CN204354429U - For the device calibrated manipulator fixture - Google Patents
For the device calibrated manipulator fixture Download PDFInfo
- Publication number
- CN204354429U CN204354429U CN201420857113.9U CN201420857113U CN204354429U CN 204354429 U CN204354429 U CN 204354429U CN 201420857113 U CN201420857113 U CN 201420857113U CN 204354429 U CN204354429 U CN 204354429U
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- Prior art keywords
- manipulator fixture
- mounting rail
- driven unit
- gripper components
- fixation kit
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Abstract
The utility model provides a kind of device for calibrating manipulator fixture, manipulator fixture comprises at least one gripper components, this device comprises support, fixation kit and driven unit, wherein fixation kit is rack-mount, and for manipulator fixture is removably fixed on support, and driven unit be used for be connected with at least one gripper components of manipulator fixture, and driven unit also for driving device hand fixture at least one gripper components thus make manipulator fixture can capture product to be measured.By using this device, when not taking machine production capacity, can calibrate manipulator fixture according to the shape performance of product, thus improving the operating efficiency of whole streamline.
Description
Technical field
The utility model relates to mechanical field, more specifically, relates to a kind of device for calibrating manipulator fixture.
Background technology
In injection moulding is produced, when after injection mold ejecting product, often need to use manipulator to catch product, and product is put on conveyer belt, thus realize the fully-automatic production of injection moulding.Manipulator need sectional fixture for gripping product.In order to reliably take out product, the fixture on manipulator needs accurately location, accurately to capture product securely.So the fixture on manipulator needs to be designed to adjust position within the specific limits, to adapt to the shape of various product and various production status.
But, according to the method for existing adjustment manipulator fixture, described adjustment work can only be carried out in injection moulding flow process, and needs the production line taking product to carry out adjusting (complex product needs 0.5-1 hour), will take certain production capacity like this.Further, because the most of manipulators in injection moulding production are installed on higher position, could adjust fixture so operating personnel often need to climb to eminence, actual operation easier is larger.
Utility model content
The utility model provide a kind of can not take streamline and the device can calibrated manipulator fixture according to the shape performance etc. of product.
In in of the application, disclose a kind of device for calibrating manipulator fixture, described manipulator fixture comprises at least one gripper components, and described device comprises: support; Fixation kit, described fixation kit is installed on the bracket, and described fixation kit is used for described manipulator fixture removably to fix on the bracket; And driven unit, described driven unit is used for being connected with at least one gripper components of described manipulator fixture, and described driven unit is also for driving at least one gripper components described in described manipulator fixture thus making described manipulator fixture can capture product to be measured.
In some embodiments of the application, described support comprises frame parts and secure component.
In some embodiments of the application, described frame parts comprises brace summer and mounting rail, and described brace summer is for supporting described mounting rail and adjusting described installation depth of beam, and described fixation kit is arranged on described mounting rail.In some embodiments of the application, the vertical position of described manipulator fixture is determined by described installation depth of beam.
In some embodiments of the application, described brace summer comprises horizontal shore and vertical brace summer, and the link position of wherein said horizontal shore and vertical brace summer can regulate, to adjust the shape of frame parts.
In some embodiments of the application, described fixation kit comprises the longitudinal axis engaged with described mounting rail, and the attaching parts for being connected with described manipulator fixture.
In some embodiments of the application, the joint of the described longitudinal axis and described mounting rail is fixed engagement.
In some embodiments of the application, the joint of the described longitudinal axis and described mounting rail is removable joint.In some embodiments, the removable joint of the described longitudinal axis and described mounting rail is by the spacing realization of draw-in groove.In other embodiments of the application, the removable joint of the described longitudinal axis and described mounting rail is for being slidably engaged, wherein said fixation kit comprises mounting rail secure component further, and described mounting rail secure component is for being fastened on described mounting rail by the described longitudinal axis.
In some embodiments of the application, described driven unit comprises vacuum generator, and described vacuum generator is connected by least one breather pipe with at least one gripper components described.In some embodiments, described driven unit comprises at least one threeway parts further, and described threeway parts are for shunting air-flow extremely at least one gripper components described occurred in described vacuum generator.In other embodiments of the application, described driven unit comprises gas row equipment further, and described gas row equipment is connected with described vacuum generator to shunt air-flow extremely at least one gripper components described occurred in described vacuum generator.In some embodiments of the application, described driven unit comprises air pump further, and described air pump is connected with described vacuum generator.
By using the device of the application, when not taking machine production capacity, can calibrate manipulator fixture according to the shape performance of product, thus substantially increasing the operating efficiency of whole streamline.Further, said apparatus according to actual needs, can be placed on level land or operating desk, thus difficulty when making workman calibrate manipulator fixture reduces greatly.
Be more than the general introduction of the application, the situation of simplification, summary and omissions of detail may be had, therefore those skilled in the art will appreciate that this part is only Illustrative, and be not intended to limit the application's scope by any way.This overview section is the key feature of not intended to be determination claimed subject or essential feature both, and also not intended to be is used as the supplementary means of the scope determining claimed subject.
Accompanying drawing explanation
By being described below in detail with appending claims and being combined with accompanying drawing, the above and other feature understanding teachings herein will be known more fully.Be appreciated that these drawings depict only some embodiments of teachings herein, therefore should do not think the restriction to teachings herein scope.Unless stated otherwise, accompanying drawing needs not to be proportional, and parts like the general representation class of wherein similar label.By adopting accompanying drawing, teachings herein will obtain definitely and explain.
Fig. 1 is an illustrative diagram of manipulator fixture to be calibrated;
Fig. 2 is the organigram of the calibrating installation 100 according to the utility model embodiment;
Fig. 3 is for calibrating installation 100 is as shown in Figure 2 along the front view in direction shown in the thick arrow of the black in Fig. 2;
Fig. 4 A is the working state schematic representation of calibrating installation 100; And
Fig. 4 B is the close-up schematic view of Fig. 4 A.
Detailed description of the invention
In the following detailed description, with reference to the accompanying drawing forming its part.The illustrated embodiment describe in detail, described in accompanying drawing and claims not intended to be limit.When not departing from the spirit or scope of theme of the application, other embodiments can be adopted, and other changes can be made.Be appreciated that and can carry out multiple differently composed configuration, replacement, combination, design to the various aspects of general teachings herein that describe, that illustrate in the accompanying drawings herein, and all these forms a part for teachings herein clearly.
Hereinafter, in order to clearly describe specific embodiment, some specific terms will be adopted.But adopting the original idea of these terms and the protection domain of unrestricted the application, the scope of these terms should extend to any equivalent replacement reaching roughly the same object with means roughly.
Fig. 1 is an illustrative diagram of manipulator fixture to be calibrated.Wherein, as shown in Figure 1, manipulator fixture 200 comprises manipulator fixture main body 230, breather pipe 220 and multiple gripper components 210.In some embodiments, the gripper components 210 of manipulator fixture comprises one or more sucker, when capturing product, using vacuum generator to drive sucker to make it in product surface air-breathing until vacuum, thus reaching the object capturing product.In other embodiments, when product surface long-pending too little or product is overweight sucker cannot be used to complete crawl time, the gripper components 210 of manipulator fixture can comprise clip, and wherein said clip can be driven to catch product edge by air pump thus reach the object capturing product in combination individually or with sucker.The gripper components 210 of manipulator fixture 200 is fixed in manipulator fixture main body 230 movably, when above-mentioned gripper components 210 and product (not shown) to be measured contact, above-mentioned multiple gripper components 210 can hold or clamp product to be measured, thus makes whole manipulator fixture 200 can capture product to be measured smoothly.
Correspondingly, by utilizing the calibrating installation of the application, operating personnel can regulate the position of gripper components 210 in manipulator fixture main body 230 to capture product to be measured with the grasp force expected in other words better to make whole manipulator fixture 200, such as: by changing gripper components 210 relative to the level of manipulator fixture main body 230, vertical position or angle, to regulate the position of gripper components 210, thus reach the object of calibration manipulator fixture.
Fig. 2 is the organigram of the calibrating installation 100 according to the application.Fig. 3 is for calibrating installation 100 is as shown in Figure 2 along the front view in direction shown in the thick arrow of the black in Fig. 2.Fig. 4 A and 4B is respectively working state schematic representation and the close-up schematic view thereof of calibrating installation 100.Elaborate to according to the calibrating installation of an embodiment of the present utility model below with reference to Fig. 2-4.
As shown in Figure 2, calibrating installation 100 comprises: support 101, fixation kit 102 and driven unit 103, and wherein above-mentioned fixation kit 102 is arranged on support 101, and for manipulator fixture 200 is removably fixed on support 101; And above-mentioned driven unit 103 is for being connected with at least one gripper components 210 of manipulator fixture 200, and drive at least one gripper components 210 of described manipulator fixture 200, thus make described manipulator fixture 200 can capture product to be measured.
As shown in Figure 2, support 101 comprises frame parts 104 and secure component 105 further.In some embodiment of the application, other section structure that said frame parts 104 can be commonly used by hard section bar (such as aluminium section bar) or various those skilled in the art become.In some embodiments, above-mentioned secure component 105 can be other secure components that triangle secure component (such as corner block) or various those skilled in the art commonly use, and the utility model does not make any restriction to it.
Such as, in embodiment in fig. 2, frame parts 104 comprises 6 brace summers 106 (2 horizontal shore 106b and 4 vertical brace summer 106a) and 1 mounting rail 107, be connected by secure component 105 between brace summer 106 and between brace summer 106 and mounting rail 107, and brace summer 106 is for supporting mounting rail 107 and adjusting the height of mounting rail 107, and mounting rail 107 is then for being arranged on support 101 by fixation kit 102 by manipulator fixture 200.
Certainly, the quantity of above-mentioned brace summer 106 and mounting rail 107 is exemplary instead of restricted, in other embodiments, frame parts 104 also can only include 2 brace summers 106 (such as 2 vertical brace summers) and 1 mounting rail 107, or frame parts 104 also can comprise 4 brace summers 106 (such as 2 groups of brace summers, each group comprises two brace summers and links together in " people " font) and 1 mounting rail 107, etc.Those skilled in the art can the various shape of design framework parts 104 and formation according to actual needs, and these designs all belong to category of the present utility model.
In some embodiments, the vertical position of manipulator fixture 200 can be adjusted by the height of adjustment mounting rail 107.Such as, the height of mounting rail 107 can be turned down, and the vertical position of manipulator fixture 200 is moved down.And in some embodiments, the horizontal shore of frame parts 104 and the link position of vertical brace summer can regulate, to adjust the shape of frame parts 104 thus to make it adapt to the size of product to be measured.
Fig. 3 is the front view of calibrating installation 100 as shown in Figure 2, as shown in Figure 3, frame parts 104 is made up of horizontal shore 106b, vertically brace summer 106a and mounting rail 107, is wherein all connected fastening by secure component 105 between brace summer and between brace summer with mounting rail.And fixation kit 102 comprises the longitudinal axis 108 that engages with mounting rail 107 and the attaching parts 109 for being connected with manipulator fixture 200.
Fig. 4 A is the working state schematic representation of calibrating installation 100, and as shown in Figure 4 A, manipulator fixture 200 is fixed on support 101 by fixation kit 102.
Fig. 4 B is the close-up schematic view of Fig. 4 A, can be understood the structure of fixation kit 102 and driven unit 103 by Fig. 4 B in more detail, and manipulator fixture 200 and the concrete annexation between fixation kit 102, support 101 and driven unit 103.
As shown in Figure 4 B, fixation kit 102 comprises: the longitudinal axis 108 engaged with mounting rail 107, for the attaching parts 109 be connected with manipulator fixture 200, and for the longitudinal axis 108 being fastened on the mounting rail secure component 110 on mounting rail 107.
In some embodiments of the application, the longitudinal axis 108 is removable joint with the joint of mounting rail 107, thus can regulate manipulator fixture 200 position in the horizontal direction by the mobile longitudinal axis 108.Such as in the embodiment shown in Fig. 4 B, the longitudinal axis 108 and mounting rail 107 are slidably engaged, after by the longitudinal axis 108 that slides along mounting rail 107 manipulator fixture 200 being adjusted to suitable horizontal level, mounting rail secure component 110 is utilized to be anchored on mounting rail 107 by the longitudinal axis 108.Those skilled in the art can according to actual needs spacing by draw-in groove, rotate engage or other modes well known in the art realize removable joint, and it is corresponding, when choice for use draw-in groove is spacing or rotate other junctures such as joint, mounting rail secure component 110 is optional components also.In other embodiments of the application, the longitudinal axis 108 can also be fixed engagement with the joint of mounting rail 107, its can by such as welding, integral casting forming or other well known to a person skilled in the art that fixed engagement mode realizes.
Attaching parts 109 are then arranged on the longitudinal axis 108, and for being connected with manipulator fixture 200, thus manipulator fixture 200 is detachably connected on calibrating installation 100.Attaching parts 109 and manipulator fixture 200 can removably be linked together by modes well known in the art such as bolts by those skilled in the art according to actual needs.
Further, as shown in Figure 4 B, driven unit 103 comprises vacuum generator 111, and vacuum generator 111 is connected to drive gripper components 210 by breather pipe with the gripper components 210 of manipulator fixture 200.In some embodiment of the application, driven unit 103 can further include the air pump (not shown) be connected with described vacuum generator 111.
And, optionally, driven unit 103 can further include gas row equipment 112, and gas row equipment 112 is connected with vacuum generator 111 thus the air-flow occurred in described vacuum generator 111 is separated each gripper components 210 of multichannel Zhi Liuzhi manipulator fixture 200.In addition, those skilled in the art can according to practical application need with other threeway parts (such as three-way pipe) replace gas row equipment 112.
It should be noted that, gas row equipment 112 is not the required building block of the driven unit 103 of the application, when the quantity of the gripper components 210 included by manipulator fixture 200 is less, driven unit 103 can only include vacuum generator 111, produce absorption air-flow by vacuum generator 111, Direct driver gripper components 210 (such as sucker) captures product to be measured.And when the quantity of the gripper components 210 included by manipulator fixture 200 is more, driven unit 103 can comprise the gentle row's equipment 112 of vacuum generator 111, absorption air-flow is produced by vacuum generator 111, and gas row equipment 112 is connected to shunt the air-flow that occurs in the described vacuum generator 111 multiple gripper components 210 to manipulator fixture 200 with vacuum generator 111, thus driving gripper components 210 captures product to be measured.
Below the calibrating installation 100 of the manipulator fixture according to an embodiment of the present utility model is exemplarily described by reference to the accompanying drawings.Those skilled in the art's content disclosed in this description can be expected easily, can according to actual needs the concrete structure of each parts of product container disclosed in each embodiment and annexation thereof suitably be adjusted and be reconfigured, and spirit of the present utility model can not be departed from.
Further, calibrating installation 100 as in Figure 2-4 simple declaration how is utilized to calibrate manipulator fixture 200 as shown in Figure 1 below: by regulating the shape of the interconnective position adjusting pole 101 of brace summer 106 with the size making it adapt to product to be measured; Manipulator fixture 200 is fixed in the attaching parts 109 of fixation kit 102 lower end, the breather pipe 220 of manipulator fixture is connected with the driver part 103 in calibrating installation 100, and can according to the position of product to be measured by regulating the height of mounting rail 107 or the vertical position by regulating the height of the longitudinal axis 108 to adjust manipulator fixture 200; The gripper components 210 of driving device hand fixture 200, thus make described manipulator fixture 200 capture product to be measured; And according to the crawl effect calibration manipulator fixture of manipulator fixture to product to be measured.Particularly, can realize relative to the level of manipulator fixture main body 230 and vertical position or angle by adjusting the one or more gripper components 210 on this manipulator fixture 200 calibration steps of manipulator fixture 200.On the other hand, when the gripper components 210 of manipulator fixture 200 is driven by vacuum generator 111, the grasp force of gripper components 210 to product to be measured can be adjusted by regulating the size of air-flow in described vacuum generator 111 to the calibration of manipulator fixture 200, thus make described manipulator fixture 200 can capture product to be measured to realize with the grasp force expected.Or, when vacuum generator 111 is driven by air pump, the gripper components of manipulator fixture can be adjusted to the grasp force of product to be measured by regulating the size of air-flow in air pump to the calibration of manipulator fixture, thus make described manipulator fixture can capture product to be measured to realize with the grasp force expected.
By using the device described in the application, when not taking machine production capacity, can calibrate manipulator fixture according to the shape performance of product, thus substantially increasing the operating efficiency of whole streamline.Further, above-mentioned calibrating installation according to actual needs, can be placed on level land or operating desk, thus difficulty when making workman calibrate manipulator fixture reduces greatly.
The those skilled in the art of the art can by this description of research and accompanying drawing and appending claims, understands and implements to change other of the embodiment disclosed.
The term used in the application " comprises " or " containing " does not get rid of other element and step, and wording " one ", " one " and " one " do not get rid of plural number.Unless the context otherwise requires, the term of plural form also should comprise odd number.Similarly, unless the context clearly indicates otherwise, word "or" be intended to comprise " with ".Term " substantially " and " roughly " that can exchange use are in this application intended to represent and the scope that the feature functionality recorded is equal to.
Claims (14)
1. the device for calibrating manipulator fixture, described manipulator fixture comprises at least one gripper components, it is characterized in that, described device comprises:
Support;
Fixation kit, described fixation kit is installed on the bracket, and described fixation kit is used for described manipulator fixture removably to fix on the bracket; And
Driven unit, described driven unit is used for being connected with at least one gripper components of described manipulator fixture, and described driven unit is also for driving at least one gripper components described in described manipulator fixture thus making described manipulator fixture can capture product to be measured.
2. device as claimed in claim 1, it is characterized in that, described support comprises frame parts and secure component.
3. device as claimed in claim 2, it is characterized in that, described frame parts comprises brace summer and mounting rail, and described brace summer is for supporting described mounting rail and adjusting described installation depth of beam, and described fixation kit is arranged on described mounting rail.
4. device as claimed in claim 3, it is characterized in that, the vertical position of described manipulator fixture is determined by described installation depth of beam.
5. device as claimed in claim 3, it is characterized in that, described brace summer comprises horizontal shore and vertical brace summer, and the link position of wherein said horizontal shore and vertical brace summer can regulate, to adjust the shape of frame parts.
6. device as claimed in claim 3, it is characterized in that, described fixation kit comprises the longitudinal axis engaged with described mounting rail, and the attaching parts for being connected with described manipulator fixture.
7. device as claimed in claim 6, it is characterized in that, the joint of the described longitudinal axis and described mounting rail is fixed engagement.
8. device as claimed in claim 6, it is characterized in that, the joint of the described longitudinal axis and described mounting rail is removable joint.
9. device as claimed in claim 8, it is characterized in that, the removable joint of the described longitudinal axis and described mounting rail is by the spacing realization of draw-in groove.
10. device as claimed in claim 8, it is characterized in that, the removable joint of the described longitudinal axis and described mounting rail is for being slidably engaged, and wherein said fixation kit comprises mounting rail secure component further, and described mounting rail secure component is for being fastened on described mounting rail by the described longitudinal axis.
11. devices according to any one of claim 1-10, it is characterized in that, described driven unit comprises vacuum generator, and described vacuum generator is connected by least one breather pipe with at least one gripper components described.
12. devices as claimed in claim 11, it is characterized in that, described driven unit comprises at least one threeway parts further, and described threeway parts are for shunting air-flow extremely at least one gripper components described occurred in described vacuum generator.
13. devices as claimed in claim 11, is characterized in that, described driven unit comprises gas row equipment further, and described gas row equipment is connected with described vacuum generator to shunt air-flow extremely at least one gripper components described occurred in described vacuum generator.
14. devices as claimed in claim 13, it is characterized in that, described driven unit comprises air pump further, and described air pump is connected with described vacuum generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420857113.9U CN204354429U (en) | 2014-12-30 | 2014-12-30 | For the device calibrated manipulator fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420857113.9U CN204354429U (en) | 2014-12-30 | 2014-12-30 | For the device calibrated manipulator fixture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204354429U true CN204354429U (en) | 2015-05-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420857113.9U Expired - Fee Related CN204354429U (en) | 2014-12-30 | 2014-12-30 | For the device calibrated manipulator fixture |
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| Country | Link |
|---|---|
| CN (1) | CN204354429U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105799128A (en) * | 2014-12-30 | 2016-07-27 | 饰而杰汽车制品（苏州）有限公司 | Apparatus and method for calibration of mechanical arm clamp |
-
2014
- 2014-12-30 CN CN201420857113.9U patent/CN204354429U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105799128A (en) * | 2014-12-30 | 2016-07-27 | 饰而杰汽车制品（苏州）有限公司 | Apparatus and method for calibration of mechanical arm clamp |
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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: 20150527 Termination date: 20191230 |