CN203680310U - Manipulator with automatic gripper converting function - Google Patents
Manipulator with automatic gripper converting function Download PDFInfo
- Publication number
- CN203680310U CN203680310U CN201320606390.8U CN201320606390U CN203680310U CN 203680310 U CN203680310 U CN 203680310U CN 201320606390 U CN201320606390 U CN 201320606390U CN 203680310 U CN203680310 U CN 203680310U
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- handgrip
- mentioned
- manipulator
- meticulous
- assembly
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Abstract
The utility model discloses a manipulator with an automatic gripper converting function. The manipulator comprises a sucking disc body, a sucking nozzle arranged below the sucking disc body, rotatable limiting components arranged on the sucking body and positioned at the two sides of the sucking nozzle, a driving piece arranged in the sucking disc body and connected with the limiting components, a control piece connected with the driving piece and used for controlling the limiting components to actuate, and a sensor connected with the control piece and used for sensing whether parts are gripped by a gripper or not, wherein each limiting component comprises a gripper component rotatably connected with the sucking disc body, and a fine gripper component sliding in a placing groove inside a gripper. The manipulator provided by the utility model can automatically identify whether the picked parts belong to a heavy type or a fine type, the manipulator can be automatically switched, the application range is wide, the manipulator does not need to be frequently changed, the efficiency is high, the manpower is saved, and the intelligent automation is truly realized.
Description
Technical field
A kind of manipulator, particularly a kind of manipulator of automatic conversion handgrip.
Background technology
Manipulator is the automatic pilot that captures, carries object or operation tool by fixed routine.It can replace people's heavy work to realize mechanization and the automation of producing, and can under hostile environment, operate with protection personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.But different parts, big and heavy part and meticulous part need to use different manipulators, and range of application is narrow, cannot determine position accurately for comparatively meticulous part machinery hand, and prior art is unresolved such problem also.
Utility model content
For solving the deficiencies in the prior art, it is big and heavy type or meticulous type that the purpose of this utility model is automatically to identify the part of taking, and mechanical hand automatically switches.
In order to realize above-mentioned target, the utility model adopts following technical scheme:
Automatically the manipulator of conversion handgrip, comprise: sucker body, be placed in the suction nozzle under sucker body, be placed on sucker body and be positioned at the rotatable limit assembly of the both sides of suction nozzle, be placed in the actuator that is connected in limit assembly in sucker body, the control piece that is connected in actuator and moves for controlling limit assembly, the inductor that is connected in control piece and whether is captured by handgrip for responding to part; Limit assembly composition has: be rotatably connected in the handgrip assembly of sucker body, slide on the meticulous handgrip assembly of the standing groove of handgrip inside.
The manipulator of aforesaid automatic conversion handgrip, is provided with the moving assembly that is connected in meticulous handgrip assembly in standing groove.
The manipulator of aforesaid automatic conversion handgrip, moving assembly composition has: be fixed on the guide rail in standing groove, be fixed on the slide block on meticulous handgrip assembly top.
The manipulator of aforesaid automatic conversion handgrip, meticulous handgrip assembly composition has: the meticulous linking arm of fixing and slide block, be rotationally connected with the meticulous handgrip of meticulous linking arm, be connected in the meticulous rotating shaft of meticulous linking arm, meticulous handgrip.
The manipulator of aforesaid automatic conversion handgrip, handgrip assembly composition has: be rotationally connected with the handgrip of sucker body, connect the rotating shaft of handgrip, sucker body.
The manipulator of aforesaid automatic conversion handgrip, the madial wall of handgrip is provided with Non-slip material.
The manipulator of aforesaid automatic conversion handgrip, inductor is two and is arranged in the groove of Non-slip material.
The manipulator of aforesaid automatic conversion handgrip, actuator is motor.
The manipulator of aforesaid automatic conversion handgrip, control piece is central controller.
Usefulness of the present utility model is: it is big and heavy type or meticulous type that the utility model can be identified the part of taking automatically, the mechanical hand that automatically switches, applied range, need not frequently change manipulator, efficiency is high, saves manpower, accomplishes real intelligent automation.
Accompanying drawing explanation
Fig. 1 is the perspective view of a kind of preferred embodiment of the present utility model;
The implication of Reference numeral in figure:
1 sucker body, 2 suction nozzles, 3 inductors, 4 handgrips, 401 standing groove 402 guide rails, 5 rotating shafts, 6 meticulous linking arms, 7 meticulous handgrips, 8 meticulous rotating shafts, 9 sheet rubbers, 10 bracing frames.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is done to concrete introduction.
Automatically the manipulator of conversion handgrip, comprise: can move up and down the sucker body 1 on bracing frame 10, be placed in the suction nozzle 2 under sucker body 1, be placed on sucker body 1 and be positioned at the rotatable limit assembly of the both sides of suction nozzle 2, be placed in the actuator that is connected in limit assembly in sucker body 1, the control piece that is connected in actuator and moves for controlling limit assembly, the inductor 3 that is connected in control piece and whether is captured by handgrip 4 for responding to part; Limit assembly composition has: be rotatably connected in handgrip 4 assemblies of sucker body 1, slide on meticulous handgrip 7 assemblies of the standing groove 401 of handgrip 4 inside; Preferred as one, actuator is motor, and control piece is central controller.It should be noted that, whether inductor 3 is responded to handgrip 4 and part is picked up, and is comparatively meticulous part, now central controller controls motor if do not pick up, drive moving assembly that meticulous handgrip 7 assemblies are moved out from standing groove 401 is inner, after execution, move back to again and place groove 401.
In standing groove 401, be provided with the moving assembly that is connected in meticulous handgrip 7 assemblies.Moving assembly composition has: be fixed on the guide rail 402 in standing groove 401, be fixed on the slide block on meticulous handgrip 7 assembly tops.Meticulous handgrip 7 assemblies compositions have: the meticulous linking arm 6 of fixing and slide block, be rotationally connected with the meticulous handgrip 7 of meticulous linking arm 6, and be connected in the meticulous rotating shaft 8 of meticulous linking arm 6, meticulous handgrip 7.It should be noted that, the size of meticulous handgrip 7 is from close meticulous linking arm 6 to little away from meticulous linking arm 6 gradual changes.It should be noted that: such design is for the fine parts of taking, the size of meticulous handgrip 7 is little fine parts preferably in end.Handgrip 4 assembly compositions have: be rotationally connected with the handgrip 4 of sucker body 1, connect the rotating shaft 5 of handgrip 4, sucker body 1.
The madial wall of handgrip 4 is provided with Non-slip material, and the bottom of meticulous handgrip 7 is provided with Non-slip material, preferred as one, and Non-slip material is sheet rubber 9; Sheet rubber 9 can increase the stiction of part and limit assembly, thereby avoids part to be shifted or landing in transportation.。
For fear of parts depreciation inductor 3, reduce service life of inductor 3, be two by inductor 3 and be arranged in the groove of Non-slip material.
It is big and heavy type or meticulous type that the utility model can be identified the part of taking automatically, the mechanical hand that automatically switches, and applied range, need not frequently change manipulator, and efficiency is high, saves manpower, accomplishes real intelligent automation.
More than show and described basic principle of the present utility model, principal character and advantage.The technical staff of the industry should understand, and above-described embodiment does not limit the utility model in any form, and all employings are equal to replaces or technical scheme that the mode of equivalent transformation obtains, all drops in protection domain of the present utility model.
Claims (9)
1. automatically change the manipulator of handgrip, it is characterized in that, comprise: sucker body, be placed in the suction nozzle under sucker body, be placed on above-mentioned sucker body and be positioned at the rotatable limit assembly of the both sides of said suction nozzle, be placed in the actuator that is connected in above-mentioned limit assembly in above-mentioned sucker body, the control piece that is connected in above-mentioned actuator and moves for controlling limit assembly, the inductor that is connected in above-mentioned control piece and whether is captured by handgrip for responding to part; Above-mentioned limit assembly composition has: be rotatably connected in the handgrip assembly of above-mentioned sucker body, slide on the meticulous handgrip assembly of the standing groove of above-mentioned handgrip inside.
2. the manipulator of automatic conversion handgrip according to claim 1, is characterized in that, is provided with the moving assembly that is connected in above-mentioned meticulous handgrip assembly in above-mentioned standing groove.
3. the manipulator of automatic conversion handgrip according to claim 2, is characterized in that, above-mentioned moving assembly composition has: be fixed on the guide rail in above-mentioned standing groove, be fixed on the slide block on above-mentioned meticulous handgrip assembly top.
4. the manipulator of automatic conversion handgrip according to claim 3, it is characterized in that, above-mentioned meticulous handgrip assembly composition has: fix the meticulous linking arm with above-mentioned slide block, be rotationally connected with the meticulous handgrip of above-mentioned meticulous linking arm, be connected in the meticulous rotating shaft of above-mentioned meticulous linking arm, meticulous handgrip.
5. the manipulator of automatic conversion handgrip according to claim 1, is characterized in that, above-mentioned handgrip assembly composition has: be rotationally connected with the handgrip of above-mentioned sucker body, connect the rotating shaft of above-mentioned handgrip, sucker body.
6. the manipulator of automatic conversion handgrip according to claim 5, is characterized in that, the madial wall of above-mentioned handgrip is provided with Non-slip material.
7. the manipulator of automatic conversion handgrip according to claim 6, is characterized in that, above-mentioned inductor is two and is arranged in the groove of above-mentioned Non-slip material.
8. the manipulator of automatic conversion handgrip according to claim 1, is characterized in that, above-mentioned actuator is motor.
9. the manipulator of automatic conversion handgrip according to claim 1, is characterized in that, above-mentioned control piece is central controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320606390.8U CN203680310U (en) | 2013-09-29 | 2013-09-29 | Manipulator with automatic gripper converting function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320606390.8U CN203680310U (en) | 2013-09-29 | 2013-09-29 | Manipulator with automatic gripper converting function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203680310U true CN203680310U (en) | 2014-07-02 |
Family
ID=51002269
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320606390.8U Expired - Fee Related CN203680310U (en) | 2013-09-29 | 2013-09-29 | Manipulator with automatic gripper converting function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203680310U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103538076A (en) * | 2013-09-29 | 2014-01-29 | 昆山中士设备工业有限公司 | Mechanical arm automatically switching graspers |
-
2013
- 2013-09-29 CN CN201320606390.8U patent/CN203680310U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103538076A (en) * | 2013-09-29 | 2014-01-29 | 昆山中士设备工业有限公司 | Mechanical arm automatically switching graspers |
| CN103538076B (en) * | 2013-09-29 | 2016-03-02 | 昆山中士设备工业有限公司 | The manipulator of automatic conversion handgrip |
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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: 20140702 Termination date: 20140929 |
|
| EXPY | Termination of patent right or utility model |