly distributed at four corners of the base body; the base has a circuit board and a vision camera mounting location thereon. Rely on automation equipment to carry out the operation that the robot replaced the people, liberation human physical work realizes both can snatching the yielding material and can snatch little curved surface hard material, realizes automatic technology, reaches efficiency steady, snatchs the accuracy, stacks accurate requirement.
Description
Technical Field
The invention belongs to the field of automatic mechanical equipment, and particularly relates to a soft material and micro-curved hard material grabbing device.
Background
The seat is a necessity in daily life of people, and is classified into an airport seat, an automobile seat, a bus seat, a family seat and the like according to different use occasions. To give people a comfortable seating experience, seats have no longer been solely full wood or full iron seats. In industry, the seat gradually evolves into diversified modern sofa, and the cushion material is also more and more diversified, and the cushion has contained multiple material bed course, for example the little curved surface stereoplasm wooden plate layer that accords with the ergonomics, many parts such as soft materials elasticity bed course are made up the stack and are formed. The process of stacking the soft material and the hard material with the micro-curved surface in multiple layers requires that the soft material and the hard material with the micro-curved surface are grabbed, the final stacking result is accurate in positioning, the stacking effect is good, and the inosculation performance is good.
In industrial application at present, the superposition operation of soft material and little curved surface hard material is gone to accomplish by the manual work more, and on the one hand, the workman is too tired and also more and more low along with operating time's increase efficiency, and on the other hand, also easy visual fatigue easily appears superposition effect poor, the location scheduling problem along with the repeated workman of work once. Affecting the quality of the product.
Disclosure of Invention
The invention aims to design and invent a gripping device for soft materials and slightly curved hard materials, which replaces human operation by a robot by means of automatic equipment, relieves the labor of human physical strength, realizes gripping of both soft materials and slightly curved hard materials, realizes an automatic process, and meets the requirements of stable efficiency, accurate gripping and accurate stacking.
The flexible material grabbing device comprises a base body, wherein soft material grabbing units and micro-curved hard material grabbing units are assembled on the base body, the number of the soft material grabbing units is four, the soft material grabbing units are uniformly distributed on four boundaries of the base body, and the positions of the soft material grabbing units are positioned at the center of each edge of the base body; the micro-curved surface hard material units are assembled on the base body, and are four in number and uniformly distributed at four corners of the base body; the base has a circuit board and a vision camera mounting location thereon.
Each soft material grabbing unit comprises a guide spring connected with the base body, the guide spring is connected with a pricking base of the pneumatic pricking unit, a first elastic plastic rod with a guide buffering effect is mounted on the pricking base, air cylinders are symmetrically mounted on the pricking base and connected with a needle base, and a pricking needle is assembled on the needle base.
Every little curved surface hard material grabbing device contains the bolt of being connected with the base member, and the bolt is connected with the sucking disc, and settles buffer spring between bolt and the sucking disc, has glued flexible memory material on the sucking disc, has installed the second on the sucking disc and has played the plastic stick, and the trachea connects, trachea and trachea joint zonulae occludens.
Furthermore, the pricking needles in the soft material grabbing unit are positioned at two sides of the guide spring; four single-side pricking needles are arranged, and the pricking needles and the horizontal plane form an angle of 45 degrees; the first elastic plastic rod is arranged on two sides of the guide spring.
Furthermore, the number of the air pipes in the micro-curved surface hard material grabbing unit is five; the peripheral size of the flexible memory material is matched with that of the sucker, the flexible memory material is uniformly divided into five grooves, and the air inlet and the air outlet of the air pipe joint are overlapped with the geometric centers of the grooves.
Furthermore, the motion directions of the soft material grabbing unit and the micro-curved hard material grabbing device are both directed to horizontal position materials, and the micro-curved hard material grabbing unit is high in adaptability and allows non-planar hard materials to be grabbed.
In summary, the invention has the following beneficial effects:
1. the base body is connected with the mechanical arm through a flange to realize movement in all directions, and can also be connected with the sliding block frame to realize three-degree-of-freedom movement.
2. And capturing the position information parameters of the materials needing to be superposed through a visual camera.
3. The control system controls the opening and closing of the electromagnetic valve so as to control the motion state of the air cylinder and control the stretching of the puncture needle in the soft material grabbing unit.
4. The control system controls the electromagnetic valve loop so as to control the micro-curved hard material grabbing unit to grasp and release the micro-curved hard material grabbing unit with an object through the sucker and the flexible memory material.
5. The four felting needles form a module with eight groups, planes formed by the four needles between the modules are vertical to each other and form an included angle of 45 degrees with the horizontal plane, and the soft material can be firmly grasped.
Drawings
FIG. 1 is a view of the internal overall structure of the removable protective cover;
FIG. 2 is a view of the soft material gripping unit;
FIG. 3 is a diagram of a micro-curved hard material gripping unit;
FIG. 4 is a schematic view of the shape of the flexible memory material and the position of the inlet and outlet ports;
FIG. 5 is a schematic view of a visual camera bezel configuration;
FIG. 6 is an overall structural view of the present invention;
in the figure: 1. the base member, 2, the soft material snatchs the unit, 3, little curved surface hard material snatchs the unit, 4, guide spring, 5, the base, 6, the elastic glue stick, 7, the cylinder, 8, the needle file, 9, the puncture needle, 10, the bolt, 11 sucking discs, 12, buffer spring, 13, flexible memory material, 14, the trachea joint, 15, the trachea, 16, the vision camera, 17, the circuit board, 18, trachea through hole, 19, the recess, 20, business turn over gas port, 21, vision camera lens, 22, the baffle, 23, the cylinder, 24, the protecting cover, 25, the through-hole, 26, terminal assembly jig.
Detailed Description
The invention is further described in detail below with reference to the accompanying schematic drawings.
The scheme of the invention is realized as follows:
the utility model provides a softwood material, little curved surface hard material grabbing device, contains the base member, install softwood material on the base member and snatch the unit, also install little curved surface material on the base member and snatch the unit, the softwood material snatchs the unit and has several parts of guide spring, base, elasticity plastic stick, cylinder, puncture needle. The base is provided with a cylinder, the end of a push rod of the cylinder is provided with a pricking needle, an included angle between the pricking needle and the horizontal plane is 45 degrees, the length of the pricking needle is determined according to the thickness of a grabbing material, the base is provided with four soft material grabbing units which are respectively arranged at the central positions of four sides of the base, and the soft material grabbing units are formed as above to realize grabbing of the soft material. The micro-curved surface hard material grabbing unit comprises a connecting bolt, an elastic plastic rod, a gas pipe connector, a gas pipe, a sucking disc, a flexible memory material and a buffer spring. Connecting bolt passes the base member and is connected with the sucking disc, sheathes buffer spring on the bolt, pastes flexible memory material on the sucking disc, and installation trachea joint connection trachea on the sucking disc constitutes little curved surface hard material and snatchs the unit above the part, installs four such units on the base member altogether, and four angles of difference overall arrangement and base member to realize snatching of little curved surface hard material.
Preferably, the elastic plastic rubber rods in the soft material grabbing unit are respectively arranged at the left side and the right side of the guide spring; the base comprises two pricking units on the left and right, the pricking units are driven by cylinders arranged on two sides of the base, the piston end of each cylinder is connected with a needle seat, four steel needles are uniformly arranged on the needle seats, and the included angle between each steel needle and the horizontal plane is 45 degrees. The two pricking units are vertical to each other.
Preferably, five air pipes are connected with the sucking disc through air pipe connectors, the air pipe connectors are evenly distributed on the circular surface of the sucking disc through threaded connection, each air inlet and outlet is respectively positioned at the geometric center of each groove of the flexible memory material, the included angle between two elastic plastic rods is 144 degrees, and the included angle is 37.5 millimeters from the center of the sucking disc. The micro-curved surface grabbing units are uniformly arranged at four corners of the base body.
Preferably, the device is provided with a visual camera mounting position and a circuit board mounting position on the base body, the whole frame is encapsulated by a protective cover, the lower surface of the base body is provided with a baffle plate for shielding a camera lens, and the baffle plate is driven by an air cylinder.
Example (b): the present invention is not limited to the embodiments, but various modifications which are not inventive and may be made within the scope of the claims of the present invention will be apparent to those skilled in the art after reading the present specification.
As shown in fig. 1, 5 and 6, the present embodiment includes a base 1, and the base 1 is used as a mounting substrate for each unit, and is a main structure of the present invention, and the material quality depends on the economical efficiency and the working environment. Four soft material gripping units 2 and four micro-curved hard material gripping units 3, as well as a vision camera 16 and a circuit board 17 are mounted on the base body, and an air pipe passing hole 18 is formed. The whole frame adds the encapsulation of protecting cover 24, and terminal assembly jig 26 can external manipulator, and it has through-hole 25 to open on the protecting cover 24, and base member lower surface assembly baffle 22 for shelter from camera lens 21, the baffle passes through cylinder 23 drive. The porous material grabbed by the embodiment can be sponge, and the hard material can be wood board.
As shown in fig. 2, the soft material gripping unit includes the following parts: a guide spring 4, an elastic plastic rod 6, a needle seat 8, a base 5, a puncture needle 9 and a cylinder 7. The guide spring is used as an intermediate part to connect the base and the base body, the guide spring guides the base to move in a small range in the vertical direction, and the left side and the right side of the guide spring are provided with elastic plastic rods to further guide the base to vibrate in a small range in the vertical direction and further play a role in buffering, so that the pricking unit is protected. The needle stand is provided with the pricking needles and then is in threaded connection with the air cylinder, the pricking units are distributed on two sides of the base, so that the guide spring is stressed uniformly, each needle stand is provided with four pricking needles, the four pricking needles are positioned on the same plane and form an included angle of 45 degrees with the horizontal plane, and the needle surfaces of the left pricking unit and the right pricking unit are perpendicular, so that the grasped materials are firmly fastened.
As shown in fig. 3 and 4, the micro-curved hard material gripping unit includes the following parts: the air pipe type air conditioner comprises a bolt 10, an air pipe 15, a buffer spring 12, an air pipe joint 14, a suction cup 11, a flexible memory material 13 and an elastic plastic rod 6. The bolt is connected as the middleware and is played sucking disc and base member, and suit buffer spring supports and plays the sucking disc on the bolt, also plays good cushioning effect when snatching little curved surface hard material simultaneously, and the elastic plastic stick of shank of bolt both sides installation plays the guide effect, also makes the sucking disc atress balanced. Five air pipe joints are uniformly arranged on the sucker, and the air inlet and outlet 20 is positioned at the geometric center of the flexible memory material groove 19, so that the sucker can uniformly bear force in each area when grabbing hard materials. The grabbing principle is as follows: the sucker presses down the flexible memory material deformation groove to compress the volume to form a vacuum to grab the hard material, the hard material is fed back to a target position through vision, the hard material moves to the target position, and the air inlet material of the air pipe is put down.
In conclusion, the device can drive the whole device to move to execute operation through the flange connection manipulator. The flexible of acupuncture needle is controlled through cylinder drive to pick up and put down the softwood, lead to the gassing through the trachea and make sucking disc and flexible memory material, little curved surface hardwood three form the vacuum and snatch the hardwood, put down the position through vision camera memory softwood, the position that the hard material of control snatch put the position and softwood accuracy coincide. The working process of accurate superposition of multiple layers of materials is realized. The whole process is controlled by the numerical control system, the grabbing and releasing are accurate, the reaction is rapid, the manual work can be replaced, and the working intensity of workers can be reduced.
Claims (4)
1. The utility model provides a soft material, little curved surface hard material grabbing device, includes base member (1), its characterized in that: the flexible material grabbing units (2) and the micro-curved hard material grabbing units (3) are assembled on the base body (1), the number of the flexible material grabbing units (2) is four, the flexible material grabbing units are assembled on the base body (1), the flexible material grabbing units are uniformly distributed on four boundaries of the base body (1), and the positions of the flexible material grabbing units are located at the center of each edge of the base body (1); the micro-curved surface hard material units are assembled on the base body (1), and are four in number and uniformly distributed at four corners of the base body (1); the base body (1) is provided with a circuit board (16) and a visual camera (17) mounting position;
each soft material grabbing unit (2) comprises a guide spring (4) connected with the base body (1), the guide spring (4) is connected with a pricking base (5) of the pneumatic pricking unit, a first elastic plastic rod with a guiding and buffering effect is installed on the pricking base (5), air cylinders (7) are symmetrically installed on the pricking base (5), the air cylinders (7) are connected with a needle base (8), and pricking needles (9) are assembled on the needle base (8);
every little curved surface hard material grabbing device (3) contain bolt (10) of being connected with base member (1), bolt (10) are connected with sucking disc (11), and settle buffer spring (12) between bolt (10) and sucking disc (11), flexible memory material (13) have been glued on sucking disc (11), installed the second on sucking disc (11) and have popped plastic stick, trachea joint (14) have still been installed in sucking disc (11), trachea (15) and trachea joint (14) zonulae occludens.
2. The soft, slightly curved hard material gripping device according to claim 1, characterized in that: the pricking needles (9) in the soft material grabbing unit (2) are positioned at two sides of the guide spring (4); four single-side pricking needles (9), wherein the pricking needles (9) form an angle of 45 degrees with the horizontal plane; the first elastic plastic rod is arranged on two sides of the guide spring (4).
3. The soft, slightly curved hard material gripping device according to claim 1, characterized in that: five air pipes (15) in the micro-curved hard material grabbing unit (3) are arranged; the peripheral size of the flexible memory material (13) is matched with that of the sucker (11), the flexible memory material (13) is uniformly divided into five grooves (19), and the air inlet and outlet (20) of the air pipe joint (14) is overlapped with the geometric center of the grooves (19).
4. The soft, slightly curved hard material gripping device of claim 1, wherein: the motion directions of the soft material grabbing unit (2) and the micro-curved hard material grabbing device (3) are both directed at horizontal position materials, and the adaptability of the micro-curved hard material grabbing unit (3) is strong, so that non-planar hard materials are allowed to be grabbed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911335053.8A CN111037591A (en) | 2019-12-23 | 2019-12-23 | Soft material and micro-curved surface hard material gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911335053.8A CN111037591A (en) | 2019-12-23 | 2019-12-23 | Soft material and micro-curved surface hard material gripping device |
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| Publication Number | Publication Date |
|---|---|
| CN111037591A true CN111037591A (en) | 2020-04-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911335053.8A Pending CN111037591A (en) | 2019-12-23 | 2019-12-23 | Soft material and micro-curved surface hard material gripping device |
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| Country | Link |
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| CN (1) | CN111037591A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171700A (en) * | 2020-09-25 | 2021-01-05 | 江苏科技大学 | Self-adaptive manipulator for curved surface laminating of flexible material |
| CN112589779A (en) * | 2020-12-31 | 2021-04-02 | 和也健康科技有限公司 | Manipulator for grabbing and laying in mattress production |
| CN114055433A (en) * | 2021-11-17 | 2022-02-18 | 深圳市诺科微科技有限公司 | Integrated circuit board production and processing equipment and method |
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| EP3392024A1 (en) * | 2017-04-11 | 2018-10-24 | The Boeing Company | Multifunction end effector apparatus and methods for assembling thermoplastic composite articles |
| CN110125962A (en) * | 2019-05-22 | 2019-08-16 | 上海交通大学 | A kind of combined type waste material grabbing device for the processing of special-shaped polyurethane foam board |
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2019
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| CN201446526U (en) * | 2009-06-20 | 2010-05-05 | 无锡吉兴汽车声学部件科技有限公司 | Automatic feeding acupuncture device of automobile roof and carpet production line |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171700A (en) * | 2020-09-25 | 2021-01-05 | 江苏科技大学 | Self-adaptive manipulator for curved surface laminating of flexible material |
| CN112171700B (en) * | 2020-09-25 | 2022-03-08 | 江苏科技大学 | Self-adaptive manipulator for curved surface laminating of flexible material |
| CN112589779A (en) * | 2020-12-31 | 2021-04-02 | 和也健康科技有限公司 | Manipulator for grabbing and laying in mattress production |
| CN112589779B (en) * | 2020-12-31 | 2024-05-03 | 和也健康科技有限公司 | Manipulator for grabbing and laying in mattress production |
| CN114055433A (en) * | 2021-11-17 | 2022-02-18 | 深圳市诺科微科技有限公司 | Integrated circuit board production and processing equipment and method |
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Application publication date: 20200421 |