CN204893991U - Manipulator - Google Patents
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- CN204893991U CN204893991U CN201520570516.XU CN201520570516U CN204893991U CN 204893991 U CN204893991 U CN 204893991U CN 201520570516 U CN201520570516 U CN 201520570516U CN 204893991 U CN204893991 U CN 204893991U
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- mount pad
- manipulator
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Abstract
The utility model relates to a robotechnology field especially relates to a manipulator, include: hand claw, cylinder and buffer stop, the hand claw includes mount pad and finger, the mount pad is connected with the cylinder body front end of cylinder, and the mount pad is equipped with rather than the articulated swing arm, and the one end of swing arm is connected with the finger, and the other end of swing arm is connected with the piston rod of cylinder, buffer stop includes detection switch, removal dish and many guide pillars, many guide pillar and piston rod parallel arrangement, guide pillar one end is fixed on the casing or mount pad of cylinder, and the other end of guide pillar is equipped with spacing boss, the mobilizable cover of removal dish is on many guide pillars, the detection switch is fixed on the outer wall of the casing of cylinder, and the contact of detection switch sets up in the stroke of removal dish for it sends alarm signal behind the removal dish to touch. The utility model provides a manipulator has avoided snatching when high the hand claw that causes and the collision of work piece when the safety that the supply of work piece highly is higher than the hand claw.
Description
Technical field
The utility model relates to robotics, particularly relates to a kind of manipulator.
Background technology
Along with the fast development that modern automation is produced, the use of robot is more and more extensive, and Ban Suo robot widely uses, and manipulator is also more and more general as the device of a grabbing workpiece.Manipulator a kind of automatically to control, and Reprogrammable is with the multi-purpose machine of variation, and it is by multiple free degree, can carry an object in different environments.Manipulator has the advantage of people and machine concurrently on structure and performance, especially embodies intelligence and the adaptability of people, and the accuracy of manipulator operation and the ability fulfiled assignment at various environment, have vast potential for future development in the every field of national economy.
At present, the position of workpiece can be judged by increasing inductive switch on the cylinder of manipulator and determine paw whether grabbing workpiece, but highly whether the supply that the inductive switch only on dependence cylinder can not detect workpiece correct, when the supply of workpiece highly exceeds the collision that safe range will cause paw and workpiece, the whatsoever collision of form all can cause damage in various degree to workpiece, the precision of workpiece is made to reduce or scrap, often manual observation is utilized in prior art, just grasping movement is stopped immediately when finding that workpiece is not in place, manually by work piece correcting to correct position, but with upper type, not only hand labor intensity is large, and 4 machines can only be detected due to a people simultaneously, to be unfavorable for carrying out large-scale manless production.
Therefore, for above deficiency, need to provide a kind of supply height that automatically can detect workpiece, avoid mechanical paw and workpiece to produce the manipulator of collision.
Utility model content
(1) technical problem that will solve
The technical problems to be solved in the utility model solves the problem that the prior art supply that cannot detect workpiece highly causes manipulator and workpiece to collide.
(2) technical scheme
In order to solve the problems of the technologies described above, the utility model provides a kind of manipulator, comprising: paw, cylinder and anticollision device, collision-prevention device; Described paw comprises mount pad and finger, and described mount pad is connected with the cylinder body front end of cylinder, and described mount pad is provided with the swing arm hinged with it, and one end of described swing arm is connected with finger, and the other end of described swing arm is connected with the piston rod of described cylinder; Described anticollision device, collision-prevention device comprises sense switch, displacement disc and Duo Gen guide pillar; Many described guide pillars and described piston rod are arranged in parallel, and on the housing that described in every root, guide pillar one end is fixed on cylinder or mount pad, the other end of guide pillar is provided with positive stop lug boss; Described displacement disc is movably enclosed within many described guide pillars; Described sense switch is fixed on the outer wall of the housing of described cylinder, and the contact of described sense switch is arranged in the stroke of described displacement disc, after touching displacement disc, send alarm signal.
Wherein, described displacement disc is propeller shape, and described propeller shape displacement disc comprises multiple equally distributed blade, and each described blade is equipped with a through hole, described through hole coordinates with described guide pillar.
Wherein, described displacement disc is disk, and the described disk position corresponding to described finger is provided with scallop hole, and the axis of described annulus is evenly distributed with multiple through hole, and multiple described through hole coordinates with multiple described guide pillar.
Wherein, the housing of described cylinder or the outer wall of mount pad are provided with retainer ring, and described guide pillar and sense switch are all fixed on described retainer ring.Wherein, also comprise back-moving spring, described back-moving spring is connected between described retainer ring and described displacement disc.
Wherein, described back-moving spring is multiple, and multiple described back-moving spring distributes along the circumference of described retainer ring.
Wherein, the center of the bottom of described displacement disc is also provided with liner, collides for preventing workpiece and displacement disc.
Wherein, described liner is fixedly connected with by screw thread with described displacement disc.
(3) beneficial effect
Technique scheme tool of the present utility model has the following advantages: a kind of manipulator that the utility model provides adds anticollision device, collision-prevention device on the basis of existing technology, this anticollision device, collision-prevention device comprises the many guide pillars be fixed on cylinder shell or mount pad and the sense switch be fixed on cylinder outer wall, and can along the displacement disc of guide pillar movement, during gripping workpiece, displacement disc first contacts workpiece, workpiece presses displacement disc and moves, when the safe altitude of supply height higher than manipulator of workpiece, displacement disc moves can encounter sense switch, sense switch will send alarm signal, and make manipulator stop grasping movement.This anticollision device, collision-prevention device, highly whether the supply that can detect workpiece can capture, and avoids and capture when supplying the safe altitude highly higher than manipulator, cause the collision of manipulator and workpiece, defective work piece.
Accompanying drawing explanation
Fig. 1 is the structural representation of the manipulator of the utility model embodiment one;
Fig. 2 is the structural representation of the manipulator of the utility model embodiment one;
Fig. 3 is the structural representation of the manipulator of the utility model embodiment one;
Fig. 4 is the top view of the displacement disc in the utility model embodiment one;
Fig. 5 is the structural representation of the manipulator of the utility model embodiment two;
Fig. 6 is the top view of the manipulator of the utility model embodiment two.
In figure: 1: cylinder; 2: retainer ring; 3: guide pillar; 4: back-moving spring; 5: displacement disc; 6: finger; 7: sense switch; 8: liner; 50: through hole; 51: scallop hole.
Detailed description of the invention
For making the object of the utility model embodiment, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the utility model embodiment, technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is a part of embodiment of the present utility model, instead of whole embodiments.Based on the embodiment in the utility model, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to the scope of the utility model protection.
Embodiment one
As Figure 1-4, a kind of manipulator that the utility model embodiment provides, comprising: paw, cylinder 1 and anticollision device, collision-prevention device, paw comprises mount pad and finger 6, and mount pad is connected with the cylinder body front end of cylinder, and mount pad is provided with the swing arm hinged with it, and one end of swing arm is connected with finger, and the other end of swing arm is connected with the piston cylinder of cylinder, anticollision device, collision-prevention device comprises sense switch 7, displacement disc 5 and Duo Gen guide pillar 3, many guide pillars 3 are arranged in parallel with the piston rod of cylinder, and on one end of every root guide pillar 3 housing of being fixed on cylinder 1 or mount pad, the other end of guide pillar 3 is provided with positive stop lug boss, displacement disc 5 is arranged on the front of cylinder 1, between multiple finger 6, and be movably enclosed within many guide pillars 3, as shown in Figure 2, the lower end of many guide pillars 3 is provided with positive stop lug boss, when not capturing, displacement disc 5 holds up by the positive stop lug boss on guide pillar 3, prevent displacement disc from coming off, can move up and down along guide pillar 3 when displacement disc 5 is subject to the effect of power, cylinder 1 is connected with finger 6, and control the opening and closing of finger 6 by the action of cylinder 1, capture and unclamp workpiece, realize the transfer of workpiece, sense switch 7 is fixed on the outer wall of the housing of cylinder 1, and the contact of sense switch is positioned at the stroke of displacement disc, alarm signal is sent after touching displacement disc 5, namely when grabbing workpiece, the bottom of displacement disc 5 first contacts workpiece, and move up along guide pillar 3 under the pressing of workpiece, if the supply height of workpiece is higher than the safe altitude of finger 6, displacement disc 5 will encounter sense switch 7 in uphill process, sense switch 7 sends alarm signal immediately, and make finger 6 stop grasping movement, paw 7 and workpiece is avoided to collide.
Further, displacement disc 5 is propeller-type, propeller-type displacement disc 5 comprises multiple equally distributed blade, space between blade and blade is for providing space when paw realizes grasping movement, facilitate the crawl of paw, each blade is equipped with a through hole 50, through hole 50 coordinates with guide pillar 3, ensures that displacement disc moves up and down along guide pillar 3.
Further, 5 number of blade 3 of propeller-type displacement disc, the quantity of guide pillar is 3, as shown in Figure 4,3 blades are uniformly distributed, and form one three trouble shape, and the end of 3 blades of the displacement disc 5 of three trouble shapes is respectively provided with a through hole 50, for wearing 3 guide pillars, the plane that the displacement disc 5 of three trouble shapes is determined is more stable.
Further, the housing of cylinder 1 or the outer wall of mount pad are provided with retainer ring 2, retainer ring 2 is made up of two semicircles in the present embodiment, two semicircles cooperations are stuck on the outer wall of cylinder 1, guide pillar 3 and sense switch 7 are all fixed on retainer ring 2, for the movement of displacement disc 5 provides fulcrum, as long as ensure that displacement disc 5 just moves up when being subject to the pressure of workpiece, it should be noted that, retainer ring is the effect that fulcrum is played in the movement of displacement disc, so the form of retainer ring can have a variety of, can be 3 pieces of otic placodes of circumferentially direction protrusion on the outer wall of cylinder shell, match with the position of guide pillar in the position of otic placode, ensure that guide pillar is parallel with the piston rod of cylinder.
Further, retainer ring 2 with the relevant position of the through hole 50 of each blade on be provided with screwed hole, guide pillar 3 is screw, and screw is through the screwed hole threaded engagement after the through hole 50 on blade and on retainer ring 2.
Further; this anti-collision protective device also comprises back-moving spring 4; back-moving spring 4 is connected between described retainer ring 2 and displacement disc 5; when the pressure that displacement disc 5 is subject to workpiece moves up; back-moving spring 4 is in compressive state, and when displacement disc is separated with workpiece, back-moving spring 4 resets; displacement disc 5 is driven to get back to original position, the detection before next time capturing.
Further, back-moving spring 4 is multiple, and multiple back-moving spring 4 along the distribution of retainer ring circumference, and is separately positioned on the periphery of multiple guide pillar 3.In the present embodiment, the number of back-moving spring 4 is 3, each back-moving spring 4 is wrapped in the periphery of guide pillar 3, back-moving spring 4 generally selects light spring, displacement disc 5 is after being subject to the pressing of workpiece, the deflection of back-moving spring 4 is less, less to the elastic force of displacement disc 5, facilitate finger 6 from the below grabbing workpiece of displacement disc 5.
Further, the center of the bottom of displacement disc 5 is also provided with liner 8, collide for preventing workpiece and displacement disc 5, liner 8 is for being provided with the stairstepping liner of screwed hole, the screwed hole at sunk screw and the screwed hole on notch cuttype liner and displacement disc center coordinates and is fixed on below displacement disc 5 by liner 8, during grabbing workpiece, liner 8 elder generation and absorption surface, avoid producing when displacement disc 5 and absorption surface colliding, if the surface finish requirements of workpiece to be captured is higher, possibly damage is caused to surface of the work when displacement disc 5 directly contacts with workpiece, so need to add liner 8, liner 8 is generally selected to adopt the softer materials such as rubber to make.
Further, cylinder 1 is provided with inductive switch, for detecting and controlling grasping movement, inductive switch also controls when to capture with the relative position of finger 6 for detecting workpiece.
Further, the number of blade of the propeller-type displacement disc in the utility model is not limited to 3, more than 3, but when the number of blade is more, can also will be subject to the impact of blade during paw grabbing workpiece, reasonably will arrange the quantity of blade as the case may be.When manipulator needs grabbing workpiece, the displacement disc 5 being provided with liner 8 first contacts workpiece, displacement disc 5 moves up along guide pillar 3 under the pressure of workpiece, if during the safe altitude of supply height higher than finger 6 of workpiece, displacement disc 5 will encounter sense switch 7, sense switch 7 sends alarm signal, and make manipulator stop grasping movement, when crawl completes, finger 6 unclamps workpiece, pressure releases on displacement disc 5, displacement disc 5 gets back to original position under the effect of back-moving spring 4, the detection before can next time capturing.
Embodiment two
As shown in Figure 5, the manipulator that the present embodiment provides is similar to embodiment one, its same section repeats no more, the distinctive points of the two is, the displacement disc 5 of the present embodiment is disk, position corresponding with finger on disk is provided with scallop hole 51, finger is through scallop hole 51, can be movable in scallop hole 51, complete grasping movement, the circumference of disk is distributed with multiple through hole equably, the plane namely between each scallop hole is arranged through hole 50, multiple through hole 50 coordinates with multiple guide pillar 3 respectively, and displacement disc 5 is moved up and down along guide pillar 3.Further, in the present embodiment, the quantity of scallop hole 51 is 3, so plane between 3 scallop holes 51 was last be provided with a through hole 50, that is 3 through holes coordinated with guide pillar 50 are provided with altogether, it should be noted that, in the utility model, the quantity of scallop hole 51 is not limited to 3, quantity according to finger is determined, the quantity of guide pillar 3 is also not limited to 3, but when the negligible amounts of guide pillar 3, be not easy to limit displacement disc 5 place plane, then there is no need completely when guide pillar 3 quantity is more, waste can be caused, the quantity of guide pillar reasonably can be set according to the quantity of manipulator finger.
In sum, the manipulator that the utility model provides, add anticollision device, collision-prevention device on the basis of existing technology, when making the safe altitude of supply height higher than mechanical paw when workpiece, sense switch is reported to the police, grasping movement stops, and ensure that and is capturing between process mechanism paw and workpiece and can not collide.
Last it is noted that above embodiment is only in order to illustrate the technical solution of the utility model, be not intended to limit; Although be described in detail the utility model with reference to previous embodiment, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of each embodiment technical scheme of the utility model.
Claims (9)
1. a manipulator, is characterized in that: comprising: paw, cylinder and anticollision device, collision-prevention device; Described paw comprises mount pad and finger, and described mount pad is connected with the cylinder body front end of cylinder, and described mount pad is provided with the swing arm hinged with it, and one end of described swing arm is connected with finger, and the other end of described swing arm is connected with the piston rod of described cylinder; Described anticollision device, collision-prevention device comprises: sense switch, displacement disc and Duo Gen guide pillar; Many described guide pillars and described piston rod are arranged in parallel, and on the housing that described in every root, guide pillar one end is fixed on cylinder or mount pad, the other end of guide pillar is provided with positive stop lug boss; Described displacement disc is movably enclosed within many described guide pillars, and described sense switch is fixed on the outer wall of the housing of described cylinder, and the contact of described sense switch is arranged in the stroke of described displacement disc, after touching displacement disc, send alarm signal.
2. manipulator according to claim 1, is characterized in that: described displacement disc is propeller shape, and described propeller shape displacement disc comprises multiple equally distributed blade, and each described blade is equipped with a through hole, described through hole coordinates with described guide pillar.
3. manipulator according to claim 1, it is characterized in that: described displacement disc is disk, the described disk position corresponding to described finger is provided with scallop hole, and the circumference of described disk is evenly distributed with multiple through hole, and multiple described through hole coordinates with multiple described guide pillar.
4. manipulator according to Claims 2 or 3, is characterized in that: the quantity of described guide pillar is 3.
5. manipulator according to claim 4, is characterized in that: the housing of described cylinder or the outer wall of mount pad are provided with retainer ring, and described guide pillar and sense switch are all fixed on described retainer ring.
6. manipulator according to claim 5, is characterized in that: also comprise back-moving spring, described back-moving spring is connected between described retainer ring and described displacement disc.
7. manipulator according to claim 6, is characterized in that: described back-moving spring is multiple, and multiple described back-moving spring distributes along the circumference of described retainer ring.
8. the manipulator according to Claims 2 or 3, is characterized in that: the center of the bottom of described displacement disc is also provided with liner, collides for preventing workpiece and displacement disc.
9. manipulator according to claim 8, is characterized in that: described liner is fixedly connected with by screw thread with described displacement disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520570516.XU CN204893991U (en) | 2015-07-31 | 2015-07-31 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520570516.XU CN204893991U (en) | 2015-07-31 | 2015-07-31 | Manipulator |
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| CN204893991U true CN204893991U (en) | 2015-12-23 |
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| CN201520570516.XU Active CN204893991U (en) | 2015-07-31 | 2015-07-31 | Manipulator |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619453A (en) * | 2016-03-28 | 2016-06-01 | 李伦锦 | Collision protection device |
| CN105773662A (en) * | 2016-04-27 | 2016-07-20 | 深圳欧斯普瑞智能科技有限公司 | Anti-collision reset device |
| CN109514604A (en) * | 2018-12-28 | 2019-03-26 | 德是正(苏州)智能科技有限公司 | A kind of gantry-type mechanical arm anti-collision protection device |
| CN109702226A (en) * | 2017-10-25 | 2019-05-03 | 深圳市炫硕智造技术有限公司 | Paw device |
| CN110696019A (en) * | 2019-08-29 | 2020-01-17 | 芜湖瑞思机器人有限公司 | Robot tail end bottle clamping and overturning device |
| CN111203911A (en) * | 2020-02-25 | 2020-05-29 | 广东博智林机器人有限公司 | Linear motion execution device and reinforcing steel bar processing equipment |
| CN112692533A (en) * | 2020-12-16 | 2021-04-23 | 杭州徐睿机械有限公司 | Robot floating holding deviation rectifying fine throwing mechanism and operation method thereof |
| CN113816127A (en) * | 2021-07-09 | 2021-12-21 | 杭州君辰机器人有限公司 | Clamping mechanism |
| CN114248286A (en) * | 2022-01-14 | 2022-03-29 | 湖南视比特机器人有限公司 | End effector, control method of end effector, and sorting system |
| CN115055935A (en) * | 2022-08-04 | 2022-09-16 | 杭州泰尚智能装备有限公司 | Piston assembly assembling tool |
-
2015
- 2015-07-31 CN CN201520570516.XU patent/CN204893991U/en active Active
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619453B (en) * | 2016-03-28 | 2017-07-07 | 浙江德昱汽车零部件有限公司 | Impact protection apparatus |
| CN105619453A (en) * | 2016-03-28 | 2016-06-01 | 李伦锦 | Collision protection device |
| CN105773662A (en) * | 2016-04-27 | 2016-07-20 | 深圳欧斯普瑞智能科技有限公司 | Anti-collision reset device |
| CN109702226A (en) * | 2017-10-25 | 2019-05-03 | 深圳市炫硕智造技术有限公司 | Paw device |
| CN109514604A (en) * | 2018-12-28 | 2019-03-26 | 德是正(苏州)智能科技有限公司 | A kind of gantry-type mechanical arm anti-collision protection device |
| CN109514604B (en) * | 2018-12-28 | 2023-09-19 | 德是正(苏州)智能科技有限公司 | Portal manipulator anti-collision protection device |
| CN110696019B (en) * | 2019-08-29 | 2022-12-06 | 芜湖瑞思机器人有限公司 | Robot tail end bottle clamping and overturning device |
| CN110696019A (en) * | 2019-08-29 | 2020-01-17 | 芜湖瑞思机器人有限公司 | Robot tail end bottle clamping and overturning device |
| CN111203911A (en) * | 2020-02-25 | 2020-05-29 | 广东博智林机器人有限公司 | Linear motion execution device and reinforcing steel bar processing equipment |
| CN112692533A (en) * | 2020-12-16 | 2021-04-23 | 杭州徐睿机械有限公司 | Robot floating holding deviation rectifying fine throwing mechanism and operation method thereof |
| CN113816127A (en) * | 2021-07-09 | 2021-12-21 | 杭州君辰机器人有限公司 | Clamping mechanism |
| CN114248286A (en) * | 2022-01-14 | 2022-03-29 | 湖南视比特机器人有限公司 | End effector, control method of end effector, and sorting system |
| CN115055935A (en) * | 2022-08-04 | 2022-09-16 | 杭州泰尚智能装备有限公司 | Piston assembly assembling tool |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A kind of manipulator Effective date of registration: 20210401 Granted publication date: 20151223 Pledgee: Xi'an innovation financing Company limited by guarantee Pledgor: SHAANXI OBOTR AUTOMATION TECHNOLOGY Co.,Ltd. Registration number: Y2021990000296 |
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| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 710000 No. 16, Shanglinyuan Third Road, high tech Zone, Xi'an, Shaanxi Patentee after: Shaanxi nobet Automation Technology Co.,Ltd. Address before: 710075 No. six, No. 46, hi tech Zone, Xi'an hi tech Zone, Shaanxi Patentee before: SHAANXI OBOTR AUTOMATION TECHNOLOGY CO.,LTD. |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230828 Granted publication date: 20151223 Pledgee: Xi'an innovation financing Company limited by guarantee Pledgor: SHAANXI OBOTR AUTOMATION TECHNOLOGY CO.,LTD. Registration number: Y2021990000296 |