CN207448496U - A kind of dynamic grabbing device on mechanical arm - Google Patents
A kind of dynamic grabbing device on mechanical arm Download PDFInfo
- Publication number
- CN207448496U CN207448496U CN201721368061.9U CN201721368061U CN207448496U CN 207448496 U CN207448496 U CN 207448496U CN 201721368061 U CN201721368061 U CN 201721368061U CN 207448496 U CN207448496 U CN 207448496U
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- support plate
- suction head
- single suction
- mechanical arm
- grabbing device
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Abstract
The utility model discloses a kind of dynamic grabbing devices on mechanical arm, including support plate, described support plate one end is fixedly connected with four big sucker installing plates, the other end of the support plate is fixedly connected with single suction head installing plate, single suction head installing mechanism is equipped between the single suction head installing plate and single suction head rebound, the single suction head installing mechanism is identical with the structure of every group of sucker installing mechanism, conversion input connection installing mechanism is additionally provided in the support plate, first locating and detecting device there are two being fixedly mounted on the Z-type frame, the second locating and detecting device is also installed in the support plate surface, the support plate both sides are mounted on installation housing.The beneficial effects of the utility model are can to realize the demand for being present in many application scenarios and robot being needed to capture different operation objects, simple in structure, save conversion time, improve robot operation beat, highly practical.
Description
Technical field
The utility model is related to mechanized equipment, particularly a kind of dynamic grabbing devices on mechanical arm.
Background technology
Traditional dynamic crawl generally using fixed handgrip or uses replaceable handgrip, it is each during dynamic captures
A joint, which needs to coordinate, completes dynamic grasping movement, although dynamic grasping movement only needs four degree of freedom in itself, to possessing six
Still there is allowance for the robot of a degree of freedom, but degree of freedom extra in most cases needs to evade the strange of possible generation
Dissimilarity and the limitation of robot motion's scope can not be used freely.
Utility model content
The purpose of this utility model is to solve the above-mentioned problems, to devise a kind of dynamic crawl dress on mechanical arm
It puts.
Realize that above-mentioned purpose the technical solution of the utility model is, a kind of dynamic grabbing device on mechanical arm, bag
Support plate is included, described support plate one end is fixedly connected with four big sucker installing plates, and the four big sucker installs corner in plate surface
Place is equipped with four groups of sucker installing mechanisms, and every group of sucker installing mechanism is installed by four big suckers are fixedly mounted in plate surfaces
Mounting hole, its one end be inserted into mounting hole brass quick-release connector, connect mounted on the assembling of the brass quick-release connector other end
Head, its one end are mounted on the supporter in fitting joint, the bellow expansion joint on supporter, mounted on bellow expansion
What the disc type sucker on connector collectively formed, the other end of the support plate is fixedly connected with single suction head installing plate, the list
Single suction head rebound is equipped with above suction nozzle installing plate, four corners fix peace between the single suction head installing plate and single suction head rebound
Equipped with supporting rod, single suction head installing mechanism, the single suction head peace are equipped between the single suction head installing plate and single suction head rebound
Mounting mechanism is identical with the structure of every group of sucker installing mechanism, and conversion input connection installing mechanism, institute are additionally provided in the support plate
It states and Z-type frame is installed in support plate surface, be fixedly mounted on the Z-type frame there are two the first locating and detecting device, it is described
The second locating and detecting device is also installed in support plate surface, the support plate both sides are mounted on installation housing.
The support plate is mutually perpendicular to four big sucker installing plate installation sites.
The support plate is L-type metal profile, and the installation housing is L-type metal shell.
The conversion input connection installing mechanism is by being fixedly mounted large flange disk on the supporting plate, being fixedly mounted on big method
What the small flange plate on blue disk collectively formed.
The small flange plate stretches out installation hull outside.
Single-pass nylon connector is additionally provided on the installation surface of shell.
The gas generator of peripheral hardware stretches into single-pass nylon connector by gas-guide tube and is connected with disc type sucker.
The model labor of first locating and detecting device and the second locating and detecting device easily surveys ODSL8 laser rangings biography
Sensor.
A kind of dynamic grabbing device on mechanical arm made using the technical solution of the utility model, can realize
It is present with the demand that robot is needed to capture different operation objects in many application scenarios, it is simple in structure, it saves and turns
It changes the time, improves robot operation beat, meanwhile, it is had found by calculating analysis robot singular point position in dynamic crawl work
The unusual many attitude of robot will not be generated in the range of work, and a kind of posture therein can be by six axis degree of freedom of robot
Free time gets off, therefore is devised and can be grabbed with the handgrip of switching at runtime using the 6th axis degree of freedom based on the 6th idle axis
Hand does not interfere with the effect of dynamic crawl while switching.
Description of the drawings
Fig. 1 is a kind of structure diagram of dynamic grabbing device on mechanical arm described in the utility model；
Fig. 2 is a kind of front view of dynamic grabbing device on mechanical arm described in the utility model；
Fig. 3 is a kind of rearview of dynamic grabbing device on mechanical arm described in the utility model；
Fig. 4 is a kind of left view of dynamic grabbing device on mechanical arm described in the utility model；
Fig. 5 is a kind of top view of dynamic grabbing device on mechanical arm described in the utility model；
Fig. 6 is a kind of bottom view of dynamic grabbing device on mechanical arm described in the utility model；
Fig. 7 is a kind of left view section view internal structure of dynamic grabbing device on mechanical arm described in the utility model
Figure；
Fig. 8 is that a kind of right side of dynamic grabbing device on mechanical arm described in the utility model regards section view internal structure
Figure；
In figure, 1, support plate；2nd, four big sucker installing plate；3rd, mounting hole；4th, brass quick-release connector；5th, fitting joint；6、
Supporter；7th, bellow expansion joint；8th, disc type sucker；9th, single suction head installing plate；10th, single suction head rebound；11st, supporting rod；
12nd, Z-type frame；13rd, the first locating and detecting device；14th, the second locating and detecting device；The 15th, housing is installed；16th, large flange disk； 17、
Small flange plate；18th, single-pass nylon connector.
Specific embodiment
The utility model is specifically described below in conjunction with the accompanying drawings, it is as shown in figures 1-8, a kind of for dynamic on mechanical arm
State grabbing device, including support plate (1), described support plate (1) one end is fixedly connected with four big sucker installing plates (2), and described four
Four corners are equipped with four groups of sucker installing mechanisms on big sucker installing plate (2) surface, and every group of sucker installing mechanism is by fixation
Mounting hole (3), its one end on four big sucker installing plate (2) surfaces are inserted into the fast changing-over of brass in mounting hole (3)
The branch of head (4), the fitting joint (5) mounted on brass quick-release connector (4) other end, its one end in fitting joint (5)
Support body (6), the bellow expansion joint (7) on supporter (6), the disc type in bellow expansion joint (7) are inhaled
Disk (8) collectively forms, and the other end of the support plate (1) is fixedly connected with single suction head installing plate (9), the single suction head installation
Single suction head rebound (10), four corners between the single suction head installing plate (9) and single suction head rebound (10) are equipped with above plate (9)
Supporting rod (11) is installed with, single suction head is equipped between the single suction head installing plate (9) and single suction head rebound (10) and is installed
Mechanism, the single suction head installing mechanism is identical with the structure of every group of sucker installing mechanism, is additionally provided with and turns on the support plate (1)
Input connection installing mechanism is changed, Z type frame (12) is installed on support plate (1) surface, is consolidated on the Z-type frame (12)
Dingan County's dress is also installed with the second detection and localization there are two the first locating and detecting device (13) on support plate (1) surface
Device (14), support plate (1) both sides are mounted on installation housing (15)；The support plate (1) and four big sucker installing plates
(2) installation site is mutually perpendicular to；The support plate (1) is L-type metal profile, and the installation housing (15) is L-type metal-back
Body；The conversion input connection installing mechanism by be fixedly mounted in support plate (1) large flange disk (16), be fixedly mounted on it is big
What the small flange plate (17) on ring flange (16) collectively formed；It is external that the small flange plate (17) stretches out installation housing (15)；
Single-pass nylon connector (18) is additionally provided on described installation housing (15) surface；The gas generator of peripheral hardware stretches into list by gas-guide tube
Logical nylon connector (18) is connected with disc type sucker (8)；First locating and detecting device (13) and the second detection and localization dress
The model labor for putting (14) easily surveys ODSL8 laser range sensors.
The characteristics of the present embodiment, is, including support plate 1,1 one end of support plate is fixedly connected with four big sucker installing plates 2,
Four corners are equipped with four groups of sucker installing mechanisms on four big 2 surfaces of sucker installing plate, and every group of sucker installing mechanism is by fixed installation
Brass quick-release connector 4 that mounting hole 3, its one end on four big 2 surfaces of sucker installing plate are inserted into mounting hole 3 is mounted on
The fitting joint 5 of 4 other end of brass quick-release connector, its one end are mounted on supporter 6 in fitting joint 5, mounted on supporter
Bellow expansion joint 7 on 6, the disc type sucker 8 in bellow expansion joint 7 collectively form, support plate 1 it is another
End is fixedly connected with single suction head installing plate 9, and 9 top of single suction head installing plate is equipped with single suction head rebound 10, single suction head installing plate 9 with
Four corners are installed with supporting rod 11 between single suction head rebound 10, between single suction head installing plate 9 and single suction head rebound 10
Equipped with single suction head installing mechanism, single suction head installing mechanism is identical with the structure of every group of sucker installing mechanism, is also set in support plate 1
There is conversion input connection installing mechanism, be installed with Z-type frame 12 on 1 surface of support plate, two are installed on Z-type frame 12
A first locating and detecting device 13 is also installed with the second locating and detecting device 14,1 both sides of support plate on 1 surface of support plate
Installation housing 15 is mounted on, can realize to be present in many application scenarios needs robot to carry out different operation objects
The demand of crawl, it is simple in structure, conversion time is saved, improves robot operation beat, meanwhile, it is strange by calculating analysis robot
Dissimilarity position has found will not generate the unusual many attitude of robot in dynamic crawl working range, and a kind of appearance therein
State can get off the six axis degree of freedom free time of robot, therefore devised based on the 6th idle axis can grabbing with switching at runtime
Hand using the 6th axis degree of freedom do not interfere with the effect of dynamic crawl while handgrip switching.
In the present embodiment, for the application of dynamic grabbing device, the small flange plate of dynamic grabbing device can be mounted on
On connecting pin on uniaxial or multiaxis driving mechanical arm, dynamic grabbing device is mutually perpendicular to the connecting shaft on connecting pin, real
The conversion of existing four groups of sucker installing mechanisms and single suction head installing mechanism.
In the present embodiment, after installation is complete, then can be stretched by gas-guide tube by gas generator of the prior art
Enter single-pass nylon connector with each disc type sucker to be connected, be acted on so as to fulfill gripping, it can be into when connecting shaft rotates
The switching of the four groups of sucker installing mechanisms and single suction head installing mechanism of Mobile state grabbing device.Mechanical arm is driven when using six axis
When, during crawl and placement, five axis of six axis driving mechanical arm will keep horizontal, thus to ensure to capture posture, and
During six axis drive manipulator motion, suitable path point is chosen by the calculating of computer to ensure the speed of service,
Meanwhile it can realize that targetedly selection uses according to the species of crawl article.
In the present embodiment, the dynamic grabbing device of L-type not only ensure that will not cause to interfere in crawl placement process, but also
It ensure that switch speed does not interfere with the uniaxial or multiaxis driving mechanical arm speed of service, and the mounting means chosen ensures single shaft
Or multiaxis driving mechanical arm will not generate unusual in placement process is captured and cause exception.
In the present embodiment, the first locating and detecting device and the second locating and detecting device use model labor by choosing
ODSL8 laser range sensors are easily surveyed, can realize whether the height for judging to capture article is suitable and judge that crawl article is
No midway is dropped, while to ensure to wrap up recognition accuracy, avoids what caused by 3D recognition accuracy problems article mistake grabbed from asking
Topic.Laser range sensor:Laser pulse is first emitted by laser diode alignment target.Laser is to all directions after target reflects
Scattering.Some scattered light returns to transducer receivers, is imaged onto after being received by optical system on avalanche photodide.Snowslide
Photodiode is the optical sensor that a kind of inside has enlarging function, therefore it can detect extremely faint optical signal.Note
It records and handles to be issued to return from light pulse and be received the undergone time, you can measure target range, there is following characteristics：Measurement
Scope is wide, fast response time；Telemeasurement is without reflector；Measurement accuracy high range is big；905 nanometers of safe laser are to human eye
Fanout free region；Small installation and debugging are convenient；Online continuous measurement reaches unattended continuous monitoring.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solutions of the utility model, the technology of the art
Personnel embody some variations that some of which part may be made the principle of the utility model, belong to the utility model
Protection domain within.
Claims (8)
1. a kind of dynamic grabbing device on mechanical arm, which is characterized in that including support plate (1), the support plate (1) one
End is fixedly connected with four big sucker installing plates (2), and four corners are equipped with four groups of suckers peaces on four big sucker installing plate (2) surface
Mounting mechanism, every group of sucker installing mechanism by the mounting hole (3) being fixedly mounted on four big sucker installing plate (2) surfaces,
Brass quick-release connector (4) that its one end is inserted into mounting hole (3), the assembling mounted on brass quick-release connector (4) other end connect
Head (5), its one end are mounted on the supporter (6) in fitting joint (5), the bellow expansion joint on supporter (6)
(7), the disc type sucker (8) in bellow expansion joint (7) collectively forms, and the other end of the support plate (1) is consolidated
Surely single suction head installing plate (9) is connected with, single suction head rebound (10), the single suction are equipped with above the single suction head installing plate (9)
Four corners are installed with supporting rod (11), the single suction head installing plate between head installing plate (9) and single suction head rebound (10)
(9) single suction head installing mechanism is equipped between single suction head rebound (10), the single suction head installing mechanism is installed with every group of sucker
The structure of mechanism is identical, is additionally provided on the support plate (1) and converts input connection installing mechanism, on support plate (1) surface
It is installed with Z-type frame (12), is fixedly mounted that there are two the first locating and detecting device (13), the branch on the Z-type frame (12)
The second locating and detecting device (14) is also installed on fagging (1) surface, support plate (1) both sides are mounted on mounting shell
Body (15).
A kind of 2. dynamic grabbing device on mechanical arm according to claim 1, which is characterized in that the support plate
(1) it is mutually perpendicular to four big sucker installing plate (2) installation sites.
A kind of 3. dynamic grabbing device on mechanical arm according to claim 1, which is characterized in that the support plate
(1) it is L-type metal profile, the installation housing (15) is L-type metal shell.
4. a kind of dynamic grabbing device on mechanical arm according to claim 1, which is characterized in that the conversion is defeated
Enter to connect installing mechanism by be fixedly mounted in support plate (1) large flange disk (16), be fixedly mounted on large flange disk (16)
Small flange plate (17) collectively form.
A kind of 5. dynamic grabbing device on mechanical arm according to claim 4, which is characterized in that the small flange
It is external that disk (17) stretches out installation housing (15).
A kind of 6. dynamic grabbing device on mechanical arm according to claim 1, which is characterized in that the mounting shell
Single-pass nylon connector (18) is additionally provided on body (15) surface.
A kind of 7. dynamic grabbing device on mechanical arm according to claim 6, which is characterized in that the gas of peripheral hardware
Generator stretches into single-pass nylon connector (18) by gas-guide tube and is connected with disc type sucker (8).
8. a kind of dynamic grabbing device on mechanical arm according to claim 1, which is characterized in that described first is fixed
The model labor of level detecting apparatus (13) and the second locating and detecting device (14) easily surveys ODSL8 laser range sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721368061.9U CN207448496U (en) | 2017-10-23 | 2017-10-23 | A kind of dynamic grabbing device on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721368061.9U CN207448496U (en) | 2017-10-23 | 2017-10-23 | A kind of dynamic grabbing device on mechanical arm |
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| Publication Number | Publication Date |
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| CN207448496U true CN207448496U (en) | 2018-06-05 |
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ID=62281176
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721368061.9U Active CN207448496U (en) | 2017-10-23 | 2017-10-23 | A kind of dynamic grabbing device on mechanical arm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109093375A (en) * | 2018-11-06 | 2018-12-28 | 中国工程物理研究院激光聚变研究中心 | A kind of flexible assembly method and assembly device for precision element dress school |
| CN109693259A (en) * | 2017-10-23 | 2019-04-30 | 天津施格自动化科技有限公司 | A kind of dynamic grabbing device on mechanical arm |
-
2017
- 2017-10-23 CN CN201721368061.9U patent/CN207448496U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109693259A (en) * | 2017-10-23 | 2019-04-30 | 天津施格自动化科技有限公司 | A kind of dynamic grabbing device on mechanical arm |
| CN109093375A (en) * | 2018-11-06 | 2018-12-28 | 中国工程物理研究院激光聚变研究中心 | A kind of flexible assembly method and assembly device for precision element dress school |
| CN109093375B (en) * | 2018-11-06 | 2023-11-03 | 中国工程物理研究院激光聚变研究中心 | Flexible assembly method and assembly device for assembling and calibrating precise element |
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