CN208560731U - Grabbing device - Google Patents
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- CN208560731U CN208560731U CN201820876589.5U CN201820876589U CN208560731U CN 208560731 U CN208560731 U CN 208560731U CN 201820876589 U CN201820876589 U CN 201820876589U CN 208560731 U CN208560731 U CN 208560731U
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- control circuit
- grabbing device
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Abstract
The utility model discloses a kind of grabbing devices, the grabbing device includes: manipulator, first position sensor module and driving device, wherein: first position sensor module and control circuit are electrically connected, driving device and manipulator are mechanically connected, and first position sensor module is arranged on the drive means；Whether first position sensor module moves to the first designated position for inspecting manipuator, and will test result and be sent to control circuit, so that control circuit in the case where determining to pick and place exception according to testing result, issues the first standby signal.It by the technical solution of the utility model, can not only be detected automatically to exception is picked and placed, simultaneously because can also prompt user in time when picking and placing abnormal detecting, thus, it is possible to reduce, gripper is damaged or object scraps probability.
Description
Technical field
The utility model relates to mechanical arm technical field, in particular to a kind of grabbing device.
Background technique
Currently, grabbing device when grabbing object, often occurs to pick and place exception, for example article position is out of position
When, it often will appear the problems such as gripper collides, object damages, object is stuck, it is abnormal so as to cause occurring to pick and place.And related skill
Art is but without corresponding abnormality detection scheme, simultaneously because leading to gripper damage and object report without corresponding abnormality detection scheme
Useless rate is also very high.
Utility model content
The utility model aims to solve at least one of the technical problems existing in the prior art.
The utility model provides a kind of grabbing device, including manipulator, first position sensor module and driving device,
In:
The first position sensor module and control circuit are electrically connected, and the driving device and the manipulator are mechanical
Connection, the first position sensor module are arranged in the driving device；
The first position sensor module, for detecting whether the manipulator moves to the first designated position, and will
Testing result is sent to the control circuit, so that the control circuit is being determined to pick and place exception according to the testing result
In the case of, issue the first standby signal.
In one embodiment, the driving device includes drive rod；
The driving device is mechanically connected by the drive rod and the manipulator；
The first position sensor module, it is described for detecting whether the drive rod moves to the second designated position
Second designated position is corresponding with first designated position.
In one embodiment, the first position sensor module includes:
First sensor is electrically connected, for detecting positioned at the first end of the driving device with the control circuit
State whether drive rod moves to first position, the first position is generally aligned in the same plane with the first end；
Second sensor is electrically connected, for detecting positioned at the second end of the driving device with the control circuit
State whether drive rod moves to the second position, the second position is generally aligned in the same plane with the second end, and described second
Designated position includes the first position and the second position.
In one embodiment, the manipulator includes cylinder connecting component, finger cylinder, gripper components and the second position
Sensor module；
The cylinder connecting component is mechanically connected with the driving device and the finger cylinder respectively, the gripper components
It is mechanically connected with the finger cylinder, the second position sensor module is set in the finger cylinder, the second
It sets sensor module and the control circuit is electrically connected；
Whether second position sensor module is unfolded or shrinks in place for detecting the gripper components, and will test knot
Fruit is sent to the control circuit, so that the control circuit is true in the testing result according to the second position sensor module
It makes in the case where picking and placing exception, issues the second standby signal.
In one embodiment, the grabbing device further includes fixation member, in which:
The fixation member is connected with the driving device.
In one embodiment, the grabbing device further include: the first movable shaft and the second movable shaft, described first
The first end of movable shaft and second movable shaft is connected with the manipulator；
First movable shaft and second movable shaft, for driving the machinery with the driving device
Hands movement.
In one embodiment, the grabbing device further includes first connecting portion part and second connecting portion part；
Described first connecting portion part and second connecting portion part are respectively distributed to the two sides of the driving device, respectively with it is described
Fixation member mechanical connection, first movable shaft are set in described first connecting portion part, and second movable shaft is set
It is placed in the second connecting portion part.
In one embodiment, the grabbing device further includes bearing attachment part, wherein
The bearing attachment part connects with the second end machinery of first movable shaft and second movable shaft
It connects, the bearing attachment part is parallel with the fixation member.
In one embodiment, the driving device includes: floating cylinder.
In one embodiment, the grabbing device further includes pressure regulator, in which:
The pressure regulator, positioned at the air inlet of the floating cylinder；
The pressure regulator, for adjusting the floating cylinder by adjusting the air capacity inside the floating cylinder
Internal gas pressure.The technical scheme provided by this disclosed embodiment can include the following benefits:
By the way that driving device and first position sensor module are arranged outside manipulator, driving device band motivation can be passed through
Tool hand is moved when picking and placing target piece, and be will test result and be sent to control circuit, so that control circuit can be according to inspection
Survey result accurately determine during manipulator picks and places object whether occur picking and placing it is abnormal, and when occurring picking and placing abnormal, it is automatic and
The first standby signal is issued in time, in this way, can not only be detected automatically to exception is picked and placed, simultaneously because can also detect
To user is prompted in time when picking and placing abnormal, thus, it is possible to reduce, gripper is damaged or object scraps probability.The utility model its
Its feature and advantage will illustrate in the following description, also, partly as will become apparent from the description, or pass through
Implement the utility model and understands.The purpose of this utility model and other advantages can be by written specifications, claim
Specifically noted structure is achieved and obtained in book and attached drawing.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Detailed description of the invention
Attached drawing is used to provide a further understanding of the present invention, and constitutes part of specification, practical with this
Novel embodiment is used to explain the utility model together, does not constitute limitations of the present invention.In the accompanying drawings:
The above-mentioned and/or additional aspect and advantage of the utility model from the description of the embodiment in conjunction with the following figures will
Become obvious and be readily appreciated that, in which:
Fig. 1 shows the structure chart of the grabbing device according to an embodiment of the present invention；
Fig. 2 shows the structure screenshots according to the manipulator of an embodiment of the present invention；
Fig. 3 shows the structure screenshot of the grabbing device according to another embodiment of the utility model；
Wherein, corresponding relationship of the Fig. 1 into Fig. 3 between appended drawing reference and component names are as follows:
1 grabbing device, 11 manipulators, 111 cylinder connecting components, 112 finger cylinders, 113 gripper components, 114 seconds
Set sensor module, 1141 use leisure moments detect sensors in place, 1142 gripper components open sensors in place, 115 attaching nuts, 12
Driving device, 121 cylinder walls, 122 drive rods, 13 first position sensor modules, 131 first sensors, 132 second sensings
Device, 14 fixation members, 15 first connecting portion part, 151 first movable shafts, 16 second connecting portion parts, 161 second movable shafts,
17 bearing attachment parts, 18 pressure regulators.
Specific embodiment
In order to be more clearly understood that the above objects, features, and advantages of the utility model, with reference to the accompanying drawing and have
The utility model is further described in detail in body embodiment.It should be noted that in the absence of conflict, this Shen
The feature in embodiment and embodiment please can be combined with each other.
Many details are explained in the following description in order to fully understand the utility model, still, this is practical
It is novel to be implemented using other than the one described here mode, therefore, the protection scope of the utility model not by
The limitation of following public specific embodiment.
As shown in figures 1 and 3, in order to solve the above-mentioned technical problem, the embodiment of the present disclosure provides a kind of grabbing device 1,
The grabbing device 1 includes: manipulator 11, driving device 12 and first position sensor module 13, in which:
First position sensor module 13 can be electrically connected with the control circuit for being controlled grabbing device 1,
Driving device 12 and manipulator 11 are mechanically connected, and first position sensor module 13 is arranged on the drive means, and control circuit
Positioned at the outside of grabbing device.
Wherein, first position sensor module 13 can be located at the inside or outer surface of driving device 12, and drive dress
Setting 12 can be robotic arm, drive chain, floating cylinder, hydraulic cylinder etc., it is preferable that and driving device 12 can be floating cylinder,
And first position sensor module 13 is located at the outer surface of cylinder wall 121, and the working principle of floating cylinder are as follows: in cylinder wall
Under gas pressure in 121, manipulator 11 is driven to move, and manipulator 11, for picking and placing target piece.
When driving device 12 is floating cylinder and first position sensor module 13 is located at the outer surface of cylinder wall 121,
Cylinder wall is provided with mounting groove on 121 outer surface, for installing first position sensor module 13, wherein the mounting groove can be with
It is the structure that groove etc. is used to install first position sensor module 13, certainly, in order to enable first position sensor module 13
It is enough to be more securely mounted in mounting groove, it, can be further with jackscrew after being caught in by sensor module 13 or being embedded in mounting groove
It is fixed.
Wherein, when which is floating cylinder, which can be bar cylinder, be also possible to no bar gas
Cylinder needs that connector is separately provided between rodless cylinder and manipulator 11, to drive if floating cylinder is rodless cylinder
Manipulator 11 moves.
Whether first position sensor module 13 moves to the first designated position for inspecting manipuator 11, and will test
As a result it is sent to control circuit.Correspondingly, the testing result of the available first position sensor module 13 of control circuit, and can
Exception is picked and placed to determine whether to exist according to the testing result got, when determining to pick and place abnormal, can issue and mention
Show signal (can be described as the first standby signal), wherein first position sensor module 13 may include a sensor or two
A sensor can respectively include first sensor 131 and the when first position sensor module 13 includes two sensors
Two sensors 132, meanwhile, the control for issuing the control circuit of the first standby signal and for being controlled grabbing device 1
Circuit processed can be the same control circuit, be also possible to different control circuits.
By the way that driving device 12 and first position sensor module 13 are arranged outside manipulator 11, driving device can be passed through
12 drive manipulators 11 are moved when picking and placing target piece, and be will test result and be sent to control circuit, so that control electricity
Road can accurately determine whether occur picking and placing exception during manipulator 11 picks and places object according to testing result, and different occurring picking and placing
Chang Shi issues the first standby signal automatically and in time, in this way, can not only be detected automatically to exception is picked and placed, simultaneously because
User can also be prompted in time when picking and placing abnormal detecting, thus, it is possible to reduce, gripper is damaged or object scraps probability.
As shown in figures 1 and 3, in one embodiment, driving device 12 includes drive rod 122；
Driving device 12 is mechanically connected by drive rod 122 and manipulator 11；
First position sensor module 13, for detecting whether drive rod 122 moves to the second designated position, second is specified
Position is corresponding with the first designated position, wherein when driving device 12 drives manipulator 11 to grab target piece, normal condition
Under, drive rod 122 can move up to certain second designated position, and manipulator 11 is driven to move to certain first designated position, and
When manipulator 11 puts target piece, under normal circumstances, drive rod 122 can move downwardly to certain second designated position, and with motivation
Tool hand 11 moves to certain first designated position, thus, the second designated position is corresponding with the first designated position.
Driving device 12 is mechanically connected by drive rod 122 and manipulator 11, in this way, driving device 12 (such as passes through inside
Gas pressure change) push 122 back and forth movement of drive rod when, manipulator 11 can be driven to move back and forth when picking and placing object, from
And enable manipulator 11 to grab the object for being placed on certain position or the object of crawl is placed on certain position, it is picked and placed with realizing
Object.
In addition, drive rod 122 can be connect with manipulator 11 by welding manner, alternatively, drive rod 122 and manipulator 11 are logical
Crossing removably connection (can be such as fixedly connected with nut by screw, be perhaps fixedly connected by jackscrew or in drive rod
One end setting connecting band being connected on 122 with manipulator 11, and then the manipulator 11 is tacked by the connecting band, so that driving
Bar 122 is connect with manipulator 11) etc., to drive manipulator 11 to pick and place target piece in certain position.
As shown in figures 1 and 3, in one embodiment, first position sensor module 13 may include: first sensor
131 and second sensor 132, wherein
First sensor 131 is electrically connected positioned at the first end of driving device 12 with control circuit, for detecting driving
Whether bar 122 moves to first position, and first position is generally aligned in the same plane with first end；
Second sensor 132 is electrically connected positioned at the second end of driving device 12 with control circuit, for detecting driving
Whether bar 122 moves to the second position, and the second position is generally aligned in the same plane with second end, and the second designated position includes first position
The second position and.
Wherein, first end can be for close to that one end (i.e. bottom in the direction of motion of the bottom of driving device 12 shown in Fig. 3
That one end in portion), second end (can push up in the direction of motion for that one end at the top close to driving device 12 shown in Fig. 3
That one end in portion)；Alternatively, first end can be for close to that one end (i.e. direction of motion at the top of driving device 12 shown in Fig. 3
That one end of upper top), second end can be for close to that one end (i.e. direction of motion of the bottom of driving device 12 shown in Fig. 3
That one end of upper bottom portion).
Specifically: (wherein, the end of drive rod 122 is to be not connected to manipulator in drive rod 122 for the end of drive rod 122
11 one end, drive rod 122 as shown in figures 1 and 3 that one end on the upper side) magnet ring can be installed, and first sensor 131
It can illustrate the magnet ring on drive rod 122 when first sensor 131 detects magnetic field with induced magnetic field with second sensor 132
First end is moved to, the drive rod 122 is further related to and moves to first end；When second sensor 132 detects magnetic field, explanation
Magnet ring on drive rod 122 moves to second end, further relates to the drive rod 122 and moves to second end.
In addition, first position can also be close to first end, the vertical drop with first end is within a preset range；Equally
Ground, the second position can also be close to second ends, and the vertical drop with second end is within a preset range.
In one embodiment, control circuit is electrically connected with first sensor 131 and second sensor 132 respectively；
Respective testing result can be sent to control circuit by first sensor 131 and second sensor 132, so that
Control circuit issues first when determining to pick and place abnormal according to the testing result of first sensor 131 and second sensor 132
Standby signal.
Control circuit can be according to first sensor 131 and the respective testing result of second sensor 132, and is currently
Part is still put in execution pickup operation to operate, and accurately determines whether to occur to pick and place exception, and then when determining that generation picks and places abnormal,
The first standby signal can be issued automatically and in time, and to prompt user in time, this can also reduce gripper damage or object report
Useless probability.
Above-mentioned first standby signal can be one or more modes such as sound, light, text, pattern, and this first is mentioned
Show that signal can be also used for control grabbing device 1 and stop working, to restart the grabbing device 1 after eliminating pick-and-place exception.Separately
Outside, the first standby signal can also be communication information, i.e., communication identifier can be previously provided in control circuit (for example, can be with
It is previously stored with cell-phone number, instant messaging account), when detecting that pick-and-place is abnormal, control circuit can lead to pre-set
The terminal that beacon knows place sends communication information, so that the user of carried terminal knows that current appearance picks and places exception, in turn, user
It can be handled in time, grabbing device 1 is made to stop working, and pick-and-place exception can also be eliminated, it, can after picking and placing abnormal eliminate
To restart grabbing device 1.
Such as: it is located at the top of driving device 12 for second sensor 132, first sensor 131 is located at driving device
The case where 12 bottom, when pickup, under normal circumstances, drive rod 122 can move to a high position, at this point, be located at top second passes
Sensor 132 can detecte to magnetic field, and the first sensor 131 positioned at bottom can't detect magnetic field.When occur object get stuck etc. it is different
When reason condition, object often drags down manipulator 11, causes drive rod 122 that can not move to a high position, at this point, being located at bottom
First sensor 131 can detecte to magnetic field, and the second sensor 132 positioned at top can't detect magnetic field, and manipulator 11 is located at
Low level.Based on the above situation, in the process of taking out the pieces, when first sensor 131 detects magnetic field, second sensor 132 is not examined
When measuring magnetic field, it is abnormal that control circuit can be determined that current appearance picks and places, and in turn, can issue the first standby signal.Such as pass through
Indicator light, sound etc. prompt user.
Another example is: being located at the top of driving device 12 for second sensor 132, first sensor 131 is located at driving dress
The case where setting 12 bottom, when putting part, under normal circumstances, drive rod 122 can move to low level, the first sensor positioned at bottom
131 can detecte to magnetic field, can't detect magnetic field positioned at high-order second sensor 132.Stacking and road are repeated when there is workpiece
When the abnormal conditions such as diameter obstacle, often by card, manipulator 11 can be jacked up object, cause drive rod 122 that can not move to low level,
At this point, being located at the second sensor 132 at top can detecte to magnetic field, the first sensor 131 positioned at bottom can't detect magnetic
, manipulator 11 is located at a high position.Based on the above situation, during putting part, when second sensor 132 detects magnetic field,
When magnetic field is not detected in one sensor 131, control circuit, which can be determined that, currently there is putting part exception, in turn, can issue first
Standby signal.Such as user is prompted by indicator light, sound.
Certainly, those skilled in the art can also according to actual needs, by first sensor 131 and second sensor 132
Installation site exchange, i.e., by second sensor 132 be arranged in driving device 12 bottom, first sensor 131 setting driving
The top of dynamic device 12.In this way, abnormal logic detection difference when picking and placing object is as follows:
For pickup: when pickup, under normal circumstances, drive rod 122 can move to a high position, and manipulator 11 can move to therewith
A high position, at this point, being located at the first sensor 131 at top can detecte to magnetic field, the second sensor 132 positioned at bottom is detected not
To magnetic field.When occur object get stuck etc. abnormal conditions when, object often drags down manipulator 11, causes drive rod 122 can not
A high position is moved to, at this point, being located at the second sensor 132 of bottom can detecte to magnetic field, the first sensor 131 positioned at top
It can't detect magnetic field.Based on the above situation, in the process of taking out the pieces, when second sensor 132 detects magnetic field, first sensor
131 when being not detected magnetic field, control circuit can be determined that it is current occur picking and placing abnormal, in turn, the first standby signal can be issued.
Such as user is prompted by indicator light, sound.
For putting part: when putting part, under normal circumstances, drive rod 122 can move to low level, the second sensor positioned at bottom
132 can detecte to magnetic field, can't detect magnetic field positioned at high-order first sensor 131.Stacking and road are repeated when there is workpiece
When the abnormal conditions such as diameter obstacle, often by card, manipulator 11 can be jacked up object, cause drive rod 122 that can not move to low level,
At this point, being located at the first sensor 131 at top can detecte to magnetic field, the second sensor 132 positioned at bottom can't detect magnetic
?.Based on the above situation, during putting part, when first sensor 131 detects magnetic field, second sensor 132 is not detected
When to magnetic field, control circuit, which can be determined that, currently there is putting part exception, in turn, can issue the first standby signal.Such as pass through finger
Show that lamp, sound etc. prompt user.
As shown in Figure 1 to Figure 3, in one embodiment, manipulator 11 includes cylinder connecting component 111, finger cylinder
112, gripper components 113 and second position sensor module 114, wherein cylinder connecting component 111 can be connecting plate, in this way
The connecting plate of rectangular parallelepiped structure, gripper components 113 are alternatively referred to as paw mechanism.Cylinder connecting component 111 respectively with driving device
12 and finger cylinder 112 be mechanically connected, gripper components 113 and finger cylinder 112 are mechanically connected, second position sensor module
114 are set on the cylinder wall 121 of finger cylinder 112 (as second position sensor 114 can be set in finger cylinder 112
Inside or outer surface)；Second position sensor module 114 can be electrically connected with control circuit, wherein the second position passes
Sensor component 114 may include one or more position sensors, and above-mentioned mechanical connection include but is not limited to pass through screw with
Nut is fixedly connected, or passes through connection band connection.
Wherein, gripper components 113 can be used for picking and placing target piece；
Second position sensor module 114, can be used for detecting whether gripper components 113 are unfolded or are shunk in place, and will
Testing result is sent to control circuit.Correspondingly, the detection knot of the available second position sensor module 114 of control circuit
Fruit, when determining to pick and place abnormal according to the testing result of second position sensor module 114, can issue standby signal (can
Referred to as the second standby signal), wherein the first standby signal can be identical as the second standby signal, can also be different.Certainly, it controls
Circuit processed can also issue standby signal when currently not picking and placing abnormal according to the testing result got is determining.
Driving device 12 and finger cylinder 112 can be mechanically connected by above-mentioned cylinder connecting component 111, so that driving
The drive rod 122 of device 12 can drive finger cylinder 112 to move when moving, and said second position sensor module 114 is arranged
It can accurately detect when gripper components 113 grab object and whether be unfolded or shrink in place.
Certainly, when control circuit is determined to pick and place normal according to the testing result of second position sensor module 114, also
Third standby signal can be issued, wherein third standby signal and the first standby signal and the second standby signal are different, so that
User will pick and place normally and pick and place abnormal conditions and sufficiently distinguishes.Such as: the first standby signal and the second standby signal can be with
Send out a warning, and third standby signal can be brilliant blue lamp.
As shown in Figures 2 and 3, in one embodiment, second position sensor module 114 includes using leisure moments to detect to pass in place
Sensor 1141 uses leisure moments in such cases and detects sensors in place 1141 and can be electrically connected with control circuit；Detection use leisure moments in place
Sensor 1141, can be used for detecting whether gripper components 113 shrink in place, and can will test result and be sent to control electricity
Road.Correspondingly, available use leisure moments of control circuit detects the testing result of sensors in place 1141, it in turn, can be according to acquisition
To testing result and be currently at and execute pickup operation and still put part operation, determine whether to exist pick and place it is abnormal, when
When determining to pick and place abnormal, the second standby signal can be issued.Wherein, it is living to be internally provided with magnetic metal for finger cylinder 112
Movable plate, the movable metallic piece can float up and down under the action of air pressure inside during gripper components 113 are shunk or are unfolded,
And movable metallic piece is moveable to and detects the corresponding position of sensors in place 1141 with using leisure moments when gripper components 113 are shunk in place
When, use leisure moments detect sensors in place 1141 can with induced magnetic field, i.e., when gripper components 113 shrink in place when, use leisure moments detection in place
Sensor 1141 can sense magnetic field.
Specifically, tending not to shrink in place, detecting sensors in place when using leisure moments after gripper components 113 get object
1141 when detecting magnetic field, illustrates that the contraction of gripper components 113 (steps up gripper components two sides) in place, control circuit, which can be determined that, to be worked as
The empty pickup situation of preceding appearance, it can it is abnormal to determine that current appearance picks and places, in turn, the second standby signal can be issued.
In addition, second position sensor module 114 can also include that gripper components open sensors in place 1142, such feelings
Under condition, gripper components are opened sensors in place 1142 and can be electrically connected with control circuit, and gripper components open sensors in place
1142, it can be used for detecting whether gripper components 113 expand in place, and result can be will test and be sent to control circuit.Accordingly
, the available gripper components of control circuit open the testing result of sensors in place 1142, in turn, can be according to getting
It testing result and is currently at and executes pickup operation and still put part operation, determine whether to exist and pick and place abnormal, work as determination
When picking and placing abnormal out, the second standby signal can be issued.Wherein, when gripper components 113 expand in place, above-mentioned movable metallic piece
It is moveable to and opens the corresponding position of sensors in place 1142 with gripper components, gripper components open sensors in place 1142 can be with
Induced magnetic field, i.e., when gripper components 113 expand in place, gripper components, which open sensors in place 1142, can sense magnetic field.
Specifically, often to expand in place (i.e. 113 liang of gripper components before the crawl object of gripper components 113 or when putting part
Side expansion), when use leisure moments detect sensors in place 1141 and detect magnetic field when, illustrate that gripper components 113 expand in place, at this point, control
Circuit processed, which can be determined that, not to be occurred currently picking and placing exception.When use leisure moments detect sensors in place 1141 magnetic field be not detected when, explanation
Gripper components 113 are undeployed in place, at this point, control circuit can be determined that current appearance expansion is abnormal, it can judgement is current out
Exception is now picked and placed, in turn, the second standby signal can be issued.
As shown in Figures 2 and 3, in one embodiment, manipulator 11 further include: attaching nut 115, gripper components 113
It is mechanically connected by attaching nut 115 and finger cylinder 112.
Gripper components 113 can be mechanically fixed with finger cylinder 112 by attaching nut 115 and be connect.
As shown in figure 3, in one embodiment, grabbing device 1 further includes fixation member 14, fixation member 14 can be with drive
Dynamic device 12, which is connected, (to be such as fixedly connected by screw and nut, alternatively, connecting by connection band connection, or by magnetic field
Deng), it is used for positions equal on 12 fixed wall of driving device.
By setting fixation portions part 14, driving device 12 can be fixed, avoids driving device 12 that from can not stablizing placement,
Drive manipulator 11 mobile by driving device 12 in this way, being also beneficial to realize.
In one embodiment, grabbing device 1 further include: the first movable shaft 151 and the second movable shaft 161, first
First end (the first movable shaft 151 and the second movable shaft 161 in such as Fig. 3 of movable shaft 151 and the second movable shaft 161
In one end on the lower) can be connected with manipulator 11；
First movable shaft 151 and the second movable shaft 161, for driving robot movement with drive rod 122.
By the first movable shaft 151 and the second movable shaft 161, aloow two movable shafts with drive rod 122
It drives manipulator 11 to move together, avoids the too weight of manipulator 11 and can not flexibly drive manipulator 11 to move or drive machinery
Hand 11 shakes when moving.
In one embodiment, grabbing device 1 further includes first connecting portion part 15 and second connecting portion part 16, wherein the
One connecting component 15 and second connecting portion part 16 are respectively distributed to the two sides of driving device, are mechanically connected respectively with fixation member,
First movable shaft 151 is set in first connecting portion part 15, and the second movable shaft 151 is set in second connecting portion part 16.
First connecting portion part 15 and second connecting portion part 16 can be respectively distributed to the left and right sides of driving device 12,
In, the vertical range and second connecting portion part 16 of first connecting portion part 15 to driving device 12 arrive the vertical range of driving device 12
It can be identical.First connecting portion part 15 and second connecting portion part 16 (such as can pass through spiral shell with the mechanical connection of fixation member 14 respectively
Nail is fixedly connected with nut, alternatively, mutually bound by connecting band, perhaps connect or connected by jackscrew by magnetic field etc.).
It is provided with cavity in first connecting portion part 15, the size of the cavity is greater than the size of the first movable shaft 151, such as
This, above-mentioned first movable shaft 151 is mountable in this cavity, to be set in first connecting portion part 15；Similarly, second connects
It is provided with cavity in relay part 16, the size of the cavity is greater than the size of the second movable shaft 161, in this way, above-mentioned second can live
Moving axis 161 can be set in second connecting portion part 16.
As shown in figure 3, in one embodiment, grabbing device 1 further includes (the bearing attachment part 17 of bearing attachment part 17
Can be linear bearing connecting plate), bearing attachment part 17 can be set above fixation member 14, flat with fixation member 14
Row, and the second end of bearing attachment part 17 and the first movable shaft 151 and the second movable shaft 161 is mechanically connected.
Bearing attachment part 17 can be mechanical with the second end of the first movable shaft 151 and the second movable shaft 161 respectively
(such as the first movable shaft 151 and the second movable shaft 161 can connect with bearing attachment part 17 by the way that screw and nut is fixed for connection
It connects, alternatively, mutually bound by connecting band, perhaps connect or connected by jackscrew by magnetic field etc.), wherein bearing attachment
Part 17 is vertical with the second end of the first movable shaft 151 and the second movable shaft 161 respectively to be connect.That is, first can live
The second end of moving axis 151 and the second movable shaft 161 (is leaned in the first movable shaft 151 and the second movable shaft 161 in such as Fig. 3
On one end) fixation member 14 and bearing attachment part 17 can be passed through be mechanically connected.
The first movable shaft 151 and the second movable shaft 161 is aloowed to stretch by the way that the bearing attachment part 17 is arranged
Fixation member 14 out are moved with the movement for having bar cylinder, to drive the movement of finger cylinder 112 together with drive rod 122 and
Movement.
In one embodiment, driving device includes: floating cylinder.In this way, can floating ground drive about 11 manipulator fortune
It is dynamic, target piece is picked and placed to realize to float.
As shown in Figure 1, in one embodiment, grabbing device 1 further includes pressure regulator 18, in which:
Pressure regulator 18, positioned at the air inlet of driving device 12；
Pressure regulator 18, for adjusting inside driving device 12 by adjusting the air capacity inside driving device 12
Gas pressure.
Pressure regulator 18 is set by the air inlet in driving device 12, the air inside driving device 12 is adjusted
Amount, with the gas pressure inside flexible modulation driving device 12.
In the description of this specification, the terms such as term " installation ", " connected ", " connection " shall be understood in a broad sense, for example,
" connection " may be fixed connection or may be dismantle connection, or integral connection；" connected " can be directly connected,
It can be indirectly connected through an intermediary.For the ordinary skill in the art, on can understanding as the case may be
State the concrete meaning of term in the present invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least the one of the utility model
In a embodiment or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment
Or example.Moreover, the particular features, structures, materials, or characteristics of description can be in any one or more embodiment or examples
In can be combined in any suitable manner.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of grabbing device, including manipulator, which is characterized in that the grabbing device further includes first position sensor module
And driving device, in which:
The first position sensor module and control circuit are electrically connected, and the driving device and the manipulator machinery connect
It connects, the first position sensor module is arranged in the driving device；
The first position sensor module for detecting whether the manipulator moves to the first designated position, and will test
As a result it is sent to the control circuit, so that the control circuit is being determined to pick and place abnormal situation according to the testing result
Under, issue the first standby signal.
2. grabbing device according to claim 1, which is characterized in that the driving device includes drive rod；
The driving device is mechanically connected by the drive rod and the manipulator；
Whether the first position sensor module moves to the second designated position for detecting the drive rod, and described second
Designated position is corresponding with first designated position.
3. grabbing device according to claim 2, which is characterized in that the first position sensor module includes:
First sensor is electrically connected, for detecting the drive positioned at the first end of the driving device with the control circuit
Whether lever moves to first position, and the first position is generally aligned in the same plane with the first end；
Second sensor is electrically connected, for detecting the drive positioned at the second end of the driving device with the control circuit
Whether lever moves to the second position, and the second position is generally aligned in the same plane with the second end, and described second is specified
Position includes the first position and the second position.
4. grabbing device according to claim 1, which is characterized in that the manipulator includes cylinder connecting component, finger
Cylinder, gripper components and second position sensor module；
The cylinder connecting component is mechanically connected with the driving device and the finger cylinder respectively, the gripper components and institute
Finger cylinder mechanical connection is stated, the second position sensor module is set in the finger cylinder, and the second position passes
Sensor component and the control circuit are electrically connected；
Whether second position sensor module is unfolded or shrinks in place for detecting the gripper components, and will test result hair
It send to the control circuit, so that the control circuit is determined according to the testing result of the second position sensor module
In the case where picking and placing exception, the second standby signal is issued.
5. grabbing device according to claim 1, which is characterized in that the grabbing device further includes fixation member, in which:
The fixation member is connected with the driving device.
6. grabbing device according to claim 5, which is characterized in that the grabbing device further include: the first movable shaft
With the second movable shaft, the first end of first movable shaft and second movable shaft is connected with the manipulator；
First movable shaft and second movable shaft, for driving the manipulator to transport with the driving device
It is dynamic.
7. grabbing device according to claim 6, which is characterized in that the grabbing device further include first connecting portion part and
Second connecting portion part；
Described first connecting portion part and second connecting portion part are respectively distributed to the two sides of the driving device, respectively with the fixation
Component mechanical connection, first movable shaft are set in described first connecting portion part, and second movable shaft is set to
In the second connecting portion part.
8. grabbing device according to claim 7, which is characterized in that the grabbing device further includes bearing attachment part,
Wherein,
The bearing attachment part is mechanically connected, institute with the second end of first movable shaft and second movable shaft
It is parallel with the fixation member to state bearing attachment part.
9. grabbing device according to any one of claim 1 to 8, which is characterized in that
The driving device includes: floating cylinder.
10. grabbing device according to claim 9, which is characterized in that the grabbing device further includes pressure regulator,
In:
The pressure regulator, positioned at the air inlet of the floating cylinder；
The pressure regulator, for adjusting inside the floating cylinder by adjusting the air capacity inside the floating cylinder
Gas pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820876589.5U CN208560731U (en) | 2018-06-06 | 2018-06-06 | Grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820876589.5U CN208560731U (en) | 2018-06-06 | 2018-06-06 | Grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208560731U true CN208560731U (en) | 2019-03-01 |
Family
ID=65485584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820876589.5U Active CN208560731U (en) | 2018-06-06 | 2018-06-06 | Grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208560731U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112499237A (en) * | 2020-12-03 | 2021-03-16 | 北京北方华创微电子装备有限公司 | Workpiece picking and placing assembly |
| CN113697482A (en) * | 2021-08-30 | 2021-11-26 | 上汽通用五菱汽车股份有限公司 | Anti-collision method for engine crankshaft line transportation manipulator and readable storage medium |
| CN113859966A (en) * | 2020-06-30 | 2021-12-31 | 沈阳新松机器人自动化股份有限公司 | Device for automatically placing separation blade in carbon block workshop |
-
2018
- 2018-06-06 CN CN201820876589.5U patent/CN208560731U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113859966A (en) * | 2020-06-30 | 2021-12-31 | 沈阳新松机器人自动化股份有限公司 | Device for automatically placing separation blade in carbon block workshop |
| CN112499237A (en) * | 2020-12-03 | 2021-03-16 | 北京北方华创微电子装备有限公司 | Workpiece picking and placing assembly |
| CN113697482A (en) * | 2021-08-30 | 2021-11-26 | 上汽通用五菱汽车股份有限公司 | Anti-collision method for engine crankshaft line transportation manipulator and readable storage medium |
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