CN206265398U - A kind of loudspeaker capture robot hand automatically - Google Patents
A kind of loudspeaker capture robot hand automatically Download PDFInfo
- Publication number
- CN206265398U CN206265398U CN201621228168.9U CN201621228168U CN206265398U CN 206265398 U CN206265398 U CN 206265398U CN 201621228168 U CN201621228168 U CN 201621228168U CN 206265398 U CN206265398 U CN 206265398U
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- CN
- China
- Prior art keywords
- loudspeaker
- robot hand
- supporting plate
- push rod
- capture
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Abstract
A kind of loudspeaker capture robot hand automatically, and the loudspeaker capture robot hand automatically includes the supporting plate being fixedly connected in robot, and being removably arranged on the supporting plate is used for the adsorption structure of adsorption paper support, and the magnetic structure for adsorbing loudspeaker；The adsorption structure includes sucker and promotes the second flexible push rod of the adsorption structure, second push rod to be socketed in the second loop bar of scalable described second push rod with cylinder.Realize loudspeaker and upload the crawl sent, the full automatic working carried and case from conveyer belt, save substantial amounts of artificial and labour, and be obviously improved production efficiency；Automatic crawl loudspeaker are not only realized, but also accomplishes the paper support of automatic crawl dress loudspeaker；Whole process realizes the automation of operation using the control system with signal detection and sensing element；Single can be reached by changing structure and carries loudspeaker quantity, improve efficiency.
Description
Technical field
The utility model is related to a kind of loudspeaker crawl robot hand.
Background technology
Traditional loudspeaker vanning stacking relies on artificial stacking, the loudspeaker that will have been produced putting into the paper support specified one by one
In grid, thus speed and efficiency are all not high enough, to ensure large-scale batch production, will increase cost of labor；Now
The paw of the robot used by manufacture field cannot be used directly for the crawl and stacking of loudspeaker, and general robot is to enable in fact
Existing loudspeaker are captured and put, and can't be realized aspect is accurately positioned.Replace manually operating using robot and also to realize machine
Paper support is deposited into specified location and is accurately positioned by people, therefore, there are currently no a kind of paper that can capture loudspeaker and dress loudspeaker
Support, can guarantee that the robot hand being placed in paper support of loudspeaker accurate positioning again.
In terms of the vanning and the stacking whole flow process that replace being accomplished manually loudspeaker, it would be desirable to design a kind of automation equipment system
System, can realize loudspeaker automatically deliver, by robot by loudspeaker fill piling box, being automatically positioned of paper support, robot carry paper support,
Paper support automatic push and stacking etc. are a series of to be automatically brought into operation process；In whole process, not only need realization to be automatically brought into operation, also
Ask the accurate of operation, accurate positioning, with detecting and the function such as automatically control.The utility model is wished design and can be solved
Wherein one or more problems.
Utility model content
In order to overcome the above-mentioned deficiency of prior art, the purpose of this utility model is to provide one kind to realize automatic transporting
Loudspeaker are simultaneously accurately positioned vanning, and automatic accurate detection acts the robot hand of situation in place.
The utility model realizes that the technical scheme of above-mentioned purpose is：
A kind of loudspeaker capture robot hand automatically, and the loudspeaker capture robot hand automatically to be included being fixedly connected on machine
Supporting plate on device people, being removably arranged on the supporting plate is used for the adsorption structure of adsorption paper support, and absorption loudspeaker
Magnetic structure；The adsorption structure includes sucker and promotes the second flexible push rod of the adsorption structure, and described second pushes away
Rod set is connected in the second loop bar of scalable described second push rod with cylinder.
The tension structure for being tensioned paper support grid is additionally provided with the supporting plate；The tension structure include with it is described
The concentric slotted disk of magnetic structure, the length being flexibly connected with the slotted disk promotes institute slightly larger than the locating rod of the magnetic structure
State the first push rod of slotted disk rotation and with cylinder and promote reciprocating first loop bar of first push rod；The slotted disk
The supporting plate upside is movably connected in, multiple traction grooveds concentric with the slotted disk, the positioning are provided with the slotted disk
Bar is movably connected in the traction grooved；First loop bar is fixed on the supporting plate；It is further opened with the supporting plate
Gathering sill for limiting the positioning throw of lever, the gathering sill is linear.
The tension structure also includes the guiding rail set near the traction grooved, is provided with the locating rod and institute
The guiding pair of guiding rail socket is stated, the follower pin being movably connected in the traction grooved is fixed with the guiding pair, it is described
Guiding pair is moved in the set rectilinear path of restriction lower edge of the guiding rail, and limits the movement locus of the locating rod.
The downside of the supporting plate is provided with multiple corner brackets for supporting infrared radiation detection apparatus, with the magnetic knot on the corner bracket
The infrared radiation detection apparatus are provided with the same plane of structure end；The both sides of any magnetic structure are symmetrical at least provided with two
The infrared radiation detection apparatus of distribution, any infrared radiation detection apparatus electrically connect the switch board.
The tension structure is one or the multiple being set up in parallel；When the tension structure is multiple, in any groove
The follower lever for connecting multiple slotted disks is hinged with disk.
The tension structure is one or more；
It is fixed with the supporting plate for reinforcing the reinforcing disk that the supporting plate is connected with the robot, the reinforcing
Disk and the slotted disk coaxial inner conductor.
The magnetic structure includes upper cavity and lower chamber, and the upper cavity and the lower chamber are fastenedly connected；Described
Cylinder block is provided with upper cavity and the cylinder push-rod of reciprocating T-shaped structure is promoted by the cylinder block, in institute
State and magnetite is provided with lower chamber, the magnetite is fixed on the cylinder push-rod, the cylinder block electrically connects switch board.
The bottom end face of the lower chamber is the tool of sealing, and the tool can be matrix or plane.
The robot electrically connects the switch board, and first loop bar electrically connects the switch board, second loop bar
The switch board is electrically connected, any adsorption structure electrically connects the switch board.
The utility model has following beneficial effect compared with prior art：
Realize loudspeaker and upload the crawl sent, the full automatic working carried and case from conveyer belt, save substantial amounts of
Artificial and labour, and it has been obviously improved production efficiency；Automatic crawl loudspeaker are not only realized, but also accomplishes automatic crawl dress
The paper support of loudspeaker；Whole process realizes the automation of operation using the control system with signal detection and sensing element；Can
Single is reached by changing structure and carries loudspeaker quantity, improve efficiency.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model；
Fig. 2 is dimensional structure diagram of the present utility model；
Fig. 3 is dimensional structure diagram of the present utility model；
Fig. 4 is magnetic structure sectional view；
Fig. 5 is adsorption structure schematic perspective view；
Fig. 6 is the overall schematic of the utility model corresponding device.
Specific embodiment
The utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1：
A kind of reference picture 1, loudspeaker capture robot hand automatically, and the paw is removably to be arranged on robot top
Structure, this loudspeaker captures robot hand automatically includes supporting plate 1, adsorption structure 2, magnetic structure 4, it is preferable that also including opening
Locking structure 3.Reference picture 6, structure of the present utility model is the paw section of robot, play crawl, carry, position and count etc.
Effect.
Reference picture 5, the second push rod 22 that the adsorption structure 2 includes sucker 21 and promotes the adsorption structure 2 to stretch,
Second push rod 22 is socketed in the second loop bar 23 of scalable described second push rod 22 with cylinder.Preferably, it is described
To be arranged at four angles of the supporting plate 1, robot turns to paper support pile top to sucker 21 under the control of switch board,
Second loop bar 23 promotes the second push rod 22 to move downward in the presence of cylinder, drives sucker 21 to move downward, and sucker 21 is close to
During the bottom of squared paper support, robot stopping action being provided with negative pressure catheter in sucker 21, and suction is made by controlling negative pressure magnetic valve
Disk 21 produces negative pressure, by the absorption of paper support on the adsorption structure 2.Negative pressure at any adsorption structure 2 does not reach requirement, inhales
Attached structure 2 can again complete the action of adsorption paper support, and now, paper support is attracted on the paw of robot.Then robot band
Paper support and turn to workbench top, afterwards adsorption structure 2 the sucker 21 that makes of negative pressure closed electromagnetic valve without negative pressure, paper support
Place on the table；Paper support is positioned at commitment positions by the location structure on workbench automatically, it is ensured that the maximum of grid is opened
State and it is accurately positioned.
Referring to figs. 1 to Fig. 3, tension structure 3 and magnetic structure 4 are provided with the supporting plate 1.The tension structure 3 is wrapped
The slotted disk 31 concentric with the magnetic structure 4 is included, the length being flexibly connected with the slotted disk 31 is slightly larger than the magnetic structure 4
Locating rod 32, promotes the first push rod 33 that the slotted disk 31 is rotated and with cylinder and promotes first push rod 33 back and forth to transport
The first dynamic loop bar 34；The slotted disk 31 is movably connected in the upside of the supporting plate 11, be provided with the slotted disk 31 it is multiple with
The concentric traction grooved 35 of the slotted disk 31, the locating rod 32 is movably connected in the traction grooved 35；First loop bar 34
It is fixed on the supporting plate 11；The gathering sill for limiting the stroke of the locating rod 32 is further opened with the supporting plate 11
36, the gathering sill 36 is linear.Preferably, the tension structure 3 is 3, and the tension structure 3 is also included near described
The guiding rail 37 that traction grooved 35 is set, is provided with the guiding pair 38 being socketed with the guiding rail 37 in the locating rod 32,
The follower pin 39 being movably connected in the traction grooved 35 is fixed with the guiding pair 38, the guiding pair 38 is in the guiding
The set rectilinear path motion of restriction lower edge of guide rail 37, and limit the movement locus of the locating rod 32.
Reference picture 6, conveyer belt transmits loudspeaker to transmission end of tape, and robot hand hovers over loudspeaker top, the first push rod
33 the first loop bars 34 of promotion stretch out, and it is dynamic that the first loop bar 34 drives slotted disk 31 to turn around the center of a circle, and the traction grooved 35 on slotted disk 31 drives
Follower pin 39 is rotated；Follower pin 39 is fixedly connected on guiding pair 38, and guiding pair 38 is on guiding rail 37 along the side of guide rail
To translation, the locating rod 32 on guiding pair 38 is limited at the reciprocating motion of the identical conduct direction of same guiding rail 37, locating rod
32 direction of motion is to be close to the center of circle or away from the center of circle, therefore, the flexible of the first push rod 33 realizes being close to or remote for locating rod 32
From the center of circle, the action opened or shrink of tension structure 3 is completed.The length of the locating rod 32 is more than the magnetic structure 4, with
Ensure when loudspeaker magnetic is on the magnetic structure 4, the regular event of locating rod 32.
The magnetic structure 4 includes upper cavity and lower chamber, and the upper cavity and the lower chamber are fastenedly connected；Described
Cylinder block 41 is provided with upper cavity and the cylinder push-rod of reciprocating T-shaped structure is promoted by the cylinder block 41
42, magnetite 43 is provided with the lower chamber, the magnetite 43 is fixed on the cylinder push-rod 42.The bottom of the lower chamber
End surface is the tool 44 of sealing, and the tool 44 can be matrix or plane.Reference picture 4, the cylinder block 41 of magnetic structure 4 is pushed away
Dynamic cylinder push-rod 42 is moved back and forth, and the top of cylinder push-rod 42 secures magnetite 43, when cylinder push-rod 42 is in magnetic structure 4 most
During upper end, away from tool 44, now loudspeaker cannot be adsorbed on paw.Cylinder push-rod 42 promotes magnetite 43 to move to bottom
When, that is, tool 44 being close to, now the energy of magnetite 43 normal sorption loudspeaker, loudspeaker are attracted on magnetic structure 4, and tool 44 can be
Concave surface, or plane with loudspeaker same shape.Preferably, tool 44 is sealing structure, it is ensured that the nothing of magnetic structure 4
Dirt, does not influence it to run, without periodic cleaning.
The downside of the supporting plate 11 is provided with multiple corner brackets 51 for supporting infrared radiation detection apparatus 52, at the angle
On frame 51 infrared radiation detection apparatus 52 are provided with the end same plane of the magnetic structure 4；Any magnetic structure 4
Both sides are at least provided with two symmetrical infrared radiation detection apparatus 52.Infrared radiation detection apparatus 52 are for detecting whether there is loudspeaker to inhale
Whether attached or loudspeaker depart from paw；When loudspeaker are captured, the signal between two infrared radiation detection apparatus 52 is interrupted by loudspeaker, is illustrated as
Work(completes the crawl of loudspeaker, and crawl is otherwise completed again；When loudspeaker are unclamped, the signal between two infrared radiation detection apparatus 52 is
Unimpeded, illustrate to successfully complete opened loudspeaker, complete and loudspeaker are placed into the grid specified.
In the case where the first loop bar 34 drives the first push rod 33 to act on, the locating rod 32 of tension structure 3 is in away from the center of circle paw
State, i.e. open configuration, the magnetite 43 of magnetic structure 4 are near the position of tool 44, and loudspeaker are attracted on paw；It is preferred that
Ground, includes multiple tension structures 3 and magnetic structure 4 on paw, can once capture multiple loudspeaker.Absorption is completed, the first push rod 33
Shrink, drive locating rod 32 close to the center of circle, in contraction state, now locating rod 32 is to approach or be close to state, root in loudspeaker
According to the difference of horn profile, each locating rod 32 may be the same or different with the distance in the center of circle, can change fixed according to concrete shape
The position position of bar 32 and the position of guiding rail 37.Loudspeaker are adsorbed on paw, and robot drives paw to turn to paper support top, paper support
Commitment positions are positioned in, tension structure 3 is in open configuration, the grid of paper support is strutted, then the magnetite 43 of magnetic structure 4
Motion upwards, loudspeaker cannot be adsorbed and dropped in paper support by self gravitation on magnetic structure 4, and infrared radiation detection apparatus 52 detect dynamic
Complete, tension structure 3 is in contraction state, locating rod 32 is moved near the center of circle, and then paw is moved upwards.Whole stroke is complete
Crawl into paper support, put and position, also complete loudspeaker and captured from conveyer belt, accurate place paper feed support.Realize nothing
Need to manually operate, be automatically performed the crawl of loudspeaker and put.
Embodiment 2：Multiple first loop bars 34 are set on the supporting plate 1, and any first loop bar 34 drives the first push rod 33
Move back and forth, any first push rod 33 is hinged on slotted disk 31, i.e., each slotted disk 31 connects first push rod 33, its
Remaining structure is same as Example 1.So setting can realize that first push rod 33 drives a slotted disk 31 to rotate, and then drive
The open-shaped state of any tension structure 3 or contraction state；Can so realize individually controlling the independent crawl of each tension structure 3
Or loudspeaker are decontroled, the quantity that paw is captured each time can be the same or different.
Embodiment 3：The tension structure 3 be one, it is two or more, it is preferable that tension structure 3 be three.Tensioning knot
The quantity of structure 3 is more, can guarantee that the quantity of crawl is more, and efficiency is also higher, but load-bearing is also bigger while capturing excessive, goes out
Also more difficult and adjustment after existing failure, therefore preferably embodiment, tension structure 3 is three.The quantity of the present embodiment is more than
It is limited to three, the tension structure 3 more than three falls within protection domain of the present utility model.
It is provided between multiple slotted disks 31 while be hinged the follower lever 6 of multiple slotted disks 31, by first push rod 33
The slotted disk 31 that driving is hinged therewith, the slotted disk 31 drives follower lever 6 to rotate, and follower lever 6 drives other any slotted disks 31 to move.It is real
Now multiple tension structures 3 are driven to rotate using first push rod 33, i.e., paw can simultaneously capture and release multiple loudspeakers each time
, while synchronous carried out, power consumption is saved, improve efficiency.
The reinforcing disk 7 for reinforcing connection is provided between paw and robot, disk 7 is reinforced and is fixed on paw, made
Obtaining paw can bear larger power and moment of torsion.Remaining structure is same as Example 1.
Implementation method not limited to this of the present utility model, according to the above of the present utility model, using the general of this area
Logical technological know-how and customary means, under the premise of the above-mentioned basic fundamental thought of the utility model is not departed from, the utility model may be used also
To make the modification of other diversified forms, replace or change, all fall within the utility model rights protection scope.
Claims (10)
1. a kind of loudspeaker capture robot hand automatically, it is characterised in that：The loudspeaker capture robot hand automatically to be included admittedly
Surely the supporting plate (1) in robot is connected to, being removably arranged on the supporting plate (1) is used for the absorption knot of adsorption paper support
Structure (2), and adsorb the magnetic structure (4) of loudspeaker；
The adsorption structure (2) is including sucker (21) and promotes flexible the second push rod (22) of the adsorption structure (2), described
Second push rod (22) is socketed in second loop bar (23) of scalable described second push rod (22) with cylinder.
2. a kind of loudspeaker according to claim 1 capture robot hand automatically, it is characterised in that：The supporting plate (1)
On be additionally provided with tension structure (3) for being tensioned paper support grid；The tension structure (3) including with the magnetic structure (4)
Concentric slotted disk (31), the length being flexibly connected with the slotted disk (31) is slightly larger than the locating rod (32) of the magnetic structure (4),
Promote the first push rod (33) that the slotted disk (31) is rotated and with cylinder and promote first push rod (33) to move back and forth
The first loop bar (34)；The slotted disk (31) is movably connected in the supporting plate (1) upside, is provided with the slotted disk (31) many
The individual traction grooved (35) concentric with the slotted disk (31), it is inner that the locating rod (32) is movably connected in the traction grooved (35)；Institute
The first loop bar (34) is stated to be fixed on the supporting plate (1)；
The gathering sill (36) for limiting the locating rod (32) stroke, the gathering sill are further opened with the supporting plate (1)
(36) it is linear.
3. a kind of loudspeaker according to claim 2 capture robot hand automatically, it is characterised in that：The tension structure
(3) also include the guiding rail (37) set near the traction grooved (35), be provided with the locating rod (32) and led with described
The guiding pair (38) of direction guiding rail (37) socket, is fixed with the guiding pair (38) and is movably connected in the traction grooved (35)
Follower pin (39), the guiding pair (38) is moved in the set rectilinear path of restriction lower edge of the guiding rail (37), and limits
The movement locus of the locating rod (32).
4. a kind of loudspeaker according to claim 2 capture robot hand automatically, it is characterised in that：In the supporting plate
(1) downside is provided with multiple corner brackets (51) for supporting infrared radiation detection apparatus (52), on the corner bracket (51) with it is described
The infrared radiation detection apparatus (52) are provided with the same plane of magnetic structure (4) end；The both sides of any magnetic structure (4) are extremely
Two symmetrical infrared radiation detection apparatus (52), any infrared radiation detection apparatus (52) electrical connection switch board are provided with less.
5. robot hand is captured automatically according to a kind of claim 2 to 4 any described loudspeaker, it is characterised in that：Described
Locking structure (3) is one or the multiple being set up in parallel；When the tension structure (3) is multiple, on any slotted disk (31)
It is hinged with the follower lever (6) for connecting multiple slotted disks (31).
6. robot hand is captured automatically according to a kind of claim 2 to 4 any described loudspeaker, it is characterised in that：Described
Locking structure (3) is one or more.
7. a kind of loudspeaker according to claim 2 capture robot hand automatically, it is characterised in that：The supporting plate (1)
On be fixed with for reinforcing the reinforcing disk (7) that the supporting plate (1) is connected with the robot, reinforcing disk (7) with it is described
Slotted disk (31) coaxial inner conductor.
8. a kind of loudspeaker according to claim 1 capture robot hand automatically, it is characterised in that：The magnetic structure
(4) including upper cavity and lower chamber, the upper cavity and the lower chamber are fastenedly connected；Cylinder is provided with the upper cavity
Body (41) and the cylinder push-rod (42) by the cylinder block (41) the reciprocating T-shaped structure of promotion, in the cavity of resorption
Magnetite (43) is provided with vivo, the magnetite (43) is fixed on the cylinder push-rod (42), cylinder block (41) electrical connection
Switch board.
9. a kind of loudspeaker according to claim 8 capture robot hand automatically, it is characterised in that：The bottom of the lower chamber
End surface is the tool (44) of sealing, and the tool (44) can be matrix or plane.
10. a kind of loudspeaker according to claim 3 capture robot hand automatically, it is characterised in that：The robot electricity
Connection switch board, first loop bar (34) electrically connects the switch board, and second loop bar (23) electrically connects the switch board,
Any adsorption structure (2) electrically connects the switch board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621228168.9U CN206265398U (en) | 2016-11-15 | 2016-11-15 | A kind of loudspeaker capture robot hand automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621228168.9U CN206265398U (en) | 2016-11-15 | 2016-11-15 | A kind of loudspeaker capture robot hand automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206265398U true CN206265398U (en) | 2017-06-20 |
Family
ID=59040115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621228168.9U Withdrawn - After Issue CN206265398U (en) | 2016-11-15 | 2016-11-15 | A kind of loudspeaker capture robot hand automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206265398U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428764A (en) * | 2016-11-15 | 2017-02-22 | 广州数控设备有限公司 | Robot gripper for automatically gripping horns |
-
2016
- 2016-11-15 CN CN201621228168.9U patent/CN206265398U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428764A (en) * | 2016-11-15 | 2017-02-22 | 广州数控设备有限公司 | Robot gripper for automatically gripping horns |
| CN106428764B (en) * | 2016-11-15 | 2019-06-21 | 广州数控设备有限公司 | A kind of loudspeaker automatically grab robot hand |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170620 Effective date of abandoning: 20190621 |
|
| AV01 | Patent right actively abandoned |