CN210173587U

CN210173587U - Manipulator positioning device and manipulator

Info

Publication number: CN210173587U
Application number: CN201920587366.1U
Authority: CN
Inventors: 杨晓宏; 李镇
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-04-26
Filing date: 2019-04-26
Publication date: 2020-03-24
Anticipated expiration: 2029-04-26

Abstract

The utility model discloses in provide a manipulator positioner and manipulator, manipulator positioner is used for the manipulator to get the blowing operation when location centre gripping material, and it is including first setting element and the second setting element that is used for fixing a position the material to and be used for the drive the driving piece of first setting element, first setting element is used for fixing the first corner of material, and makes the second corner with first corner diagonal angle setting of material is near the second setting element. And for the location panel on the current manipulator, only can fix material both sides, the utility model provides a manipulator positioner carries out the diagonal angle to the material and fixes, has realized the fixed material of four sides, the promotion that is showing material positioning accuracy on the manipulator, and then showing lifting machine hand blowing precision, finally showing and promoting material machining precision.

Description

Manipulator positioning device and manipulator

Technical Field

The utility model belongs to the technical field of the material location technique is got to the manipulator and specifically relates to a manipulator positioner and manipulator.

Background

The existing numerical control machining equipment generally uses a mechanical arm to carry out material taking and placing operations, so that the automatic level of a numerical control machine tool is improved; the material taking and placing operation generally comprises a material taking operation and a material placing operation, and when the manipulator performs the material placing operation, the manipulator often needs to adjust the material to a specific form so as to realize the precise material placing operation; in order to adjust the material form on the manipulator, the existing manipulator is provided with a positioning plate, and positioning leaning angles are arranged on two adjacent side faces on the same corner of the positioning plate; however, the existing positioning lean angle is insufficient in positioning precision on the manipulator due to one corner (two sides) of the material positioned intelligently, so that the precise product discharging is influenced, and the material processing precision is further influenced.

Therefore, the prior art has defects and needs to be improved and developed.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model lies in, to the above-mentioned defect of prior art, provide a manipulator positioning device and manipulator, aim at solving the problem that manipulator positioning panel positioning accuracy is low among the prior art.

The utility model provides a technical scheme that technical problem adopted as follows: the utility model provides a manipulator positioner for location centre gripping material when blowing operation is got to the manipulator, it includes: the positioning device comprises a first positioning piece, a second positioning piece and a driving piece, wherein the first positioning piece and the second positioning piece are used for positioning materials, the driving piece is used for driving the first positioning piece, the first positioning piece is used for fixing a first corner of the materials, and a second corner, which is arranged diagonally to the first corner, of the materials is enabled to be close to the second positioning piece.

Furthermore, the second positioning piece comprises a first leaning angle and a second leaning angle which are arranged in an L shape.

Further, when the material abuts against the second positioning piece, the first corner is used for fixing a first edge of the material, and the second corner is used for fixing a second edge of the material; wherein, the first edge and the second edge of the material are the same angle edges.

Furthermore, the first positioning piece comprises a first positioning column and a second positioning column, the first positioning column is arranged opposite to the first leaning corner, and the second positioning piece is arranged opposite to the second leaning corner.

Furthermore, the first positioning piece is used for fixing a third edge of the material opposite to the first edge, and the second positioning piece is used for fixing a fourth edge of the material opposite to the second edge; the first positioning column and the second positioning column are arranged to be soft positioning columns and/or hard positioning columns.

Furthermore, the first positioning part also comprises a connecting metal plate for connecting the driving part and the first positioning part.

Furthermore, the connection panel beating includes first end and second end, first end is used for fixing first reference column, the second end is used for fixing the second reference column, first end and second end are V style of calligraphy or the setting of L style of calligraphy.

Furthermore, the manipulator positioning device further comprises a positioning substrate, and the positioning substrate is used for fixing the driving piece and the second positioning piece.

Furthermore, the driving part is set as a linear motion driving part, a positioning guide rail is arranged on the positioning substrate, and the driving part drives the first positioning part to move along the positioning guide rail.

The utility model provides a technical problem adopt still another technical scheme as follows: a robot for pick and place operations, wherein the robot comprises a robot positioning device as claimed in any preceding claim.

Compared with the prior art, the utility model provides a manipulator positioning device and manipulator, manipulator positioning device is used for the manipulator to get the blowing operation time location centre gripping material, and it is including first setting element and the second setting element that is used for fixing a position the material to and be used for the drive the driving piece of first setting element, first setting element is used for fixing the first corner of material, and makes the second corner with first corner diagonal angle setting of material near the second setting element. And for the location panel on the current manipulator, only can fix material both sides, the utility model provides a manipulator positioner carries out the diagonal angle to the material and fixes, has realized the fixed material of four sides, the promotion that is showing material positioning accuracy on the manipulator, and then showing lifting machine hand blowing precision, finally showing and promoting material machining precision.

Drawings

Fig. 1 is a schematic perspective view of a manipulator positioning device according to a preferred embodiment of the present invention.

Fig. 2 is a schematic view of a manipulator positioning device and a material positioning and clamping relationship provided in the present invention.

Fig. 3 is a rear view schematically illustrating a modified embodiment of the manipulator positioning device according to the present invention.

Fig. 4 is a schematic view of a preferred cooperation relationship between a manipulator positioning device and a material positioning and clamping device provided in the present invention.

Description of reference numerals:

10. the manipulator positioning device comprises a manipulator positioning device, 20 parts, 11 parts, a first positioning part, 12 parts, a second positioning part, 13 parts, a driving part, 14 parts, a positioning base plate, 111 parts, a first positioning column, 112 parts, a second positioning column, 113 parts, a connecting metal plate, 114 parts, a first end, 115 parts, a second end, 116 parts, a third end, 117 parts, a soft layer, 121 parts, a first leaning corner, 122 parts, a second leaning corner, 123 parts, a soft buffer layer, 131 parts, an air cylinder, 141 parts, a positioning guide rail, α parts, a first corner, β parts, a second corner, 23 parts, a first edge, 24 parts, a second edge, 25 parts, a third edge, 26 parts and a fourth edge.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1 and 2, a first embodiment of the present invention provides a manipulator positioning device 10 for positioning and clamping a material 20 during a manipulator material taking and placing operation, including a first positioning member 11 and a second positioning member 12 for positioning the material 20, and a driving member 13 for driving the first positioning member 11, wherein the first positioning member 11 is used for fixing a first corner α of the material 20, and enabling a second corner β of the material 20, which is diagonally opposite to the first corner α, to abut against the second positioning member 12, it is understood that the first positioning member 11 is movable relative to the second positioning member 12 under the driving of the driving member 13, and the second positioning member 12 is fixed in position, that is, when the material 20 is present on the manipulator, the first positioning member 11 is used for fixing two adjacent sides of the material 20 at the first corner α, the second positioning member 12 is used for fixing two adjacent sides of the material 20 at the second corner β, wherein the first corner α is a second corner β, the corner is further fixed, the manipulator 20 is further fixed at a diagonal, the positioning accuracy is substantially higher than that the positioning of the positioning member 20, and the positioning of the material 20 is substantially improved, and the positioning of the manipulator 20 is achieved by the manipulator 20, and the manipulator 20 is lifted by the manipulator after the positioning device, the positioning precision is substantially improved.

In an embodiment, the second positioning element 12 includes a first leaning corner 121 and a second leaning corner 122, and the first leaning corner 121 and the second leaning corner 122 are disposed in an L shape. The second positioning element 12 is arranged into a first leaning corner 121 and a second leaning corner 122 which are arranged in an L shape, so that the positioning and fixing of the second positioning element 12 on two adjacent sides of the material 20 at the same corner are effectively ensured; that is, when the material 20 abuts against the second positioning member 12, the first leaning corner 121 fixes the first edge 23 of the material 20, and the second leaning corner 122 fixes the second edge 24 of the material 20; wherein the first edge 23 and the second edge 24 of the material 20 are homoangular edges; and the precision of the second positioning piece 12 and the first positioning piece 11 for positioning and clamping the fixed material 20 together is effectively ensured.

Further, the shape of the first leaning corner 121 and the second leaning corner 122 may include any one or more of a cuboid, a prism, or a cylinder, but the first leaning corner 121 and the second leaning corner 122 only need to be disposed in an L shape; thereby facilitating the holding and fixing of the materials 20 with different shapes by the second positioning piece 12. The first reclining angle 121 and the second reclining angle 122 may be disposed in contact with each other or may be disposed at an interval, and only the extension lines of the disposition directions of the first reclining angle 121 and the second reclining angle 122 need to be L-shaped; the applicability of the second positioning part 12 to mechanical arms with different sizes and shapes is effectively improved, and the applicability of the second positioning assembly to different materials 20 is also improved.

Preferably, a soft buffer layer 123 is disposed on the first corner 121 and the second corner 122; thereby effectively protecting the structural integrity of the material 20. Further, the soft buffer layer 123 may be coated on the surfaces of the first and

second support corners

121 and 122; the adhesive can also be only applied to the surfaces of the first support corner 121 and the second support corner 122 contacting the material 20, so that the integrity of the material 20 is protected, the manufacturing cost of the manipulator is effectively reduced, and the weight of the manipulator is also reduced.

In another embodiment, the first positioning element 11 includes a first positioning column 111 and a second positioning column 112, the first positioning column 111 is disposed opposite to the first leaning corner 121, and the second positioning element 12 is disposed opposite to the second leaning corner 122. It can be understood that, when positioning and clamping the material 20, the first positioning column 111 and the first leaning corner 121 together clamp and fix two opposite sides of the material 20; the second positioning column 112 and the second leaning corner 122 together hold and fix the other two opposite sides of the material 20. That is, the first positioning column 111 and the first angle 121 position and clamp the fixed material 20 in a first relative direction, and the second positioning column 112 and the second angle 122 position and clamp the fixed material 20 in a second relative direction, wherein the first relative direction is perpendicular to the second relative direction. Namely, the first positioning member 11 is used for fixing a third edge 25 of the material 20 opposite to the first edge 23; the second positioning member 12 is used for fixing a fourth side 26 of the material 20 opposite to the second side 24; and then make the utility model provides a material 20 is fixed to manipulator positioner 10 four sides, the promotion that is showing material 20 positioning accuracy on the manipulator, and then show lifting manipulator blowing precision, finally show and promoted 20 machining precision of material.

Further, the first positioning column 111 and the second positioning column 112 are set as soft positioning columns and/or hard positioning columns; thereby effectively protecting the structural integrity of the different strength materials 20. It should be noted that the first positioning column 111 and the second positioning column 112 may also be set as hard positioning columns, and the hard positioning columns are coated with a soft layer 117, so as to effectively ensure the positioning and clamping force of the first positioning member 11 on the material 20, and protect the structural integrity of the material 20 with different strengths.

Referring to fig. 3 and 4, further, the first positioning member 11 further includes a connecting metal plate 113 for connecting the driving member 13 and the first positioning member 11. Specifically, the connecting metal plate 113 includes a first end 114 and a second end 115, the first end 114 is used for fixing the first positioning column 111, the second end 115 is used for fixing the second positioning column 112, and the first end 114 and the second end 115 are arranged in a V shape or an L shape; it should be noted that the connecting metal plate 113 further includes a third end 116 that connects the first end 114 and the second end 115 at the same time, and the other end of the second end 115 is connected to the driving element 13; and further, the first positioning part 11 is ensured to move relative to the second positioning part 12 under the driving of the driving part 13, and the material 20 is ensured to be accurately positioned and clamped.

In another embodiment, the robot positioning device 10 further includes a positioning substrate 14, and the positioning substrate 14 is used for fixing the driving member 13 and the second positioning member 12. Specifically, the driving member 13 is a linear driving member 13, the positioning substrate 14 is provided with a positioning guide rail 141, the driving member 13 drives the first positioning member 11 to move along the positioning guide rail 141, and the driving member 13 includes an air cylinder 131 or a motor.

In one embodiment, the driving member 13 is configured as an air cylinder 131, and the guide rail on the positioning substrate 14 is parallel to the push rod of the air cylinder 131 and the second end 115 of the connecting metal plate 113; it can be understood that, at this time, the first end 114 and the second end 115 of the connecting metal plate 113 are arranged in a V shape. And then effectively guarantee through a cylinder 131 synchronous drive first reference column 111 and second reference column 112 location centre gripping material 20 promotes manipulator material 20 positioning accuracy, and then is showing the manipulator blowing precision of promotion, finally is showing and has promoted material 20 machining precision.

The utility model also provides a manipulator for get the operation of expecting, wherein, the manipulator includes if the utility model discloses foretell manipulator positioner 10. And then realized four sides fixed material 20, showing promotion on the manipulator material 20 positioning accuracy, and then showing and improving manipulator blowing precision, finally showing and improving material 20 machining precision.

Compared with the prior art, the utility model provides a manipulator positioner and manipulator, manipulator positioner is used for the manipulator to get the blowing operation time location centre gripping material, and it is including first setting element and the second setting element that is used for fixing a position the material to and be used for the drive the driving piece of first setting element, first setting element is used for fixing the first corner of material, and makes the second corner with first corner diagonal angle setting of material near the second setting element. And for the location panel on the current manipulator, only can fix material both sides, the utility model provides a manipulator positioner carries out the diagonal angle to the material and fixes, has realized the fixed material of four sides, the promotion that is showing material positioning accuracy on the manipulator, and then showing lifting machine hand blowing precision, finally showing and promoting material machining precision.

It is to be understood that the invention is not limited to the above-described embodiments, and that modifications and variations may be made by those skilled in the art in light of the above teachings, and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.

Claims

1. The utility model provides a manipulator positioner for location centre gripping material when blowing operation is got to the manipulator, its characterized in that includes: the positioning device comprises a first positioning piece, a second positioning piece and a driving piece, wherein the first positioning piece and the second positioning piece are used for positioning materials, the driving piece is used for driving the first positioning piece, the first positioning piece is used for fixing a first corner of the materials, and a second corner, which is arranged diagonally to the first corner, of the materials is enabled to be close to the second positioning piece.

2. The robot positioning device of claim 1, wherein the second positioning element comprises a first abutment angle and a second abutment angle, the first abutment angle and the second abutment angle being arranged in an L-shape.

3. The robot positioning device of claim 2, wherein the first corner secures a first edge of the material and the second corner secures a second edge of the material when the material abuts the second positioning member; wherein, the first edge and the second edge of the material are the same angle edges.

4. The manipulator positioning device according to claim 2, wherein the first positioning member includes a first positioning post and a second positioning post, the first positioning post is disposed opposite to the first leaning corner, and the second positioning member is disposed opposite to the second leaning corner.

5. The robot positioning device of claim 4, wherein the first positioning member is configured to secure a third edge of the material opposite the first edge, and the second positioning member is configured to secure a fourth edge of the material opposite the second edge; the first positioning column and the second positioning column are arranged to be soft positioning columns and/or hard positioning columns.

6. The manipulator positioning device according to claim 5, wherein the first positioning member further comprises a connecting sheet metal for connecting the driving member and the first positioning member.

7. The manipulator positioning device according to claim 6, wherein the connecting metal plate comprises a first end and a second end, the first end is used for fixing the first positioning column, the second end is used for fixing the second positioning column, and the first end and the second end are arranged in a V shape or an L shape.

8. The robot positioning device of any of claims 1-7, further comprising a positioning base for securing the driving member and the second positioning member.

9. The manipulator positioning device according to claim 8, wherein the driving member is a linear driving member, the positioning substrate has a positioning rail, and the driving member drives the first positioning member to move along the positioning rail.

10. A robot for pick and place operations, characterized in that the robot comprises a robot positioning device according to any of claims 1-9.