CN112158591B - Manipulator grabbing device with limiting function - Google Patents
Manipulator grabbing device with limiting function Download PDFInfo
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- CN112158591B CN112158591B CN202011163457.6A CN202011163457A CN112158591B CN 112158591 B CN112158591 B CN 112158591B CN 202011163457 A CN202011163457 A CN 202011163457A CN 112158591 B CN112158591 B CN 112158591B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
Abstract
The invention discloses a manipulator grabbing device with a limit function, which comprises a connecting seat, wherein a rotary servo motor is fixed on the connecting seat, an output shaft of the rotary servo motor penetrates through the outer side wall of a connecting plate of the connecting seat and is fixed with a rotary plate, a vertical fixing plate is fixed on the rotary plate, a lower horizontal supporting plate is fixed at the bottom of the vertical fixing plate, a vertical lifting cylinder is fixed on the top surface of the lower horizontal supporting plate, a push rod of the vertical lifting cylinder penetrates through the bottom surface of the lower horizontal supporting plate and is fixed with a lifting plate, and an electromagnet plate is fixed in the middle of the bottom surface of the lifting plate; it can be automatic correction when snatching the rectangle form material, guarantees that clamping position is accurate at every turn, and the position when convenient follow-up removal was put to the station that adds is accurate, and is effectual, and the precision is high.
Description
Technical Field
The invention relates to the technical field of mechanical arm manufacturing and processing, in particular to a mechanical arm grabbing device with a limiting function.
Background
The material of some rectangle forms that has now, when snatching, the mechanism that snatchs of current manipulator all adopts two clamping parts that can move about with its centre gripping, however, during its centre gripping, because the position that the material was placed has skew scheduling problem for the clamping position of the material of centre gripping at every turn is not identical, can produce the skew, thereby can influence the degree of accuracy when the manipulator is placed the material and adds the station, and easy follow-up locating position is not accurate enough.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a manipulator grabbing device with a limit function, which can automatically correct when rectangular materials are grabbed, ensures accurate clamping position each time, facilitates accurate position when the rectangular materials are subsequently moved and placed at a processing station, and has good effect and high precision.
The technical solution of the invention is as follows:
a manipulator grabbing device with a limit function comprises a connecting seat, wherein a rotary servo motor is fixed on the connecting seat, an output shaft of the rotary servo motor penetrates through the outer side wall of a connecting plate of the connecting seat and is fixed with a rotary plate, a vertical fixing plate is fixed on the rotary plate, a lower horizontal supporting plate is fixed at the bottom of the vertical fixing plate, a vertical lifting cylinder is fixed on the top surface of the lower horizontal supporting plate, a push rod of the vertical lifting cylinder penetrates through the bottom surface of the lower horizontal supporting plate and is fixed with a lifting plate, and an electromagnet plate is fixed in the middle of the bottom surface of the lifting plate;
a rear vertical limiting plate is fixed on the bottom surface of the rear part of the lifting plate;
pneumatic fingers are fixed on the rear wall face of the rear vertical limiting plate of the lifting plate, clamping blocks are fixed on push rods on the left side and the right side of each pneumatic finger, and the two clamping blocks are located on the left side and the right side of the rear vertical limiting plate.
And clamping plates are fixed on the inner side walls of the front ends of the two clamping blocks, and elastic anti-skidding blocks are fixed on the opposite wall surfaces of the two clamping plates.
An elastic protective layer is fixed on the bottom surface of the electromagnet plate.
And a vertical guide rod is fixed on the top surface of the lifting plate and is inserted in a vertical through hole formed in the lower horizontal support plate.
And a guide sleeve is fixed on the inner side wall of the vertical through hole, and the vertical guide rod is inserted in the guide sleeve.
And a front limiting support plate is fixed on the front wall plate of the rear vertical limiting plate.
And a guide positioning block is fixed on the upper wall surface of the vertical fixing plate, and the vertical lifting cylinder is fixed in the guide positioning block.
The connecting seat comprises a flange connecting plate, two supporting plates are fixed in the middle of one end face of the flange connecting plate, a fixing plate is fixed at the same end of each of the two supporting plates, a rotary servo motor is fixed on the inner wall face of each fixing plate, and an output shaft of the rotary servo motor penetrates through the outer wall face of each fixing plate.
The invention has the beneficial effects that:
it can be automatic correction when snatching the rectangle form material, guarantees that clamping position is accurate at every turn, and the position when convenient follow-up removal was put to the station that adds is accurate, and is effectual, and the precision is high.
Drawings
FIG. 1 is a schematic view of a partial structure of the present invention;
fig. 2 is a partial bottom view of the lifter plate of the present invention.
Detailed Description
Example (b): as shown in fig. 1 to 2, the manipulator grabbing device with the limit function comprises a connecting base 10, wherein a rotary servo motor 11 is fixed on the connecting base 10, an output shaft of the rotary servo motor 11 penetrates through the outer side wall of a connecting plate of the connecting base 10 and is fixed with a rotary plate 12, a vertical fixing plate 13 is fixed on the rotary plate 12, a lower horizontal supporting plate 14 is fixed at the bottom of the vertical fixing plate 13, a vertical lifting cylinder 15 is fixed on the top surface of the lower horizontal supporting plate 14, a push rod of the vertical lifting cylinder 15 penetrates through the bottom surface of the lower horizontal supporting plate 14 and is fixed with a lifting plate 16, and an electromagnet plate 17 is fixed in the middle of the bottom surface of the lifting plate 16;
a rear vertical limiting plate 18 is fixed on the bottom surface of the rear part of the lifting plate 16;
Furthermore, the inner side walls of the front ends of the two clamping blocks 20 are respectively fixed with a clamping plate 21, and the opposite wall surfaces of the two clamping plates 21 are respectively fixed with an elastic anti-slip block 22.
Further, an elastic protection layer 171 is fixed on the bottom surface of the electromagnet plate 17.
Further, a vertical guide bar 1 is fixed on the top surface of the lifting plate 16, and the vertical guide bar 1 is inserted into a vertical through hole formed in the lower horizontal support plate 14.
Furthermore, a guide sleeve 2 is fixed on the inner side wall of the vertical through hole, and the vertical guide rod 1 is inserted in the guide sleeve 2.
Further, a front limiting support plate 181 is fixed on the front wall plate of the rear vertical limiting plate 18.
Further, a guide positioning block 3 is fixed on an upper wall surface of the vertical fixing plate 13, and a vertical lifting cylinder 15 is fixed in the guide positioning block 3.
Further, the connecting seat 10 includes a flange connecting plate 101, two supporting plates 102 are fixed in the middle of one end surface of the flange connecting plate 101, a fixing plate 103 is fixed at the same end of the two supporting plates 102, a rotary servo motor 11 is fixed on the inner wall surface of the fixing plate 103, and an output shaft of the rotary servo motor 11 penetrates through the outer wall surface of the fixing plate 103.
In this embodiment, when in use, the flange connecting plate 101 is fixedly connected to the connecting end of the manipulator through the connecting bolt, then the manipulator moves to move the lifting plate 16 to the position for grabbing the material, the lifting plate 16 is located above the top surface of the material, the two clamping plates 21 are located at the left and right sides of the material, the front wall surface of the material directly leans against the vertical plate of the material fetching frame, when in material fetching, the front limiting supporting plate 181 can be pressed against the rear wall surface of the material through the operation of the manipulator, then the two clamping plates 21 are close to each other through the operation of the pneumatic finger 19 (the pneumatic finger 19 in this embodiment is a wide pneumatic finger), the material is pushed to be centered and clamped, then the push rod of the pneumatic finger 19 pushes the two clamping plates 21 to keep away from the material, then the lifting plate 16 descends through the push rod of the vertical lifting cylinder 15, make elastic protection layer 171 press on the top surface of material, then, open through electromagnet plate 17, adsorb the material fixedly, retract back through pneumatic finger 19's push rod again, move two grip blocks 21 with the material centre gripping once more, then, can snatch it and remove and place follow-up processing position can, it is very convenient.
Claims (4)
1. The utility model provides a take spacing manipulator grabbing device, includes connecting seat (10), its characterized in that: a rotary servo motor (11) is fixed on the connecting seat (10), an output shaft of the rotary servo motor (11) penetrates through the outer side wall of a connecting plate of the connecting seat (10) and is fixed with a rotary plate (12), a vertical fixing plate (13) is fixed on the rotary plate (12), a lower horizontal supporting plate (14) is fixed at the bottom of the vertical fixing plate (13), a vertical lifting cylinder (15) is fixed on the top surface of the lower horizontal supporting plate (14), a push rod of the vertical lifting cylinder (15) penetrates through the bottom surface of the lower horizontal supporting plate (14) and is fixed with a lifting plate (16), and an electromagnet plate (17) is fixed in the middle of the bottom surface of the lifting plate (16);
a rear vertical limiting plate (18) is fixed on the bottom surface of the rear part of the lifting plate (16);
a pneumatic finger (19) is fixed on the rear wall surface of a rear vertical limiting plate (18) of the lifting plate (16), clamping blocks (20) are fixed on push rods on the left side and the right side of the pneumatic finger (19), and the two clamping blocks (20) are positioned on the left side and the right side of the rear vertical limiting plate (18);
clamping plates (21) are fixed on the inner side walls of the front ends of the two clamping blocks (20), and elastic anti-skidding blocks (22) are fixed on the opposite wall surfaces of the two clamping plates (21);
an elastic protective layer (171) is fixed on the bottom surface of the electromagnet plate (17);
a front limiting support plate (181) is fixed on the front wall plate of the rear vertical limiting plate (18);
the connecting seat (10) comprises a flange connecting plate (101), two supporting plates (102) are fixed in the middle of one end face of the flange connecting plate (101), a fixing plate (103) is fixed at the same end of the two supporting plates (102), a rotary servo motor (11) is fixed on the inner wall face of the fixing plate (103), and an output shaft of the rotary servo motor (11) penetrates through the outer wall face of the fixing plate (103);
when the material taking device is used, a flange connecting plate (101) is fixedly connected to a connecting end of a manipulator through a connecting bolt, then the manipulator runs to move a lifting plate (16) to a position for grabbing materials, the lifting plate (16) is positioned above the top surface of the materials, two clamping plates (21) are positioned on the left side and the right side of the materials, the front wall surface of the materials directly leans against a vertical plate of the material taking frame, a front limiting supporting plate (181) is pressed against the rear wall surface of the materials through the running of the manipulator during material taking, then the two clamping plates (21) are driven to approach each other through a pneumatic finger (19) to push the materials to be centered and clamped, then a push rod of the pneumatic finger (19) pushes the two clamping plates (21) to be away from the materials, then the lifting plate (16) descends through the push rod of a vertical lifting cylinder (15), and an elastic protective layer (171) is pressed against the top surface of the materials, then open through electromagnetism iron plate (17), adsorb the material fixedly, retract through the push rod of pneumatic finger (19) again, move two grip blocks (21) and centre gripping the material once more, then can snatch it and move and place follow-up processing station.
2. The manipulator grabbing device with the limit function according to claim 1 is characterized in that: the top surface of the lifting plate (16) is fixed with a vertical guide rod (1), and the vertical guide rod (1) is inserted in a vertical through hole formed in the lower horizontal support plate (14).
3. The manipulator grabbing device with the limit function according to claim 2 is characterized in that: a guide sleeve (2) is fixed on the inner side wall of the vertical through hole, and the vertical guide rod (1) is inserted in the guide sleeve (2).
4. The manipulator grabbing device with the limit function according to claim 1 is characterized in that: a guide positioning block (3) is fixed on the upper wall surface of the vertical fixing plate (13), and a vertical lifting cylinder (15) is fixed in the guide positioning block (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011163457.6A CN112158591B (en) | 2020-10-27 | 2020-10-27 | Manipulator grabbing device with limiting function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011163457.6A CN112158591B (en) | 2020-10-27 | 2020-10-27 | Manipulator grabbing device with limiting function |
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| Publication Number | Publication Date |
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| CN112158591A CN112158591A (en) | 2021-01-01 |
| CN112158591B true CN112158591B (en) | 2022-04-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011163457.6A Active CN112158591B (en) | 2020-10-27 | 2020-10-27 | Manipulator grabbing device with limiting function |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29621120U1 (en) * | 1996-12-05 | 1997-12-18 | Schunk Fritz Gmbh | Gripping device |
| CN101602204A (en) * | 2008-06-13 | 2009-12-16 | 上海华龙测试仪器有限公司 | A kind of mechanical hand device for automatically feeding sample of testing machine |
| CN107182208A (en) * | 2016-02-08 | 2017-09-19 | 不二输送机工业株式会社 | Means for correcting |
| CN207189694U (en) * | 2017-07-28 | 2018-04-06 | 东莞市晋拓自动化科技有限公司 | A kind of manipulator jig structure of improvement |
| CN108942988A (en) * | 2018-08-30 | 2018-12-07 | 无锡百禾工业机器人有限公司 | A kind of manipulator |
| CN110422628A (en) * | 2019-07-28 | 2019-11-08 | 南京昱晟机器人科技有限公司 | A kind of industrial production transfer robot and method for carrying |
| CN110775621A (en) * | 2018-07-31 | 2020-02-11 | 卡德尔股份有限公司 | Pipeline taking device and method |
| CN110817412A (en) * | 2019-11-21 | 2020-02-21 | 安徽春华智能科技有限公司 | Cargo clamping and fixing mechanism of AGV trolley and working method thereof |
-
2020
- 2020-10-27 CN CN202011163457.6A patent/CN112158591B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29621120U1 (en) * | 1996-12-05 | 1997-12-18 | Schunk Fritz Gmbh | Gripping device |
| CN101602204A (en) * | 2008-06-13 | 2009-12-16 | 上海华龙测试仪器有限公司 | A kind of mechanical hand device for automatically feeding sample of testing machine |
| CN107182208A (en) * | 2016-02-08 | 2017-09-19 | 不二输送机工业株式会社 | Means for correcting |
| CN207189694U (en) * | 2017-07-28 | 2018-04-06 | 东莞市晋拓自动化科技有限公司 | A kind of manipulator jig structure of improvement |
| CN110775621A (en) * | 2018-07-31 | 2020-02-11 | 卡德尔股份有限公司 | Pipeline taking device and method |
| CN108942988A (en) * | 2018-08-30 | 2018-12-07 | 无锡百禾工业机器人有限公司 | A kind of manipulator |
| CN110422628A (en) * | 2019-07-28 | 2019-11-08 | 南京昱晟机器人科技有限公司 | A kind of industrial production transfer robot and method for carrying |
| CN110817412A (en) * | 2019-11-21 | 2020-02-21 | 安徽春华智能科技有限公司 | Cargo clamping and fixing mechanism of AGV trolley and working method thereof |
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| CN112158591A (en) | 2021-01-01 |
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Effective date of registration: 20220330 Address after: 110000 83 Po River Road, Shenbei New Area, Shenyang, Liaoning Applicant after: Shenyang Huati Industrial Co.,Ltd. Address before: 313000 1-C, building 1, No. 656 Qixing Road, high tech Zone, Wuxing District, Huzhou City, Zhejiang Province Applicant before: Huzhou xinbeilian Network Technology Co.,Ltd. |
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