CN204148947U - A kind of manipulator of industrial robot - Google Patents
A kind of manipulator of industrial robot Download PDFInfo
- Publication number
- CN204148947U CN204148947U CN201420582833.9U CN201420582833U CN204148947U CN 204148947 U CN204148947 U CN 204148947U CN 201420582833 U CN201420582833 U CN 201420582833U CN 204148947 U CN204148947 U CN 204148947U
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- Prior art keywords
- manipulator
- platform
- industrial robot
- mechanical gripper
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- 238000013519 translation Methods 0.000 claims abstract description 24
- 230000002146 bilateral effect Effects 0.000 claims abstract description 4
- 239000002184 metal Substances 0.000 claims description 3
- 238000012857 repacking Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010338 mechanical breakdown Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Abstract
The utility model provides a kind of manipulator of industrial robot, comprises mechanical gripper and platform, and mechanical gripper is fixedly connected with platform by a translation cylinder; The bilateral symmetry of platform is provided with two groups of origin reference location pin groups; The bottom of translation cylinder is provided with a translation signal detector, and the side of translation cylinder is then respectively arranged with first kind recognition device and Second Type recognition device; The top of platform is fixed with a rotating machinery keeper, and the top of rotating machinery keeper is fixed with a rotary cylinder, rotary cylinder is provided with a ring flange; The side of rotating machinery keeper is provided with a rotating signal detector; The finger part of mechanical gripper is ramp structure.The utility model adopts double protection measure, and mechanical gripper is safe and reliable, and steadiness is good, and structure is simple, and repacking is convenient, can be widely used in the automatic loading/unloading of industrial robot.
Description
Technical field
The utility model belongs to the technical field of the automatic loading/unloading of industrial robot, specifically a kind of industrial robot air-actuated jaw manipulator with signal detection.
Background technology
Industry mechanical arm is a kind of high-tech automated production equipment grown up nearly decades.Industry mechanical arm is an important branch of industrial robot.Its feature has carried out the job task of various expection, structure and performance has people and machine advantage separately concurrently, especially embodies intelligence and the adaptability of people.The ability fulfiled assignment in the accuracy of manipulator operation and various environment, has vast potential for future development at all fields of national economy.
Manipulator is in mechanization, a kind of new device grown up in automated production process.In present-day procedure, manipulator is applied in automatic assembly line widely, and the research and production of manipulator becomes high-tech sector.
Although manipulator is flexible like that heavier not as good as staff at present, higher to robot load request, repeatable accuracy is not high, snatch weight or firm not when capturing product, what angle had deviation to cause frock to shift to an earlier date scraps, but it has and constantly can not know fatigue by repeated work, is fearless of danger, the feature that strength is larger than people hand-power, and obtain application more and more widely.
Utility model content
The purpose of this utility model is to provide a kind of with signal detection novel pneumatic fixture manipulator, in use convenient, and steadiness is high and safer more.
The utility model is achieved through the following technical solutions: a kind of manipulator of industrial robot, comprises mechanical gripper and platform, and described mechanical gripper is fixedly connected with described platform by a translation cylinder; The bilateral symmetry of described platform is provided with two groups of origin reference location pin groups, and described origin reference location pin group comprises two origin reference location pins be arranged in parallel, and the head of described origin reference location pin is pyramidal structure; The bottom of described translation cylinder is provided with a translation signal detector, and the side of described translation cylinder is then respectively arranged with first kind recognition device and Second Type recognition device; The top of described platform is fixed with a rotating machinery keeper, and the top of described rotating machinery keeper is fixed with a rotary cylinder, described rotary cylinder is provided with a ring flange; The side of described rotating machinery keeper is provided with a rotating signal detector; The finger part of described mechanical gripper is ramp structure, described ramp structure is provided with one deck skid resistant course, is also provided with a pressure sensor between described skid resistant course and ramp structure.
Preferably, described rotating signal detector is a proximity switch.
Preferably, described translation signal detector is a proximity switch.
Preferably, the length of the head of described origin reference location pin is 2 millimeters.
Preferably, described skid resistant course is rubber layer or surface is the jagged coat of metal.
Compared with prior art, its effect is positive to the utility model.
1, when manipulator needs 90-degree rotation function, there is mechanical limit function to detect with proximity switch simultaneously, can quit work to system alarm when machinery does not forward 90 degree to, ensure the safety of manipulator safety and jig.
2, clamping and unclamp and have proximity switch to detect when translation cylinder carries out gripping, prevents gripper from putting in place because mechanical breakdown fails gripping, causes workpiece may drop in the air, cause potential safety hazard.
3, owing to wanting gripping 2 kinds of workpiece, type identification function is installed and ensures that the workpiece of gripper of manipulator is consistent with the program that lathe uses, can quit work to system alarm when type identification detects signal and machine tool program signal is inconsistent, prevent batch from scrapping.
4, workpiece will be placed on lathe worker and load onto face, so install 4 origin reference location pins above manipulator, the head of origin reference location pin adopts pyramidal structure location, and effective length is 2 millimeters, because position, hole positioning pin not vertical affects alignment pin precision by flat when ensureing to locate.
5, owing to will capture 2 kinds of workpiece, finger part is designed to inclined-plane, and is provided with one deck skid resistant course, when capture product workpiece due to blank problem size not right, machinery or can clamping work pieces, ensures the success rate repeating to capture.
6, pressure sensor mechanical gripper arranged plays double protection; when type identification failure of apparatus; pressure sensor can provide corresponding information for judging whether mechanical gripper is clamped with corresponding thing to be processed, thus prevents corresponding maloperation.
Accompanying drawing explanation
Fig. 1 is the utility model front perspective view.
Fig. 2 is the utility model top perspective structural representation.
Wherein: 1 is ring flange; 2 is rotary cylinder; 3 is rotating machinery keeper; 4 is platform; 5 is translation cylinder; 6 is first kind recognition device; 7 is mechanical gripper; 8 is Second Type recognition device; 9 is origin reference location pin; 10 is translation signal detector; 11 is rotating signal detector.
Detailed description of the invention
For enabling above-mentioned purpose of the present utility model, feature and advantage more become apparent, and are described in detail detailed description of the invention of the present utility model below in conjunction with accompanying drawing.
Set forth detail in the following description so that fully understand the utility model.But the utility model can be different from alternate manner described here to implement with multiple, those skilled in the art can when doing similar popularization without prejudice to when the utility model intension.Therefore the utility model is not by the restriction of following public detailed description of the invention.
See Fig. 1 and Fig. 2, the manipulator of industrial robot, comprise mechanical gripper 7 and platform 4, mechanical gripper 7 is fixedly connected with platform 4 by translation cylinder 5; The bilateral symmetry of platform 4 is provided with two groups of origin reference location pin groups, and origin reference location pin group comprises two origin reference location pins 9 be arranged in parallel, and the head of origin reference location pin 9 is pyramidal structure, and effective length is 2 millimeters; The bottom of translation cylinder 5 is provided with a translation signal detector 10, is proximity switch in the present embodiment; The side of translation cylinder 5 is then respectively arranged with first kind recognition device 6 and Second Type recognition device 8; The top of platform 4 is fixed with a rotating machinery keeper 3, and the top of rotating machinery keeper 3 is fixed with a rotary cylinder 2, rotary cylinder 2 is provided with a ring flange 1; The side of rotating machinery keeper 3 is provided with a rotating signal detector 11, is proximity switch in the present embodiment; The finger part of mechanical gripper 7 is ramp structure, ramp structure is provided with one deck skid resistant course, and skid resistant course can be rubber layer, also can be that surface is for the jagged coat of metal; A pressure sensor is also provided with between skid resistant course and ramp structure.
During operation, when manipulator moves to feed bin roof door, system send signal can pickup time, origin reference location pin can insert in the datum hole of product, first kind recognition device sends the product of signal crawl is simultaneously consistent with the type of machine tooling, and when Second Type recognition device sends signal instruction and the inconsistent system alarm of machine tooling product quits work, while translation cylinder driving mechanical handgrip clamping product, translation signal detector detects signal, mechanical gripper can return home, move to above the second operation lathe, now because processing technology requires that mechanical gripper needs 90-degree rotation in the horizontal direction, rotating signal detector detects corresponding signal, mechanical gripper just can enter lathe, mechanical gripper moves in tool locating pin, mechanical gripper opens, translation signal detector detects signal, return safe altitude simultaneously first kind recognition device can't detect above signal instruction mechanical gripper and there is no workpiece, mechanical gripper needs 90-degree rotation to return to original 0 degree of position, rotating signal detector detects corresponding signal, whole gripping process terminates.
Although the utility model with preferred embodiment openly as above; but it is not for limiting the utility model; any those skilled in the art are not departing from spirit and scope of the present utility model; the Method and Technology content of above-mentioned announcement can be utilized to make possible variation and amendment to technical solutions of the utility model; therefore; every content not departing from technical solutions of the utility model; the any simple modification done above embodiment according to technical spirit of the present utility model, equivalent variations and modification, all belong to the protection domain of technical solutions of the utility model.
Claims (5)
1. a manipulator for industrial robot, comprises mechanical gripper and platform, it is characterized in that: described mechanical gripper is fixedly connected with described platform by a translation cylinder; The bilateral symmetry of described platform is provided with two groups of origin reference location pin groups, and described origin reference location pin group comprises two origin reference location pins be arranged in parallel, and the head of described origin reference location pin is pyramidal structure; The bottom of described translation cylinder is provided with a translation signal detector, and the side of described translation cylinder is then respectively arranged with first kind recognition device and Second Type recognition device; The top of described platform is fixed with a rotating machinery keeper, and the top of described rotating machinery keeper is fixed with a rotary cylinder, described rotary cylinder is provided with a ring flange; The side of described rotating machinery keeper is provided with a rotating signal detector; The finger part of described mechanical gripper is ramp structure, described ramp structure is provided with one deck skid resistant course, is also provided with a pressure sensor between described skid resistant course and ramp structure.
2. the manipulator of industrial robot as claimed in claim 1, is characterized in that: described rotating signal detector is a proximity switch.
3. the manipulator of industrial robot as claimed in claim 1, is characterized in that: described translation signal detector is a proximity switch.
4. the manipulator of industrial robot as claimed in claim 1, is characterized in that: the length of the head of described origin reference location pin is 2 millimeters.
5. the manipulator of industrial robot as claimed in claim 1, is characterized in that: described skid resistant course is rubber layer or surface is the jagged coat of metal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420582833.9U CN204148947U (en) | 2014-10-10 | 2014-10-10 | A kind of manipulator of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420582833.9U CN204148947U (en) | 2014-10-10 | 2014-10-10 | A kind of manipulator of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204148947U true CN204148947U (en) | 2015-02-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420582833.9U Expired - Fee Related CN204148947U (en) | 2014-10-10 | 2014-10-10 | A kind of manipulator of industrial robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN204148947U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105035753A (en) * | 2015-08-05 | 2015-11-11 | 伟本机电（上海）有限公司 | Feeding manipulator |
| CN105150224A (en) * | 2015-09-10 | 2015-12-16 | 安徽工程大学 | Dual clamping mechanical catching hand device |
| CN105171764A (en) * | 2015-09-25 | 2015-12-23 | 安徽三众智能装备有限公司 | Grasping device for automobile engine cylinder covers |
| CN105856268A (en) * | 2016-06-17 | 2016-08-17 | 苏州华本机电有限公司 | Clamping mechanical gripper |
| CN106697939A (en) * | 2017-03-21 | 2017-05-24 | 黑龙江省农业机械维修研究所 | Compound type cylinder cover grabbing mechanical hand |
| CN108016871A (en) * | 2017-12-05 | 2018-05-11 | 金锋馥（滁州）输送机械有限公司 | A kind of clip pack formula conveyer |
| CN109605154A (en) * | 2019-01-21 | 2019-04-12 | 中建材凯盛机器人（上海）有限公司 | Automatically grinding device |
| CN110385728A (en) * | 2019-07-23 | 2019-10-29 | 嘉兴希力工业科技有限公司 | A kind of robot polytypic cylinder cap common fixture |
| CN110587181A (en) * | 2019-08-29 | 2019-12-20 | 洛阳大华重工科技股份有限公司 | Automatic welding machine of group of crossbeam |
| CN111002301A (en) * | 2018-10-08 | 2020-04-14 | 东元电机股份有限公司 | Automatic reset control system and method applied to mechanical arm |
| CN113084563A (en) * | 2021-04-20 | 2021-07-09 | 无锡贝斯特精机股份有限公司 | Workpiece clamping device for robot deburring workstation |
| CN115156973A (en) * | 2022-06-20 | 2022-10-11 | 昆山市启美电子科技有限公司 | Feeding device of CNC (computer numerical control) machine tool |
-
2014
- 2014-10-10 CN CN201420582833.9U patent/CN204148947U/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105035753A (en) * | 2015-08-05 | 2015-11-11 | 伟本机电（上海）有限公司 | Feeding manipulator |
| CN105150224A (en) * | 2015-09-10 | 2015-12-16 | 安徽工程大学 | Dual clamping mechanical catching hand device |
| CN105150224B (en) * | 2015-09-10 | 2017-02-01 | 安徽工程大学 | Dual clamping mechanical catching hand device |
| CN105171764B (en) * | 2015-09-25 | 2017-05-24 | 安徽三众智能装备有限公司 | Grasping device for automobile engine cylinder covers |
| CN105171764A (en) * | 2015-09-25 | 2015-12-23 | 安徽三众智能装备有限公司 | Grasping device for automobile engine cylinder covers |
| CN105856268A (en) * | 2016-06-17 | 2016-08-17 | 苏州华本机电有限公司 | Clamping mechanical gripper |
| CN106697939B (en) * | 2017-03-21 | 2018-09-14 | 黑龙江省农业机械维修研究所 | A kind of combined type crawl cylinder cover manipulator |
| CN106697939A (en) * | 2017-03-21 | 2017-05-24 | 黑龙江省农业机械维修研究所 | Compound type cylinder cover grabbing mechanical hand |
| CN108016871A (en) * | 2017-12-05 | 2018-05-11 | 金锋馥（滁州）输送机械有限公司 | A kind of clip pack formula conveyer |
| CN111002301A (en) * | 2018-10-08 | 2020-04-14 | 东元电机股份有限公司 | Automatic reset control system and method applied to mechanical arm |
| CN109605154A (en) * | 2019-01-21 | 2019-04-12 | 中建材凯盛机器人（上海）有限公司 | Automatically grinding device |
| CN110385728A (en) * | 2019-07-23 | 2019-10-29 | 嘉兴希力工业科技有限公司 | A kind of robot polytypic cylinder cap common fixture |
| CN110385728B (en) * | 2019-07-23 | 2020-09-22 | 嘉兴希力工业科技有限公司 | Multi-model cylinder cover sharing clamp for robot |
| CN110587181A (en) * | 2019-08-29 | 2019-12-20 | 洛阳大华重工科技股份有限公司 | Automatic welding machine of group of crossbeam |
| CN113084563A (en) * | 2021-04-20 | 2021-07-09 | 无锡贝斯特精机股份有限公司 | Workpiece clamping device for robot deburring workstation |
| CN113084563B (en) * | 2021-04-20 | 2022-06-21 | 无锡贝斯特精机股份有限公司 | Workpiece clamping device for robot deburring workstation |
| CN115156973A (en) * | 2022-06-20 | 2022-10-11 | 昆山市启美电子科技有限公司 | Feeding device of CNC (computer numerical control) machine tool |
| CN115156973B (en) * | 2022-06-20 | 2023-12-29 | 湖南嵘触智能科技有限公司 | Feeding device of CNC (computerized numerical control) processing machine tool |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150211 |