CN208468423U - A kind of robot Acetabula device - Google Patents
A kind of robot Acetabula device Download PDFInfo
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- CN208468423U CN208468423U CN201820978206.5U CN201820978206U CN208468423U CN 208468423 U CN208468423 U CN 208468423U CN 201820978206 U CN201820978206 U CN 201820978206U CN 208468423 U CN208468423 U CN 208468423U
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- joint
- sucker
- tracheae
- steel ball
- robot
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Abstract
The utility model discloses a kind of robot Acetabula device, it applies on horizontal machine people's sorting work station, horizontal machine people includes control system and operating system, the operating system includes pedestal and four pairs of joints, it is paid and is formed by the two joint of relative rotation or linear relative movement in every pair of joint, four pairs of joints include the first joint, second joint, third joint and the 4th joint being linked in sequence, the 4th joint connection, which is inhaled, puts fixture, first joint, second joint, the 4th joint are cradle head, and the third joint is linear motion joint；It includes sucker, tracheae and attachment device that fixture is put in the suction, and the sucker is arranged below attachment device, and the attachment device is connected to for connecting the 4th joint, the tracheae with the inner cavity of sucker, and the tracheae connects evacuator.
Description
Technical field
The utility model relates to a kind of robot Acetabula device, it is suitble to put in the application of some rapid sortings using sucker suction
The occasion of object, particularly suitable in robot sorting work station.
Background technique
In sorting, assembly etc. are automatically brought into operation, generally require to put the smooth object in surface with sucker suction in the way of pneumatic
Body, inhales that put the smooth object in surface be method common in sorting and assembly application using sucker and pressure difference, such as tablet bottling,
In steel ball sorting, sucker clamp can be loaded onto the arm end of industrial robot and they are sorted.Existing robot
Sucker clamp mostly uses wu-zhi-shan pig, dotes on structure more greatly, machine maintenance is costly.
Utility model content
The purpose of this utility model is to provide a kind of structures simply, the easy robot Acetabula device of operation, to overcome
The deficiencies in the prior art.Cooperate sucker negative-pressure adsorption to control program, can also reduce the time of machine waiting, the efficiency for putting suction obtains
To be promoted.
The technical scheme in the invention for solving the technical problem is: a kind of robot Acetabula device is applied in Horizontal machine
On device people's sorting work station, horizontal machine people includes control system and operating system, and the operating system includes pedestal and four pairs
Joint, every pair of joint are paid by the two joint of relative rotation or linear relative movement and are formed, and four pairs of joints include the to be linked in sequence
One joint, second joint, third joint and the 4th joint, the 4th joint connection, which is inhaled, puts fixture, first joint, second
Joint, the 4th joint are cradle head, and the third joint is linear motion joint, and first joint, second joint are same
It is movable on one horizontal plane；It includes sucker, tracheae and attachment device that fixture is put in the suction, and the sucker is arranged under attachment device
Side, the attachment device are connected to for connecting the 4th joint, the tracheae with the inner cavity of sucker, and the tracheae connection vacuumizes
Machine.
It further include distance detection device, the central processing unit communication connection of the distance detection device and control system, institute
Distance detection device is stated for detecting the distance of sucker to object to be inhaled.
It further include delayer, the delayer is for starting evacuator when third joint comes downwards to set distance.
Vibrator is set in the sucker.
The beneficial effects of the utility model are:
The utility model replaces wu-zhi-shan pig by horizontal machine people, greatly reduces equipment volume, structure is more simple
Change.
The utility model robot can also by downstream way starting vacuum air valve, reduce tracheae establish vacuum state and
The waiting time for restoring normal pressure state allows suction to put fixture and object object is rapidly sucked, and enables to inhale the efficiency for putting object
It is promoted.
The utility model robot can also be by being arranged vibrator in sucker, when needing releasing, starting shock device,
It releases the negative-pressure adsorption state of sucker and object rapidly, article is made to be detached from sucker rapidly.
Detailed description of the invention
Fig. 1 is the industrial robot joint attachment structure schematic diagram of the utility model.
Fig. 2 is the starting state schematic diagram of the robot sucker air valve of the utility model.
Fig. 3 is the positional shift status diagram of the robot sucker of the utility model.
Fig. 4 is the sucker structure schematic diagram with vibrator of the utility model.
Fig. 5 is that the robot sucker of the utility model picks up status diagram.
Fig. 6 is the starting state schematic diagram of the robot sucker air valve of the prior art.
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and is only used for explaining the utility model, and should not be understood as to the utility model
Limitation.
In the description of the present invention, it should be understood that term " center ", " transverse direction ", "upper", "lower", " left side ",
The orientation or positional relationship of the instructions such as " right side ", "vertical", "horizontal", "inner", "outside" is orientation based on the figure or position
Relationship is merely for convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.This
Outside, term " first ", " second ", which are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or imply, refers to
The quantity of bright indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or impliedly include
One or more of the features.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or two
More than a.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " should broadly understood, for example, it may be being fixedly connected.It may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Embodiment one
As shown in Fig. 1,2,3,5, the utility model, which is applied to quickly inhale in robot sorting work station using sucker, puts steel
The scene of pearl, horizontal machine people include control system and operating system, and the object that Acetabula device includes has suction to put fixture 1, steel ball
2, pearl slot 3.Suction is put fixture 1 and is made of sucker 11, tracheae 12 and attachment device 13, and sucker and tracheae are closely connected by attachment device
It is connected together.Tracheae is connected to the inner cavity of sucker, and tracheae connects evacuator by air valve.Robot sorting work station uses water
The movement of flat robot carries out the sorting of the object such as steel ball, structure diagram as shown in Figure 1, robot by pedestal 10, the
One joint 5, second joint 6, third joint 7 and the 4th joint 8 etc. composition, the pedestal of horizontal machine people be fixed on the wall or
On other vertical planes.First joint 5, second joint 6, the 4th joint 8 are cradle head, and third joint is linear joint (example
Such as linear guide).First joint is mounted on the base, can be rotated in the horizontal direction by shaft；Second joint connection
The end in the first joint can be rotated in the horizontal direction by shaft；Third joint connects the end of second joint, Ke Yi
It is moved up and down perpendicular to the free cheek of second joint；4th joint connects the end in third joint, can be around third joint
Central axis rotates in the horizontal direction；An affixed flange on 4th joint, for connecting external fixture, in the present embodiment
In, the flanged joint in the 4th joint inhales the attachment device 13 for putting fixture 1.
The end of flange becomes the end of horizontal machine people.First joint and second joint linkage can control robot end
The X, Y coordinates at end, third joint then control the Z coordinate of robot end, therefore the first joint, second joint, third joint are determined
The position coordinates (X, Y, Z) of robot end in space are determined.When robot end position coordinates (X, Y, Z) determine with
Afterwards, the 4th joint of rotation then can control the direction of flange on an x-y plane, thus the court for the fixture that control is mounted on flange
To.
Suction is put on the flange that fixture is fixed on the 4th joint of horizontal machine people, and the position of fixture in space is put in suction
By horizontal machine, people is controlled.Delayer is arranged in robot control system, for the starting when third joint comes downwards to set distance
Evacuator.
The step of drawing steel ball is as follows:
(1) control system is by calculating the downgoing time in third joint or detecting that fixture is put in suction by distance detection device
Run to position as shown in Figure 2.
(2) air valve is opened, evacuator work keeps extracting endotracheal air.
(3) suction puts fixture and runs to sucker bottom surface contact steel ball, and after sucker and steel ball contact, the air due to tracheae is inhaled
After out, the intratracheal state for being similar to vacuum, since top and bottom are there are pressure difference, steel ball will be inhaled the steel ball contacted by sucker
Firmly.
(4) it inhales and puts fixture uplink, steel ball success is picked up (as shown in Figure 5).
The step of discharging steel ball is as follows:
(1) horizontal machine people makes to inhale by the linkage in multiple joints puts in fixture carrying steel ball to pearl slot.
(2) air valve is closed, stops extracting endotracheal air.
(3) the first joint of horizontal machine people, second joint linkage make to inhale and put the certain position of fixture overall offset, such as
Shown in Fig. 3, since steel ball is limited by pearl slot, steel ball can substantially stay in original place, and steel ball and sucker quickly separate.
(4) suction puts fixture and runs to position as shown in Figure 3, and steel ball is successfully released.
Shown in fig. 6 is the relative position status diagram of sucker and steel ball when traditional sucker air valve starts, as schemed institute
Show, just starting air valve extracts the air of tracheae after sucker contact steel ball, and thus need to wait for a period of time sucker ability
Steel ball is sucked, lifts steel ball after being sucked, as wait time not enough if allow robot execution move up order, then be easy to appear
The case where falling under steel ball.When sucker is in surface a distance of steel ball, just first starting air valve extracts tracheae out to the utility model
Air, tracheae has had stable negative pressure when touching steel ball so as to sucker, and steel ball can be sucked immediately, reduce waiting when
Between.
When needing to discharge steel ball, traditional way is: closing air valve after steel ball is placed into pearl slot, waits air from steel
Enter tracheae in gap between pearl and sucker, makes the pressure differential collapses of steel ball top and bottom, steel ball and sucker natural separation.This point
May be long from the time, it may reach 1 second, then suction puts fixture and moves up reset, if waiting the time to be separated inadequate
Fixture is put in the suction just lifted, it is possible to which steel ball is also sticked on sucker and is taken up.After steel ball is placed into pearl slot by the utility model
Air valve is closed, and makes to inhale and puts fixture entirety fast excursion, since steel ball is limited by pearl slot, steel ball can substantially stay in original place, this
Sample just can make the negative pressure between steel ball and sucker rapidly disappear, and steel ball and sucker quickly separate, to reduce waiting steel ball
With the time of sucker natural separation.
Embodiment two
On the basis of embodiment one, the manipulation of release steel ball is adjusted, by the way that vibrator is arranged in sucker 11
9, so that sucker is generated shake, destroy the state that sucker and steel ball negative pressure are attracted, thus make air quickly enter sucker and steel ball it
Between gap, steel ball and sucker quickly separate, to reduce the time for waiting steel ball and sucker natural separation.
Present embodiment discharges steel ball using following steps:
(1) horizontal machine people makes to inhale by the linkage in multiple joints puts in fixture carrying steel ball to pearl slot.
(2) air valve is closed, stops extracting endotracheal air.
(3) vibrator 9 is powered on, and so that sucker is generated shake, since steel ball is limited by pearl slot, steel ball can substantially be stayed in
Original place, sucker shake cause steel ball and sucker quickly to separate.
(4) suction puts fixture and runs to position as shown in Figure 3, and steel ball is successfully released.
While there has been shown and described that the embodiments of the present invention, those skilled in the art should understand that:
These embodiments can be carried out with a variety of variations, modification, replacement in the case where not departing from the principles of the present invention and objective
And modification, the scope of the utility model are limited by claim and its equivalent replacement, without changing made by creative work
Into etc., it should be included within the scope of protection of this utility model.
Claims (4)
1. a kind of robot Acetabula device is applied on horizontal machine people's sorting work station, horizontal machine people includes control system
And operating system, which is characterized in that the operating system includes pedestal and four pairs of joints, and every pair of joint is by relative rotation or relatively
The two joint of linear motion pays composition, and four pairs of joints include the first joint being linked in sequence, second joint, third joint and the 4th
Joint, the 4th joint connection, which is inhaled, puts fixture, and first joint, second joint, the 4th joint are cradle head, and described the
Three joints are linear motion joint, and first joint, second joint are movable in same level；The suction puts fixture and includes
Sucker, tracheae and attachment device, the sucker are arranged below attachment device, and the attachment device is used to connect the 4th joint,
The tracheae is connected to the inner cavity of sucker, and the tracheae connects evacuator.
2. robot Acetabula device according to claim 1, which is characterized in that it further include distance detection device, the distance
The communication connection of the central processing unit of detection device and control system, the distance detection device are used to detect sucker to object to be inhaled
Distance.
3. robot Acetabula device according to claim 1, which is characterized in that further include delayer, the delayer is used for
Start evacuator when third joint comes downwards to set distance.
4. according to claim 1 to 3 any robot Acetabula devices, it is characterised in that: vibrator is arranged in the sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820978206.5U CN208468423U (en) | 2018-06-25 | 2018-06-25 | A kind of robot Acetabula device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820978206.5U CN208468423U (en) | 2018-06-25 | 2018-06-25 | A kind of robot Acetabula device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208468423U true CN208468423U (en) | 2019-02-05 |
Family
ID=65214776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820978206.5U Active CN208468423U (en) | 2018-06-25 | 2018-06-25 | A kind of robot Acetabula device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208468423U (en) |
-
2018
- 2018-06-25 CN CN201820978206.5U patent/CN208468423U/en active Active
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