CN203611264U - Intelligent manipulator anticollision device - Google Patents
Intelligent manipulator anticollision device Download PDFInfo
- Publication number
- CN203611264U CN203611264U CN201320722851.8U CN201320722851U CN203611264U CN 203611264 U CN203611264 U CN 203611264U CN 201320722851 U CN201320722851 U CN 201320722851U CN 203611264 U CN203611264 U CN 203611264U
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- sensing screw
- support
- jaws
- workpiece
- rear end
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Abstract
The invention discloses an intelligent manipulator anticollision device which is provided with two clamping jaws (1) which are symmetrically arranged, wherein a clamping opening is formed between the fronts of the two clamping jaws (1); a sensing screw (4) is arranged in the clamping opening; a support (6) is arranged between the rear parts of the two clamping claws (1); the rear end of the sensing screw (4) stretches into the support (6); a nut (7) is sleeved on the end part of the rear end of the sensing screw (4); a sensor (2) which is matched with the nut (7) is mounted on the support (6); a compression spring (5) is sleeved on the sensing screw (4); the front end of the compression spring (5) is abutted against and connected with the head of the sensing screw (4); the rear end of the compression spring (5) is abutted against and connected with the support (6). Before a workpiece is grabbed, whether the workpiece to be grabbed is in place is automatically detected, the workpiece is enabled to be precisely grabbed at each time, the collision is effectively avoided, manual intervention is not needed in the grabbing process of a manipulator, the automatic and unattended production is conveniently realized.
Description
Technical field
The utility model belongs to machine tool technology field, specifically, and the particularly puma manipulator anticollision device, collision-prevention device on lathe.
Background technology
At present, turning automatic assembly line adds man-hour to disc type work, needs to carry out workpiece loading and unloading by manipulator, owing to treating that the workpiece size of loading and unloading is variant, sometimes also have burr, may occur that workpiece is stuck and can not arrives the situation of the accurate crawl position of manipulator.If above situation occurs, and manipulator is still pressed normal procedure grabbing workpiece, often manipulator jaw and crooked workpiece can bump, thereby cause manipulator jaw damaged.Therefore, adding man-hour, common way is to utilize manually to observe, find when workpiece is not in place just to stop immediately procedure, manually by work piece correcting to tram, but with upper type, not only workman's labour intensity is large, and because a workman generally can only monitor four lathes, will be unfavorable for carrying out large-scale manless production.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of accurately puma manipulator anticollision device, collision-prevention device of grabbing workpiece that can guarantee each time.
The technical solution of the utility model is as follows: a kind of puma manipulator anticollision device, collision-prevention device, there are two symmetrically arranged jaws (1), between the front portion of two jaws (1), form jaws, in described jaws, be provided with sensing screw (4), between the rear portion of two jaws (1), be fixedly installed support (6), the rear end of described sensing screw (4) is stretched in support (6), and overlap loading nut (7) in the end of sensing screw (4) rear end, the sensor (2) matching with nut (7) is installed on support (6), on described sensing screw (4), be set with Compress Spring (5), the head butt of the front end of this Compress Spring (5) and sensing screw (4), the rear end of Compress Spring (5) and support (6) butt.
The utility model in use, in the time that manipulator approaches until grabbing workpiece, first sensing screw touches workpiece end face, manipulator continues to approach treats grabbing workpiece, and Compress Spring, force sensing screw to move backward, sensing screw is mobile backward also to be moved the locking nut that drives its rear end thereupon backward, in the time that locking nut moves to a certain degree backward, meeting trigger sensor signal, now sensor can send a pulse signal to digital control system, and digital control system has or not according to this signal, judges whether positive stop of workpiece to be captured.
In described jaws, be symmetrically arranged with two jaw pads (3), this jaw pad (3) is made up of aluminium, and each jaw pad (3) fixes with corresponding jaw (1) by screw, and described sensing screw (4) is positioned between two jaw pads (3).Jaw pad is treated the workpiece of crawl and is effectively protected, and can prevent that the surface of workpiece from damaging.
For the ease of accurately grabbing workpiece reposefully of jaw, described jaw pad (3) is " V " shape, and the opening of two jaw pads (3) is relative.
End in described sensing screw (4) rear end is set with two nuts (7) side by side, and two nuts are locked mutually, and fixing is good.
Beneficial effect: whether the utility model can automatically detect workpiece to be captured and put in place before grabbing workpiece, guarantee accurate grabbing workpiece each time, can effectively avoid on the one hand collision, on the other hand, manipulator captures process does not need manual intervention, be convenient to realize automation, manless production, have be skillfully constructed, simple in structure, implement the features such as easy.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the A-A cutaway view of Fig. 1.
The specific embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail:
As shown in Figure 1 and Figure 2, two symmetrically arranged jaws 1 are installed on gas pawl 9, between the front portion of two jaws 1, form jaws, in described jaws, be symmetrically arranged with two jaw pads 3, this jaw pad 3 is made up of aluminium, and V-shaped, the opening of two jaw pads 3 is relative, and each jaw pad 3 fixes with corresponding jaw 1 by screw.In described jaws, be also provided with sensing screw 4, this sensing screw 4 is between two jaw pads 3.
As shown in Figure 1 and Figure 2, between the rear portion of two jaws 1, be fixedly installed support 6, the rear end of described sensing screw 4 is stretched in support 6, and is set with side by side two nuts 7 in the end of sensing screw 4 rear ends, these two nuts 7 are positioned at support 6, and are mutually locked together.On the side of described nut 7, sensor 2 is set, this sensor 2 is installed on support 6, and sensor 2 matches with nut 7, for responding to the position of nut 7.On described sensing screw 4, be set with Compress Spring 5, the head butt of the front end of this Compress Spring 5 and sensing screw 4, the rear end of Compress Spring 5 and support 6 butts.
Operation principle of the present utility model is as follows:
In the time that manipulator approaches until grabbing workpiece 8, first sensing screw 4 touches workpiece 8 end faces, manipulator continues to approach treats grabbing workpiece 8, workpiece 8 is oppressed the head of sensing screw 4, Compress Spring 5 is compressed, and force sensing screw 4 to move backward, sensing screw 4 is mobile backward also to be moved the locking nut 7 that drives its rear end thereupon backward, in the time that locking nut 7 moves to the induction region of sensor 2 backward, meeting trigger sensor signal, now sensor 2 can send a pulse signal to digital control system, digital control system has or not according to this signal, judge whether positive stop of workpiece to be captured 8.
Claims (4)
1. a puma manipulator anticollision device, collision-prevention device, there are two symmetrically arranged jaws (1), between the front portion of two jaws (1), form jaws, it is characterized in that: in described jaws, be provided with sensing screw (4), between the rear portion of two jaws (1), be fixedly installed support (6), the rear end of described sensing screw (4) is stretched in support (6), and overlap loading nut (7) in the end of sensing screw (4) rear end, the sensor (2) matching with nut (7) is installed on support (6), on described sensing screw (4), be set with Compress Spring (5), the head butt of the front end of this Compress Spring (5) and sensing screw (4), the rear end of Compress Spring (5) and support (6) butt.
2. according to the puma manipulator anticollision device, collision-prevention device described in claims 1, it is characterized in that: in described jaws, be symmetrically arranged with two jaw pads (3), this jaw pad (3) is made up of aluminium, each jaw pad (3) fixes with corresponding jaw (1) by screw, and described sensing screw (4) is positioned between two jaw pads (3).
3. according to the puma manipulator anticollision device, collision-prevention device described in claims 2, it is characterized in that: described jaw pad (3) is " V " shape, and the opening of two jaw pads (3) is relative.
4. according to the puma manipulator anticollision device, collision-prevention device described in claims 1 or 2 or 3, it is characterized in that: the end in described sensing screw (4) rear end is set with two nuts (7) side by side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320722851.8U CN203611264U (en) | 2013-11-15 | 2013-11-15 | Intelligent manipulator anticollision device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320722851.8U CN203611264U (en) | 2013-11-15 | 2013-11-15 | Intelligent manipulator anticollision device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203611264U true CN203611264U (en) | 2014-05-28 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320722851.8U Expired - Fee Related CN203611264U (en) | 2013-11-15 | 2013-11-15 | Intelligent manipulator anticollision device |
Country Status (1)
| Country | Link |
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| CN (1) | CN203611264U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104493834A (en) * | 2014-12-22 | 2015-04-08 | 苏州博众精工科技有限公司 | Clamping jaw mechanism with pressure sensor |
| CN105583820A (en) * | 2016-03-11 | 2016-05-18 | 山东建筑大学 | Pneumatic manipulator for clamping steel bar |
| CN106808493A (en) * | 2016-06-16 | 2017-06-09 | 无锡市盛宝嘉科技有限公司 | A kind of arm automatic error detection protection technique for manipulator |
| CN108500989A (en) * | 2018-04-07 | 2018-09-07 | 广州未名雷蒙特实验室科技有限公司 | Laboratory intelligent machine hand system and its operating method |
| CN109822313A (en) * | 2019-03-15 | 2019-05-31 | 上海新灏机电设备有限公司 | A kind of booster master cylinder main piston grasping mechanism |
| CN112621801A (en) * | 2020-11-10 | 2021-04-09 | 东风汽车有限公司 | Clamp capable of automatically grabbing single material from material pile and grabbing robot |
-
2013
- 2013-11-15 CN CN201320722851.8U patent/CN203611264U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104493834A (en) * | 2014-12-22 | 2015-04-08 | 苏州博众精工科技有限公司 | Clamping jaw mechanism with pressure sensor |
| CN104493834B (en) * | 2014-12-22 | 2015-12-23 | 苏州博众精工科技有限公司 | A kind of clip claw mechanism with pressure sensor |
| CN105583820A (en) * | 2016-03-11 | 2016-05-18 | 山东建筑大学 | Pneumatic manipulator for clamping steel bar |
| CN106808493A (en) * | 2016-06-16 | 2017-06-09 | 无锡市盛宝嘉科技有限公司 | A kind of arm automatic error detection protection technique for manipulator |
| CN106808493B (en) * | 2016-06-16 | 2019-04-30 | 无锡市盛宝嘉科技有限公司 | A kind of arm automatic error detection protective device for manipulator |
| CN108500989A (en) * | 2018-04-07 | 2018-09-07 | 广州未名雷蒙特实验室科技有限公司 | Laboratory intelligent machine hand system and its operating method |
| CN109822313A (en) * | 2019-03-15 | 2019-05-31 | 上海新灏机电设备有限公司 | A kind of booster master cylinder main piston grasping mechanism |
| CN112621801A (en) * | 2020-11-10 | 2021-04-09 | 东风汽车有限公司 | Clamp capable of automatically grabbing single material from material pile and grabbing robot |
| CN112621801B (en) * | 2020-11-10 | 2022-12-06 | 东风汽车有限公司 | Clamp capable of automatically grabbing single material from material pile and grabbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140528 Termination date: 20141115 |
|
| EXPY | Termination of patent right or utility model |