CN205734904U - A kind of casing catching robot - Google Patents
A kind of casing catching robot Download PDFInfo
- Publication number
- CN205734904U CN205734904U CN201620294044.4U CN201620294044U CN205734904U CN 205734904 U CN205734904 U CN 205734904U CN 201620294044 U CN201620294044 U CN 201620294044U CN 205734904 U CN205734904 U CN 205734904U
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- CN
- China
- Prior art keywords
- ambulatory splint
- strap
- atmospheric pressure
- casing
- pressure pole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
A kind of casing catching robot, refers to a kind of mechanical hand based on Cartesian robot.Including the strap installed on the connecting arm and fixed plate, pneumatic cylinder and atmospheric pressure pole, guide rod and guide pin bushing；Ambulatory splint is fixing with atmospheric pressure pole to be connected, and can reciprocatingly move with atmospheric pressure pole, and guide rod can move with ambulatory splint, and guide rod and guide pin bushing play the effect of guide rail and support.Two gripping dishes are symmetrically mounted on strap and ambulatory splint, and servomotor drives gripping disc spins by Timing Belt.Direct acting pressure valve and solenoid controlled directional control valve are arranged on strap top, are connected with pneumatic cylinder by air hose, control the flexible of atmospheric pressure pole and the gripping dynamics of gripping dish.This structure can realize the casing of the sizes placed in the plane is captured and adjusted attitude, and places casing by the position and attitude of regulation.
Description
Technical field
This utility model: a kind of casing catching robot, relates to technical field of automation equipment, especially relates to a kind of base
In the mechanical hand of Cartesian robot, the various sizes of casing being placed on plane can be captured and the upset of 360 degree,
And place by the position and attitude of regulation.
Background technology
In the batch production process of product, the biggest for the carrying of casing and the work requirements amount of automatic loading/unloading.
Owing to Cartesian robot has simple in construction, a technology maturation, the advantage such as easy to control and low cost, in automated production
Journey is applied widely.Cartesian robot is capable of the movement of the big distance of three degree of freedom, solves main equipment
Between, need between station, between workshop and storage carry product problem.The mechanical hand having motility is rectangular coordinate machine
Device people realizes the key point of different carrying function.For the crawl of casing, although having had gripping, having adsorbed and the difference such as picking-up
The mechanical hand of working method, it is possible to realize capturing function, but for position, different size and the placing attitude etc. of casing, energy
Enough positioning, automatically adjust gripping width, the mechanical hand of upset according to the rules attitude placement is the most rare.Therefore research one
Kind it is easy to location, upset and automatically to adjust the casing catching robot of gripping width significant.
Summary of the invention
This utility model: a kind of casing catching robot, can capture casing, 360 degree of upsets at any angle,
And pose is placed according to the rules.During present invention can apply to automated production, solve material former to casing or solid
The carrying expected and the problem put.
A kind of casing catching robot, the technical scheme of employing is: capture casing based on Cartesian robot
With the mechanical hand placed.It is characterized in that: include the linking arm 1 that the rotating mechanical arm with Cartesian robot is connected, peace
The strap 2 being contained on linking arm 1, is arranged on the fixed plate 3 below strap 2, is arranged on strap 2 and fixed plate
Pneumatic cylinder 4 between 3 and two guide pin bushings 5, two guide rods 6 being connected with two guide pin bushings 5；One end of said two guide rod 6 can
Sliding in two guide pin bushings 5, the other end is connected with two sleeves 7 respectively, and said two sleeve 7 is welded on ambulatory splint 8, lives
Dynamic clamping plate 8 are parallel to each other with strap 2.Also include the atmospheric pressure pole 9 being arranged on ambulatory splint 8, another of described atmospheric pressure pole 9
End is connected with pneumatic cylinder 4.Also including the servomotor 10 being arranged on strap 2, described servomotor 10 passes through Timing Belt
11 drive synchronization wheel 12 rotation.It is additionally included on strap 2 and ambulatory splint 8 two the gripping dishes 13 being respectively symmetrically installation.
Also include the Pneumatic control circuit being arranged on strap 2.
Described Pneumatic control circuit comprises air hose 14, direct acting pressure valve 15, solenoid controlled directional control valve 16 and pneumatic cylinder
4.Solenoid controlled directional control valve 16 is connected by air hose 14 with direct acting pressure valve 15, solenoid controlled directional control valve 16 and pneumatic cylinder 4
Two ends be connected by air hose 14.
Described pneumatic cylinder 4 and guide pin bushing 5 are arranged between strap 2 and fixed plate 3, on strap 2 and fixed plate 3 all
There is the mounting groove of axle sleeve 5, fixed plate 3 has atmospheric pressure pole 9 and the through hole of guide rod 6.Ambulatory splint 8 by atmospheric pressure pole 9 and guide rod 6 with
Fixed plate 3 is connected, and atmospheric pressure pole 9 drives ambulatory splint 8 to move back and forth in the horizontal direction, is fixed on ambulatory splint 8 by nut
On guide rod 6 slide in guide pin bushing 5, play the effect of guide rail and support.
Said two guide rod (6) is symmetrically distributed in the upper end of atmospheric pressure pole (9), and is parallel to each other with atmospheric pressure pole (9), two
One end interference hot jacket of guide rod 6 is in sleeve 7, and the end face of guide rod 6 aligns with sleeve 7 end face.Sleeve 7 is wide beyond ambulatory splint 8
The surplus of degree is symmetrical centered by ambulatory splint 8.
Described servomotor 10 is connected fixing by electric motor end cap with strap 2, and servomotor 10 is by Timing Belt 11
It is connected with Tong Bu wheel 12, drives gripping dish 13 to realize 360 degree of rotations to casing, and the pose pair that could dictate that by fixed drive ratio
Casing is placed.Two gripping dishes 13 are attached with strap 2 and ambulatory splint 8 respectively by bearing, bearing two ends
Dust-proof end cap is installed.
The beneficial effects of the utility model:
1. this utility model: a kind of casing catching robot, can be under the control of Cartesian robot, to horizontal positioned
The square box of any attitude or solid labor and materials capture, grasp width can be adjusted in the range of certain size, to crawl
Casing carry out binary 360 degree of upsets, adjust casing attitude, then according to casing is put by the position and attitude of regulation
Put.
2. this utility model uses guide rod and guide pin bushing as guide rail and supporting construction, compares conventional sliding rail structure,
Mechanical strength is higher, more compact structure, and job stability is higher.
3. this utility model can also manually regulate direct acting pressure valve regulation air pressure cylinder pressure, it is achieved grabs
The regulation of power taking, it is adaptable to the crawl of Different Weight casing.The stroke of design pneumatic cylinder is longer, expands grasp width regulation
Scope.
Accompanying drawing explanation
Accompanying drawing 1 is the front view of mechanical hand.
Accompanying drawing 2 is the top view of mechanical hand.
Detailed description of the invention
Below in conjunction with accompanying drawing, operation principle of the present utility model is elaborated.
Detailed description of the invention one: as it is shown in figure 1, a kind of casing catching robot, be arranged on the rotation of Cartesian robot
The end of favourable turn mechanical arm.Cartesian robot, by along the movement of XYZ axle and rotation about the z axis, controls mechanical hand arrival and refers to
Determine crawl position and capture angle.Solenoid controlled directional control valve controls atmospheric pressure pole by pneumatic cylinder, drives ambulatory splint to do level past
Multiple mobile, the gripping width of adjustable mechanical hands.Ambulatory splint drives guide rod to slide in guide pin bushing by sleeve, guide rod and guide pin bushing
Play the effect of guide rail and support.Two pairs of guide rods and guide pin bushing are parallel to each other.Guide rod is solid by the sleeve being fixed on ambulatory splint
Fixed, sleeve is symmetrically extended and is arranged on ambulatory splint, and sleeve and guide rod interference hot jacket are fixed together.
Direct acting pressure valve and solenoid controlled directional control valve are by hose connection, and solenoid controlled directional control valve passes through flexible pipe and pneumatic cylinder
Connect, as shown in Figure 2.Direct acting pressure valve and solenoid controlled directional control valve are all arranged on the upper arm of strap, manually regulate direct acting
Air relief valve, can change the gas pressure in pneumatic cylinder, the grasp force of regulation mechanical hand, it is achieved the crawl to Different Weight casing.
Detailed description of the invention two: Cartesian robot controls mechanical hand and moves to crawl position set in advance, machinery
Arm rotates to an angle so that the gripping face of two gripping dishes contacts with the two of casing planes of symmetry, Cartesian robot
Adjust the height of mechanical hand again so that the axis of rotation of two gripping dishes overlaps with the centrage of two planes of symmetry of casing.Pneumatic
Control loop works, complete the crawl to casing according to detailed description of the invention one.
Actively gripping dish is connected with strap by bearing, and bearing two ends are fitted with dust-proof end cap.Servomotor leads to
Cross hold-down support to be arranged on strap.Servomotor works, and drives the synchronization on active gripping dish axle to take turns by Timing Belt
Rotate, control actively to grip the angle that disc spins is certain by stable drive ratio.Casing and the same angle of driven gripping dish servo rotary
Degree, it is achieved the rotation to casing one degree of freedom, by Cartesian robot control linking arm rotate, can realize casing another
The rotation of individual degree of freedom so that crawled casing is adjusted to regulation attitude.Finally, by the control of Cartesian robot, complete
The movement of paired casing and the placement of assigned position attitude.
Claims (5)
1. a casing catching robot, it is characterised in that: include what the rotating mechanical arm with Cartesian robot was connected
Linking arm (1), the strap (2) being arranged on linking arm (1), it is arranged on the fixed plate (3) of strap (2) lower section, peace
The pneumatic cylinder (4) being contained between strap (2) and fixed plate (3) and two guide pin bushings (5), be connected with two guide pin bushings (5)
Two guide rods (6)；Can slide in two guide pin bushings (5) in one end of said two guide rod (6), the other end respectively with two sleeves
(7) being connected, said two sleeve (7) is welded on ambulatory splint (8), and ambulatory splint (8) is parallel to each other with strap (2)；
Also including the atmospheric pressure pole (9) being arranged on ambulatory splint (8), the other end of described atmospheric pressure pole (9) is connected with pneumatic cylinder (4)；Also
Including the servomotor (10) being arranged on strap (2), described servomotor (10) is driven by Timing Belt (11) and synchronizes
Wheel (12) rotates；It is additionally included on strap (2) and ambulatory splint (8) two the gripping dishes (13) being respectively symmetrically installation；Also
Including the Pneumatic control circuit being arranged on strap (2).
2. a kind of casing catching robot described in claim 1, it is characterised in that: it is soft that described Pneumatic control circuit comprises air pressure
Pipe (14), direct acting pressure valve (15), solenoid controlled directional control valve (16) and pneumatic cylinder (4)；Solenoid controlled directional control valve (16) and direct acting
Air relief valve (15) is connected by air hose (14), and solenoid controlled directional control valve (16) and the two ends of pneumatic cylinder (4) are soft by air pressure
Pipe (14) is connected.
3. a kind of casing catching robot described in claim 1, it is characterised in that: described sleeve (7) exceeds ambulatory splint (8)
The surplus of width is symmetrical centered by ambulatory splint (8)；One end interference hot jacket of two guide rods (6), in sleeve (7), is led
The end face of bar (6) aligns with sleeve (7) outer face.
4. a kind of casing catching robot described in claim 1, it is characterised in that: said two guide rod (6) is symmetrically distributed in
The upper end of atmospheric pressure pole (9), and be parallel to each other with atmospheric pressure pole (9), described atmospheric pressure pole (9) is fixed on ambulatory splint by nut
(8) on, ambulatory splint (8) can be driven to move back and forth in the horizontal direction, two guide rods (6) being fixed on ambulatory splint (8) can
To slide in guide pin bushing (5), guide rod and guide pin bushing play the effect of guide rail and support.
5. a kind of casing catching robot described in claim 1, it is characterised in that: said two gripping dish (13) passes through bearing
Connecting and be connected with ambulatory splint (8) and fixed plate (3) respectively, bearing two ends are provided with dust-proof end cap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620294044.4U CN205734904U (en) | 2016-04-11 | 2016-04-11 | A kind of casing catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620294044.4U CN205734904U (en) | 2016-04-11 | 2016-04-11 | A kind of casing catching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205734904U true CN205734904U (en) | 2016-11-30 |
Family
ID=57373864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620294044.4U Expired - Fee Related CN205734904U (en) | 2016-04-11 | 2016-04-11 | A kind of casing catching robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205734904U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638034A (en) * | 2018-06-04 | 2018-10-12 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of robotic gripping device |
| CN108656095A (en) * | 2018-05-15 | 2018-10-16 | 常州信息职业技术学院 | A kind of new electronic control manipulator |
| CN110465922A (en) * | 2019-08-02 | 2019-11-19 | 合肥嘉东光学股份有限公司 | A kind of plated film parts convenient for substrate automatic turning |
| CN110775613A (en) * | 2019-11-05 | 2020-02-11 | 佛山市广协环保科技有限公司 | Inside baffle of sewage filtration box snatchs placement machine and constructs |
| CN110844073A (en) * | 2019-11-28 | 2020-02-28 | 华新方 | Throwing device applied to unmanned aerial vehicle rescue and throwing method thereof |
| CN112173697A (en) * | 2020-09-30 | 2021-01-05 | 闽江学院 | Nylon spinning cake counting and carrying device |
| CN113334420A (en) * | 2021-05-18 | 2021-09-03 | 广州市顺通达物流供应链有限公司 | Manipulator intelligent robot presss from both sides and gets device with collection dirt function |
-
2016
- 2016-04-11 CN CN201620294044.4U patent/CN205734904U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656095A (en) * | 2018-05-15 | 2018-10-16 | 常州信息职业技术学院 | A kind of new electronic control manipulator |
| CN108638034A (en) * | 2018-06-04 | 2018-10-12 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of robotic gripping device |
| CN110465922A (en) * | 2019-08-02 | 2019-11-19 | 合肥嘉东光学股份有限公司 | A kind of plated film parts convenient for substrate automatic turning |
| CN110775613A (en) * | 2019-11-05 | 2020-02-11 | 佛山市广协环保科技有限公司 | Inside baffle of sewage filtration box snatchs placement machine and constructs |
| CN110844073A (en) * | 2019-11-28 | 2020-02-28 | 华新方 | Throwing device applied to unmanned aerial vehicle rescue and throwing method thereof |
| CN112173697A (en) * | 2020-09-30 | 2021-01-05 | 闽江学院 | Nylon spinning cake counting and carrying device |
| CN112173697B (en) * | 2020-09-30 | 2022-05-24 | 闽江学院 | Nylon spinning cake counting and carrying device |
| CN113334420A (en) * | 2021-05-18 | 2021-09-03 | 广州市顺通达物流供应链有限公司 | Manipulator intelligent robot presss from both sides and gets device with collection dirt function |
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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: 20161130 Termination date: 20180411 |