CN204237172U - A kind of intelligent clamping delivery mechanism - Google Patents

A kind of intelligent clamping delivery mechanism Download PDF

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Publication number
CN204237172U
CN204237172U CN201420499881.1U CN201420499881U CN204237172U CN 204237172 U CN204237172 U CN 204237172U CN 201420499881 U CN201420499881 U CN 201420499881U CN 204237172 U CN204237172 U CN 204237172U
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CN
China
Prior art keywords
arm
sensor
snap
mechanical
jacking
Prior art date
Application number
CN201420499881.1U
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Chinese (zh)
Inventor
熊浩名
熊伟光
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德阳市利通印刷机械有限公司
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Priority to CN201420499881.1U priority Critical patent/CN204237172U/en
Application granted granted Critical
Publication of CN204237172U publication Critical patent/CN204237172U/en

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Abstract

The utility model discloses a kind of intelligent clamping delivery mechanism, it is characterized in that: comprise backboard, bench board, left mechanical arm, right mechanical arm, robot track, left arm jacking system, right arm jacking system, left arm deceleration sensor, left arm snap sensor, right arm deceleration sensor and right arm snap sensor.The intelligent clamping delivery mechanism of one of the present utility model, can detect article position and intelligent gripping objects automatically by sensor, can High Speed Transfer object after gripping objects.The intelligent clamping delivery mechanism of one of the present utility model, in clamping and motion process, direct use digital output modul, no longer directly uses digital control, has that intelligence degree is high, antijamming capability is strong, control system simplifies, safe and efficient and do not destroy the features such as object regularity.

Description

A kind of intelligent clamping delivery mechanism

Technical field

The utility model relates to clamping delivery mechanism, specifically relates to a kind of intelligent clamping delivery mechanism.

Background technology

In the industry such as logistics transportation and printing, usually need the object transporting pile or folded code, such as the folded pile of code or the breakables of stacking, in order to ensure the regularity and the safety that are transported object, clamping delivery mechanism has a wide range of applications.Traditional connecting gear is generally manual clamping delivery mechanism and automatic clamping delivery mechanism.

Traditional manual clamping delivery mechanism major defect is: need neat pile object to assigned position before transporting pile object, then according to the manual mobile push pedal gripping objects of object size dimension, and then transmit object.This traditional manual clamping delivery mechanism is because need manual hand manipulation, so cannot use on automatic production lines; Before and after transmitting, all need workman manually clamp material and discharge at every turn, and after manually clamping, the regularity of material and the efficiency of manually clamping are often subject to the experience of workman and the impact of skilled operation degree, to such an extent as to be difficult to the regularity and the high efficiency that ensure material in transport process.

Traditional automatic clamping delivery mechanism major defect is: this automatic clamping delivery mechanism needs workman to measure by the material size transmitted in advance, then input to control system, control system adopts numeral location to carry out controlling machine mechanical arm according to the material size of input and clamps.Need to input material size in advance just because of this automatic clamping delivery mechanism, thus cannot automatically adapt to different size dimension by transmission object; If what workman inputted is transmitted object size mistake, or there is error (interference, loss of transmitted data etc.) in digital display circuit, so directly may cause by the damage transmitting object or mechanical arm or drive system in clamping process, cause heavy losses; Because this automatic transmission mechanism cannot detect the position of object, in order to not destroy the regularity of material, whole clamping process all can only carry out at a slow speed, thus the efficiency of directly impact clamping efficiency and whole transmission.And this cover mechanism also needs a set of data entry system to input object size, this directly can cause the increase of equipment cost.

Utility model content

A kind of intelligent clamping delivery mechanism of the utility model technical matters to be solved is to provide a kind of reliable and stable, automatically can identify and be transmitted size and the position of object, and under the prerequisite of regularity not destroying object intelligence gripping objects rapidly, and the intelligent clamping delivery mechanism of object can be transmitted in efficient high-speed ground.

A kind of intelligent clamping delivery mechanism of the utility model is achieved through the following technical solutions: a kind of intelligent clamping delivery mechanism, comprise backboard, bench board, left mechanical arm, right mechanical arm, robot track, left arm jacking system, right arm jacking system, left arm deceleration sensor, left arm snap sensor, right arm deceleration sensor and right arm snap sensor.Wherein bench board is installed on backboard, and robot track is fixed on backboard; Left mechanical arm is installed on robot track by left arm jacking system, and right mechanical arm is installed on robot track by right arm jacking system; Left arm deceleration sensor and left arm snap sensor are installed on the panel of left mechanical arm, and right arm deceleration sensor and right arm snap sensor are installed on the panel of right mechanical arm.Wherein left mechanical arm along robot track free motion under the effect of left arm actuating device, and can do dipping and heaving under the effect of left arm jacking system; Right mechanical arm along robot track free motion under the effect of right arm actuating device, and can do dipping and heaving under the effect of right arm jacking system.

Left arm deceleration sensor, left arm snap sensor, right arm deceleration sensor and right arm snap sensor are for detecting by the position of transmitting object, thus the clamping speed of controlling machine mechanical arm, realize intelligence clamping.Send signal when wherein deceleration sensor detects object in certain distance, snap sensor sends signal at robot contact to during object.

The beneficial effects of the utility model are:

1. a kind of intelligent clamping delivery mechanism of the utility model, two mechanical arms is all provided with deceleration sensor and snap sensor.The on-off model of only read sensor during control, completely abolish the object size input requirements of automatic clamping delivery mechanism, decrease and transmitted the measurement of object size and input process and digital control and location link, improve the degree of automation of equipment, substantially increase the antijamming capability of control system, avoid because data entry error or control system digital signal are made mistakes, and the object caused or device damage.

2. a kind of intelligent clamping delivery mechanism of the utility model, two mechanical arms is all provided with deceleration sensor and snap sensor.Only object need be placed between two mechanical arms, system can detect article position automatically, and intelligent gripping objects, completely abolish traditional M/C, significantly improve work efficiency.

3. a kind of intelligent clamping delivery mechanism of the utility model, two mechanical arms is all provided with deceleration sensor and snap sensor.According to the clamping speed of sensor signal robotically controlled arm being, automatic fast approaching object can be realized, at a slow speed the function of snap object.Enhance speed and the efficiency of object clamping to greatest extent, snap ensure that in clamping process mechanical arm and object carry out the regularity of flexible contact and object at a slow speed simultaneously.

4. a kind of intelligent clamping delivery mechanism of the utility model, two mechanical arms is all provided with deceleration sensor and snap sensor.According to being transmitted the difference of object or use occasion, single armed can be adopted to move clamping or both arms mobile clamping simultaneously, adds variety and the alerting ability of method of clamping, facilitate the operation of user.

5. a kind of intelligent clamping delivery mechanism of the utility model, adopts double mechanical arms design, first gripping objects before transmission object, and then transmits.Can regulate the speed arbitrarily in transport process, comprise anxious acceleration and anxious deceleration, realize High Speed Transfer, in transport process, pile object can not be shifted or landing, and breakables are also not easy to damage.

6. a kind of intelligent clamping delivery mechanism of the utility model, during two mechanical arm gripping objects, for loose or stack the effect that irregular object also has automatic snap, can improve the regularity transmitting material further.

7. a kind of intelligent clamping delivery mechanism of the utility model, two mechanical arms all can freely be elevated, and can push easily to place object or object is taken in propelling movement away below the mechanical arm lifted.

Accompanying drawing explanation

Fig. 1 is structural principle Fig. 1 of a kind of intelligent clamping delivery mechanism of the utility model;

Fig. 2 is structural principle Fig. 2 of a kind of intelligent clamping delivery mechanism of the utility model;

Detailed description of the invention

Shown in seeing figures.1.and.2, the intelligent clamping delivery mechanism of one of the present utility model, comprise backboard (101), bench board (103), left mechanical arm (104), right mechanical arm (201), robot track (102), left arm jacking system (105), right arm jacking system (202), left arm deceleration sensor (107), left arm snap sensor (106), right arm deceleration sensor (204) and right arm snap sensor (203).Wherein bench board (103) is installed on backboard (101), and robot track (102) is fixed on backboard (101); Left mechanical arm (104) is installed on robot track (102) by left arm jacking system (105), and right mechanical arm (201) is installed on robot track (102) by right arm jacking system (202); Left arm deceleration sensor (107) and left arm snap sensor (106) are installed on the panel of left mechanical arm (104), and right arm deceleration sensor (204) and right arm snap sensor (203) are installed on the panel of right mechanical arm (201).Wherein left mechanical arm (104) along robot track (102) free motion under the effect of left arm actuating device, and can do dipping and heaving under left arm jacking system (105) effect; Right mechanical arm (201) along robot track (102) free motion under the effect of right arm actuating device, and can do dipping and heaving under right arm jacking system (202) effect.

Left arm deceleration sensor (107), left arm snap sensor (106), right arm deceleration sensor (204) and right arm snap sensor (203) are for detecting by the position of transmitting object, thus controlling machine mechanical arm (104,201) clamping speed, realizes intelligence clamping.Send signal when wherein deceleration sensor (107,204) detects object in certain distance, snap sensor (106,203) sends signal at robot contact to during object.

Its principle of work is: object pushes away by user to be put to two mechanical arms (104,201) optional position in region between, after user confirms to start automatically to clamp transfer operation, mechanical arm declines, then mechanical arm starts mobile gripping objects, control system is according to left arm deceleration sensor (107), left arm snap sensor (106), the clamping speed of the signal control mechanical arm of right arm deceleration sensor (204) and right arm snap sensor (203).Send signal when wherein deceleration sensor (107,204) detects object in certain distance, snap sensor (106,203) sends signal at robot contact to during object.The mode of mechanical arm clamping speed is, when two mechanical arms (104,201) are all done to clamp movement at a high speed without mechanical arm when deceleration sensor (107,204) signal and snap sensor (106,203) signal; When wherein any one mechanical arm only has deceleration sensor (107,204) signal, this mechanical arm makes low speed clamping movement; Only when one of them mechanical arm has deceleration sensor (107,204) signal and snap sensor (106,203) signal, this mechanical arm makes high speed clamping movement; Two mechanical arm stop motions, now two mechanical arms (104,201) gripping objects when two mechanical arms have deceleration sensor (107,204) signal and snap sensor (106,203) signal simultaneously.After object is clamped, two mechanical arms (104,201) are simultaneously mobile transmits object, and transmit after putting in place, two mechanical arms (104,201) separate and lift, and user pushes and takes object away.

The above, be only detailed description of the invention of the present utility model, but protection domain of the present utility model is not limited thereto, and any change of expecting without creative work or replacement, all should be encompassed within protection domain of the present utility model.Therefore, the protection domain that protection domain of the present utility model should limit with claims is as the criterion.

Claims (2)

1. an intelligent clamping delivery mechanism, is characterized in that: comprise backboard, bench board, left mechanical arm, right mechanical arm, robot track, left arm jacking system, right arm jacking system, left arm deceleration sensor, left arm snap sensor, right arm deceleration sensor and right arm snap sensor; Wherein bench board is installed on backboard, and robot track is fixed on backboard; Left mechanical arm is installed on robot track by left arm jacking system, and right mechanical arm is installed on robot track by right arm jacking system; Left arm deceleration sensor and left arm snap sensor are installed on the panel of left mechanical arm, and right arm deceleration sensor and right arm snap sensor are installed on the panel of right mechanical arm; Wherein left mechanical arm along robot track free motion under the effect of left arm actuating device, and can do dipping and heaving under the effect of left arm jacking system; Right mechanical arm along robot track free motion under the effect of right arm actuating device, and can do dipping and heaving under the effect of right arm jacking system.
2. the intelligent clamping delivery mechanism of one according to claim 1, it is characterized in that: left arm deceleration sensor, left arm snap sensor, right arm deceleration sensor and right arm snap sensor are for detecting by the position of transmitting object, thus the clamping speed of controlling machine mechanical arm, realize intelligence clamping; Send signal when wherein deceleration sensor detects object in certain distance, snap sensor sends signal at robot contact to during object.
CN201420499881.1U 2014-09-01 2014-09-01 A kind of intelligent clamping delivery mechanism CN204237172U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420499881.1U CN204237172U (en) 2014-09-01 2014-09-01 A kind of intelligent clamping delivery mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420499881.1U CN204237172U (en) 2014-09-01 2014-09-01 A kind of intelligent clamping delivery mechanism

Publications (1)

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CN204237172U true CN204237172U (en) 2015-04-01

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105398777A (en) * 2014-09-01 2016-03-16 德阳市利通印刷机械有限公司 Intelligent clamping-conveying mechanism
CN106315284A (en) * 2015-07-08 2017-01-11 德阳市利通印刷机械有限公司 Automatic paper taking machine

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105398777A (en) * 2014-09-01 2016-03-16 德阳市利通印刷机械有限公司 Intelligent clamping-conveying mechanism
CN106315284A (en) * 2015-07-08 2017-01-11 德阳市利通印刷机械有限公司 Automatic paper taking machine
CN106315284B (en) * 2015-07-08 2018-06-15 德阳市利通印刷机械有限公司 One kind takes paper machine automatically

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AV01 Patent right actively abandoned

Granted publication date: 20150401

Effective date of abandoning: 20171027

AV01 Patent right actively abandoned