CN206317068U - automatic mechanical hand - Google Patents
automatic mechanical hand Download PDFInfo
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- CN206317068U CN206317068U CN201621314297.XU CN201621314297U CN206317068U CN 206317068 U CN206317068 U CN 206317068U CN 201621314297 U CN201621314297 U CN 201621314297U CN 206317068 U CN206317068 U CN 206317068U
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- axis
- compression joint
- joint mechanism
- translation mechanism
- axis translation
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Abstract
The utility model provides a kind of automatic mechanical hand, including：Adjustable for height support, X-axis translation mechanism, Y-axis translation mechanism, Z axis compression joint mechanism, Z axis grasping mechanism, pressure detection mechanism, parameter setting mechanism；The upper surface of the support has one along horizontally arranged opening, and length direction of the X-axis translation mechanism along the opening is set；Width of the Y-axis translation mechanism along the opening is set；The Z axis compression joint mechanism is vertically arranged with the plane where the opening, and is translated by direction of the driving along X, Y-axis of the X-axis translation mechanism, Y-axis translation mechanism；The Z axis grasping mechanism is arranged on the end of Z axis compression joint mechanism；The parameter setting mechanism sets X-axis translation mechanism, Y-axis translation mechanism, the mobile route of Z axis compression joint mechanism；The pressure detection mechanism detection Z axis compression joint mechanism drives Z axis grasping mechanism to move to output pressure value when being fitted with target workpiece upper surface.
Description
Technical field
The utility model is related to a kind of automation grabbing device.
Background technology
Often there are some small articles to need quick mobile and accurately put specified position on a production line, and it is right
It carries out the process operations such as some crimping, polishing, and these processes are relied on and had been manually done mostly.Producing supermatic the present
My god, manual speed is slow, and precision can not ensure, cause the workpiece processed to there is no small error, yields ratio
It is relatively low.
Utility model content
Technical problem underlying to be solved in the utility model is to provide a kind of automation grabbing device, simple in construction, fortune
The characteristics of row reliability, highly versatile, the automatic transporting compared with small articles and the full-automatic operation of laminating can be realized, workman is reduced
The amount of labour, improves operating efficiency and yields.
In order to solve above-mentioned technical problem, the utility model provides a kind of automatic mechanical hand, including：Height adjustable
Support, X-axis translation mechanism, Y-axis translation mechanism, Z axis compression joint mechanism, Z axis grasping mechanism, pressure detection mechanism, parameter setting
Mechanism.
The upper surface of the support has one along horizontally arranged opening, and the X-axis translation mechanism is along described
The length direction of opening is set；Width of the Y-axis translation mechanism along the opening is set；The Z axis compression joint mechanism
Be vertically arranged with the plane where the opening, and by the X-axis translation mechanism, Y-axis translation mechanism driving along X, Y-axis
Direction is translated；The Z axis grasping mechanism is arranged on the end of Z axis compression joint mechanism；
The parameter setting mechanism sets X-axis translation mechanism, Y-axis translation mechanism, the mobile route of Z axis compression joint mechanism；Institute
Stating pressure detection mechanism detection Z axis compression joint mechanism, to drive Z axis grasping mechanism to move to defeated when being fitted with target workpiece upper surface
Go out pressure value.
In a preferred embodiment：The parameter setting mechanism includes a console；Pass through the manual control of console input
Signal processed, driving X-axis translation mechanism, Y-axis translation mechanism drive Z axis compression joint mechanism to be moved to the top of target workpiece, and record
The crawl position output umber of pulse of lower X-axis translation mechanism, Y-axis translation mechanism；
The console further inputs manual control signal, drive Z axis compression joint mechanism move down and cause Z axis grasping mechanism and
The upper surface laminating of target workpiece；After being repeated several times, and record the higher limit and lower limit of Z axis compression joint mechanism output pressure value
Value.
X-axis translation mechanism, Y-axis translation mechanism are exported by umber of pulse and the output pressure of Z axis compression joint mechanism by console
The higher limit and lower limit of force value input to form complete complete crawl path command.
In a preferred embodiment：The complete crawl path command refers to：X-axis translation mechanism, Y-axis translate machine first
Structure exports the top that umber of pulse drives Z axis compression joint mechanism to be moved to target workpiece according to the crawl position of setting；Secondly, Z axis pressure
Connection mechanism drives Z axis grasping mechanism to move down, when the output pressure value of Z axis compression joint mechanism is reached between the lower limit and higher limit
During scope, Z axis compression joint mechanism stops moving down；Z axis grasping mechanism captures target workpiece.
Z axis compression joint mechanism to reduce and be moved back into initial position on output pressure value drive Z axis grasping mechanism, and then X-axis is translated
Mechanism, Y-axis translation mechanism export umber of pulse according to the placement position of setting and drive Z axis compression joint mechanism to be moved to target dispensing position
Put；Z axis compression joint mechanism drives Z axis grasping mechanism to move down, when the output pressure value of Z axis compression joint mechanism reaches the lower limit and the upper limit
During scope between value, Z axis compression joint mechanism stops moving down；Z axis grasping mechanism delivers target workpiece.
In a preferred embodiment：The a plurality of complete crawl path command is stored in the console.
In a preferred embodiment：The parameter setting mechanism includes a console and laser orientation system, passes through control
Platform selection target workpiece simultaneously controls the spot location device of laser orientation system to determine the position progress laser where the target workpiece
Position：The X-axis translation mechanism, Y-axis translation mechanism according to the position of hot spot drive Z axis grasping mechanism be moved to in target workpiece
Side.
The console further inputs manual control signal, drives Z axis compression joint mechanism to move down and cause Z axis grasping mechanism
Fitted with the upper surface of target workpiece；After being repeated several times, and record the higher limit and lower limit of Z axis compression joint mechanism output pressure value
Value, so as to form complete complete crawl path command.
In a preferred embodiment：The complete crawl path command refers to：X-axis translation mechanism, Y-axis translate machine first
Structure is moved to the top of target workpiece according to the crawl position hot spot drive Z axis compression joint mechanism of the positioning of spot location device；Secondly,
Z axis compression joint mechanism drives Z axis grasping mechanism to move down, when the output pressure value of Z axis compression joint mechanism reaches the lower limit and higher limit
Between scope when, Z axis compression joint mechanism stop move down；Z axis grasping mechanism captures target workpiece.
Z axis compression joint mechanism to reduce and be moved back into initial position on output pressure value drive Z axis grasping mechanism, and then X-axis is translated
Mechanism, the placement position hot spot of Y-axis translation mechanism spot location device positioning drive Z axis compression joint mechanism to be moved to target and deliver position
Put；Z axis compression joint mechanism drives Z axis grasping mechanism to move down, when the output pressure value of Z axis compression joint mechanism reaches the lower limit and the upper limit
During scope between value, Z axis compression joint mechanism stops moving down；Z axis grasping mechanism delivers target workpiece.
In a preferred embodiment：There is the console touch-screen to be used for the input instructed.
In a preferred embodiment：The X-axis translation mechanism, Y-axis translation mechanism are ball wire rod mechanism.
In a preferred embodiment：The support is provided with support feet downward vertically at four drift angles of openend；Institute
The end for stating support feet is provided with height adjusting nut.
Compared to prior art, the technical solution of the utility model possesses following beneficial effect：
The characteristics of a kind of automatic mechanical hand that the utility model is provided, simple in construction, reliable, versatility, can
The automatic transporting compared with small articles and the full-automatic operation of laminating are realized, workman's amount of labour is reduced, operating efficiency and non-defective unit is improved
Rate.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model preferred embodiment；
Fig. 2 is the utility model preferred embodiment logic control chart.
Embodiment
The utility model is described further below in conjunction with the drawings and specific embodiments.
With reference to Fig. 1, a kind of automatic mechanical hand, including：Adjustable for height support 1, X-axis translation mechanism 2, Y-axis translation machine
Structure 3, Z axis compression joint mechanism 4, Z axis grasping mechanism 5, pressure detection mechanism, parameter setting mechanism 6；
The upper surface of the support 1 has one along horizontally arranged opening 11, and the support 1 is at the end of opening 11
Support feet 12 is provided with downward vertically at four drift angles；The end of the support feet 12 is provided with height adjusting nut 13.From reality
The whole height for having showed support is adjustable, so that suitable for using in the case of various.
The X-axis translation mechanism 2, Y-axis translation mechanism 3 are ball wire rod mechanism.
Length direction of the X-axis translation mechanism 2 along the opening 11 is set；The Y-axis translation mechanism 3 is along described
The width of opening 11 is set；The Z axis compression joint mechanism 4 is vertically arranged with the plane where the opening, and by the X-axis
The direction translation of translation mechanism 2, the driving of Y-axis translation mechanism 3 along X, Y-axis；The Z axis grasping mechanism 5 is arranged on Z axis crimping
The end of mechanism 4；
The parameter setting mechanism 6 sets X-axis translation mechanism 2, Y-axis translation mechanism 3, the mobile road of Z axis compression joint mechanism 4
Footpath；The pressure detection mechanism detection Z axis compression joint mechanism 4 drives Z axis grasping mechanism 5 to move to and fitted with target workpiece upper surface
When output pressure value.
In the present embodiment, the parameter setting mechanism 6 includes a console, and there is the console touch-screen to be used to refer to
The input of order；Manual control signal is inputted by the console, driving X-axis translation mechanism 2, Y-axis translation mechanism 3 drive Z axis pressure
Connection mechanism 4 is moved to the top of target workpiece, and records the crawl position output arteries and veins of X-axis translation mechanism 2, Y-axis translation mechanism 3
Rush number；
The console further inputs manual control signal, drives Z axis compression joint mechanism 4 to move down and causes Z axis grasping mechanism 5
Fitted with the upper surface of target workpiece；After being repeated several times, and the higher limit of the output pressure value of Z axis compression joint mechanism 4 is recorded with
Limit value；
X-axis translation mechanism 2, Y-axis translation mechanism 3 are exported by the defeated of umber of pulse and Z axis compression joint mechanism 4 by console
The higher limit and lower limit for going out pressure value input to form complete crawl path command.
The complete crawl path command refers to：X-axis translation mechanism 2, Y-axis translation mechanism 3 are grabbed according to setting first
The top that output umber of pulse drives Z axis compression joint mechanism 4 to be moved to target workpiece is put in fetch bit；Secondly, Z axis compression joint mechanism 4 drives Z axis
Grasping mechanism 5 is moved down, when the output pressure value of Z axis compression joint mechanism 4 reaches the scope between the lower limit and higher limit, Z axis
Compression joint mechanism 4 stops moving down；Z axis grasping mechanism 5 captures target workpiece；
Z axis compression joint mechanism 4 to reduce and be moved back into initial position on output pressure value drive Z axis grasping mechanism 5, and then X-axis is put down
Telephone-moving structure 2, Y-axis translation mechanism 3 export umber of pulse according to the placement position of setting and drive Z axis compression joint mechanism 4 to be moved to target throwing
Put position；Z axis compression joint mechanism 4 drives Z axis grasping mechanism 5 to move down, when the output pressure value of Z axis compression joint mechanism 4 reaches the lower limit
When being worth the scope between higher limit, Z axis compression joint mechanism 4 stops moving down；Z axis grasping mechanism 5 delivers target workpiece.Thus
The overall process for once capturing and delivering is completed, then repeatedly said process, it is possible to complete the circulation that automatic crawl is delivered.This
For the overall process for controlling+automatically controlling manually.
The a plurality of complete crawl path command is stored in the console.So pass through the specific crawl path of selection
Order, it is possible to realize automatic crawl and dispensing to the target workpiece of diverse location.Thus eliminate the step controlled manually
Suddenly, it is automatic control mode.
In the present embodiment, the parameter setting mechanism 6 also includes laser orientation system, passes through console selection target workpiece
And control the spot location device of laser orientation system to carry out laser positioning to the position where the target workpiece：The X-axis translation
Mechanism 2, Y-axis translation mechanism 3 drive Z axis grasping mechanism 5 to be moved to and target workpiece top according to the position of hot spot；
The console further inputs manual control signal, drives Z axis compression joint mechanism 4 to move down and causes Z axis gripper
Structure 5 is fitted with the upper surface of target workpiece；After being repeated several times, and record the higher limit of the output pressure value of Z axis compression joint mechanism 5 with
Lower limit, so as to form complete crawl path command.
The complete crawl path command refers to：X-axis translation mechanism 2, Y-axis translation mechanism 3 are according to spot location first
The crawl position hot spot drive Z axis compression joint mechanism 4 of the positioning of device is moved to the top of target workpiece；Secondly, Z axis compression joint mechanism 4
Z axis grasping mechanism 5 is driven to move down, when the output pressure value of Z axis compression joint mechanism 4 reaches the scope between the lower limit and higher limit
When, Z axis compression joint mechanism 4 stops moving down；Z axis grasping mechanism 5 captures target workpiece；
Z axis compression joint mechanism 4 to reduce and be moved back into initial position on output pressure value drive Z axis grasping mechanism 5, and then X-axis is put down
Telephone-moving structure, the placement position hot spot of Y-axis translation mechanism spot location device positioning drive Z axis compression joint mechanism 45 to be moved to target dispensing
Position；Z axis compression joint mechanism 4 drives Z axis grasping mechanism 5 to move down, when the output pressure value of Z axis compression joint mechanism 4 reaches the lower limit
During scope between higher limit, Z axis compression joint mechanism 4 stops moving down；Z axis grasping mechanism 5 delivers target workpiece.
It is the process of Based Intelligent Control above.Therefore, manipulator of the present utility model possesses three kinds of mode of operations, can be applicable
Select to use in the case of a variety of.
The above, only the utility model preferably embodiment, but design concept of the present utility model is not
This is confined to, any one skilled in the art utilizes this design in the technical scope that the utility model is disclosed
The change of unsubstantiality is carried out to the utility model, belongs to invade the behavior of the utility model protection domain.
Claims (9)
1. a kind of automatic mechanical hand, it is characterised in that including：Adjustable for height support, X-axis translation mechanism, Y-axis translation mechanism,
Z axis compression joint mechanism, Z axis grasping mechanism, pressure detection mechanism, parameter setting mechanism；
The upper surface of the support has one along horizontally arranged opening, and the X-axis translation mechanism is along the opening
Length direction set；Width of the Y-axis translation mechanism along the opening is set；The Z axis compression joint mechanism and institute
Plane where stating opening is vertically arranged, and by the X-axis translation mechanism, Y-axis translation mechanism driving along X, the direction of Y-axis
Translation；The Z axis grasping mechanism is arranged on the end of Z axis compression joint mechanism；
The parameter setting mechanism sets X-axis translation mechanism, Y-axis translation mechanism, the mobile route of Z axis compression joint mechanism；The pressure
Tension detection mechanism detection Z axis compression joint mechanism drives Z axis grasping mechanism to move to output pressure when being fitted with target workpiece upper surface
Force value.
2. a kind of automatic mechanical hand according to claim 1, it is characterised in that：The parameter setting mechanism includes a control
Platform processed；Manual control signal is inputted by the console, driving X-axis translation mechanism, Y-axis translation mechanism drive Z axis compression joint mechanism
The top of target workpiece is moved to, and records the crawl position output umber of pulse of X-axis translation mechanism, Y-axis translation mechanism；
The console further inputs manual control signal, drives Z axis compression joint mechanism to move down and cause Z axis grasping mechanism and target
The upper surface laminating of workpiece；After being repeated several times, and record the higher limit and lower limit of Z axis compression joint mechanism output pressure value；
X-axis translation mechanism, Y-axis translation mechanism are exported by umber of pulse and the output pressure value of Z axis compression joint mechanism by console
Higher limit and lower limit input to form complete crawl path command.
3. a kind of automatic mechanical hand according to claim 2, it is characterised in that：The complete crawl path command is
Refer to：X-axis translation mechanism, Y-axis translation mechanism export umber of pulse according to the crawl position of setting and drive the movement of Z axis compression joint mechanism first
To the top of target workpiece；Secondly, Z axis compression joint mechanism drives Z axis grasping mechanism to move down, when the output pressure of Z axis compression joint mechanism
When value reaches the scope between the lower limit and higher limit, Z axis compression joint mechanism stops moving down；Z axis grasping mechanism is by target workpiece
Crawl；
Z axis compression joint mechanism, which reduces output pressure value and driven, be moved back into initial position on Z axis grasping mechanism, then X-axis translation mechanism,
Y-axis translation mechanism exports umber of pulse according to the placement position of setting and drives Z axis compression joint mechanism to be moved to target placement position；Z axis
Compression joint mechanism drives Z axis grasping mechanism to move down, when the output pressure value of Z axis compression joint mechanism is reached between the lower limit and higher limit
Scope when, Z axis compression joint mechanism stop move down；Z axis grasping mechanism delivers target workpiece.
4. a kind of automatic mechanical hand according to claim 3, it is characterised in that：Store a plurality of described in the console
Complete crawl path command.
5. a kind of automatic mechanical hand according to claim 1, it is characterised in that：The parameter setting mechanism includes a control
Platform and laser orientation system processed, by console selection target workpiece and control the spot location device of laser orientation system to the mesh
Position where marking workpiece carries out laser positioning：The X-axis translation mechanism, Y-axis translation mechanism drive Z axis according to the position of hot spot
Grasping mechanism is moved to above target workpiece；
The console further inputs manual control signal, drives Z axis compression joint mechanism to move down and cause Z axis grasping mechanism and mesh
Mark the upper surface laminating of workpiece；After being repeated several times, and record the higher limit and lower limit of Z axis compression joint mechanism output pressure value,
So as to form complete crawl path command.
6. a kind of automatic mechanical hand according to claim 5, it is characterised in that：The complete crawl path command is
Refer to：The crawl position hot spot that X-axis translation mechanism, Y-axis translation mechanism are positioned according to spot location device first drives Z axis compression joint mechanism
It is moved to the top of target workpiece；Secondly, Z axis compression joint mechanism drives Z axis grasping mechanism to move down, when the output of Z axis compression joint mechanism
When pressure value reaches the scope between the lower limit and higher limit, Z axis compression joint mechanism stops moving down；Z axis grasping mechanism is by target
Workpiece grabbing；
Z axis compression joint mechanism, which reduces output pressure value and driven, be moved back into initial position on Z axis grasping mechanism, then X-axis translation mechanism,
The placement position hot spot that Y-axis translation mechanism is positioned according to spot location device drives Z axis compression joint mechanism to be moved to target placement position；
Z axis compression joint mechanism drives Z axis grasping mechanism to move down, when the output pressure value of Z axis compression joint mechanism reaches the lower limit and higher limit
Between scope when, Z axis compression joint mechanism stop move down；Z axis grasping mechanism delivers target workpiece.
7. a kind of automatic mechanical hand according to any one of claim 2, it is characterised in that：The console has one
Touch-screen is used for the input instructed.
8. a kind of automatic mechanical hand according to claim 6, it is characterised in that：The X-axis translation mechanism, Y-axis translation
Mechanism is ball wire rod mechanism.
9. a kind of automatic mechanical hand according to claim 6, it is characterised in that：Four tops of the support in openend
Support feet is provided with angle downward vertically；The end of the support feet is provided with height adjusting nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621314297.XU CN206317068U (en) | 2016-12-02 | 2016-12-02 | automatic mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621314297.XU CN206317068U (en) | 2016-12-02 | 2016-12-02 | automatic mechanical hand |
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| Publication Number | Publication Date |
|---|---|
| CN206317068U true CN206317068U (en) | 2017-07-11 |
Family
ID=59265696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621314297.XU Active CN206317068U (en) | 2016-12-02 | 2016-12-02 | automatic mechanical hand |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671069A (en) * | 2016-12-02 | 2017-05-17 | 厦门通士达照明有限公司 | Automatic mechanical arm |
| CN108584705A (en) * | 2018-05-09 | 2018-09-28 | 徐州迈斯特机械科技有限公司 | A kind of mechanical processing special hoisting system |
-
2016
- 2016-12-02 CN CN201621314297.XU patent/CN206317068U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671069A (en) * | 2016-12-02 | 2017-05-17 | 厦门通士达照明有限公司 | Automatic mechanical arm |
| CN108584705A (en) * | 2018-05-09 | 2018-09-28 | 徐州迈斯特机械科技有限公司 | A kind of mechanical processing special hoisting system |
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