CN214238226U - Manipulator grabbing device capable of achieving accurate positioning through photoelectricity - Google Patents
Manipulator grabbing device capable of achieving accurate positioning through photoelectricity Download PDFInfo
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- CN214238226U CN214238226U CN202022618663.3U CN202022618663U CN214238226U CN 214238226 U CN214238226 U CN 214238226U CN 202022618663 U CN202022618663 U CN 202022618663U CN 214238226 U CN214238226 U CN 214238226U
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- photoelectric
- photoelectric switch
- switch
- walking frame
- manipulator
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Abstract
The utility model provides a manipulator gripping device which realizes accurate positioning by utilizing photoelectricity, comprising a conveying support frame, a second walking frame, a second slide seat, a mechanical arm, a goods center hole detection photoelectric switch, a laser diffuse reflection photoelectric switch and a top position photoelectric switch, wherein the first walking frame is sequentially provided with a front position photoelectric proximity switch, a front speed reduction photoelectric proximity switch, a rear speed reduction photoelectric proximity switch and a rear position photoelectric proximity switch, two manipulator grabbing mechanisms are arranged on the second walking frame, each manipulator grabbing mechanism comprises a manipulator and a manipulator, the mechanical arm is provided with a first induction plate matched with the photoelectric switch in place, the mechanical arm is provided with a goods center hole detection photoelectric switch, the laser diffuse reflection photoelectric switches are symmetrically arranged and used for fine positioning of movement in the front-back direction. The manipulator grabbing device is suitable for grabbing objects with holes in the middle, and is accurate in positioning.
Description
[ technical field ] A method for producing a semiconductor device
The utility model relates to a technical field that the goods was carried, especially an utilize photoelectricity to realize manipulator grabbing device of accurate positioning.
[ background of the invention ]
Present goods snatchs transport multi-purpose photoelectric switch of adopting and carries out a location, but the location that photoelectric switch control snatched the goods is accurate inadequately, has the goods of centre bore in the middle of the suitable part that moreover can not be fine, is difficult to realize the accurate positioning, provides one kind at present and utilizes the manipulator grabbing device that photoelectricity realized the accurate positioning.
[ Utility model ] content
The utility model aims at solving the problem among the prior art, provide an utilize photoelectricity to realize manipulator grabbing device of accurate positioning, can be suitable for snatching of middle porose object, the location is accurate.
In order to achieve the purpose, the utility model provides a manipulator grabbing device for realizing accurate positioning by utilizing photoelectricity, which comprises a conveying support frame, a second walking frame, a second slide seat, a mechanical arm, a manipulator, a goods center hole, a photoelectric switch for detecting light and light, a laser diffuse reflection photoelectric switch and a photoelectric switch for reaching the position, wherein the conveying support frame is symmetrically arranged, a first walking frame is arranged above the conveying support frame, the second walking frame can move back and forth along the length direction of the first walking frame, the first walking frame is sequentially provided with a front photoelectric proximity switch for reaching the position, a front deceleration photoelectric proximity switch, a rear deceleration photoelectric proximity switch and a rear photoelectric proximity switch for reaching the position along the length direction, the second walking frame is provided with two manipulator grabbing mechanisms capable of moving along the length direction, the manipulator snatchs the mechanism and includes the arm and install the manipulator on the arm, it supplies the arm to stretch out the logical chamber of below to have in the second walking frame, go up the photoelectric switch that targets in place and install in the one side of leading to the chamber towards the arm, be equipped with on the arm and last photoelectric switch matched with first tablet that targets in place for the location that the vertical direction of control arm goes up and down, goods centre bore detects photoelectric switch and sets up in the mechanism of snatching of manipulator, the diffuse reflection photoelectric switch symmetry of laser sets up in the both sides of the mechanism of snatching of manipulator, is used for controlling the fine positioning that the second walking frame fore-and-aft direction removed.
Preferably, a first guide rail is arranged on the first walking frame along the length direction of the first walking frame, first sliding seats matched with the first guide rail are respectively arranged at two ends of the second walking frame, the first sliding seats are driven by a servo motor to control the second walking frame to move in the front-back direction, a second guide rail is arranged on the second walking frame along the length direction of the second walking frame, the second sliding seats are matched with the second guide rail, the driving lifting mechanism is used for controlling the mechanical arm to move in the up-down direction, and the second sliding seats are driven by a servo electric cylinder to control the mechanical arm to move in the left-right direction.
Preferably, the detection photoelectric switch for the goods center hole is a laser correlation type switch.
Preferably, the grabbing mechanism of the manipulator is an insert rod and is used for grabbing goods with a center hole, the goods center hole is detected by a photoelectric switch and is arranged at the center of the insert rod, and a center hole through which a laser line can penetrate is formed in the insert rod.
Preferably, the system further comprises a control system, and the control system is electrically connected with the front-to-position photoelectric proximity switch, the front speed-reducing photoelectric proximity switch, the rear-to-position photoelectric proximity switch, the cargo center hole detection photoelectric switch, the laser diffuse reflection photoelectric switch and the upper-to-position photoelectric switch.
As preferred, one side of leading to the chamber still is equipped with upper limit photoelectric switch, the lower limit photoelectric switch who links to each other with the control system electrical property, upper limit photoelectric switch, lower limit photoelectric switch set up respectively in the both sides of last photoelectric switch that targets in place, be equipped with on the arm with upper limit photoelectric switch, lower limit photoelectric switch matched with second tablet, third tablet, the height that highly is less than first tablet of second tablet, the height that highly is higher than first tablet of third tablet.
The utility model has the advantages that: the utility model discloses a carry support frame, second walking frame, second slide, arm, manipulator, goods centre bore detection photoelectric switch, laser diffuse reflection photoelectric switch and the cooperation of last photoelectric switch etc. that targets in place, walking direction is roughly fixed a position, is promoted the orientation location around, walking direction accurate positioning around can realizing the manipulator to manipulator accurate positioning has been guaranteed.
The features and advantages of the present invention will be described in detail by embodiments with reference to the accompanying drawings.
[ description of the drawings ]
Fig. 1 is a schematic cross-sectional structure diagram of a manipulator gripping device for realizing precise positioning by using photoelectricity of the present invention;
fig. 2 is a left side view of a right manipulator of the manipulator grabbing device for realizing precise positioning by using photoelectricity of the utility model;
FIG. 3 is a schematic view in cross section along AA of FIG. 1;
FIG. 4 is a right side view of the position of the sensing plates on the robot arm.
[ detailed description ] embodiments
Referring to fig. 1 to 3, the present invention relates to a manipulator gripping device using photoelectricity to realize accurate positioning, which comprises a conveying support frame 1, a second walking frame 2, a second slide 3, a mechanical arm 4, a manipulator 5, a goods center hole detecting photoelectric switch 6, a laser diffuse reflection photoelectric switch 7 and a photoelectric switch 9 which is in place, wherein the conveying support frame 1 is symmetrically arranged, a first walking frame 11 is arranged above the conveying support frame 1, the second walking frame 2 can move back and forth along the length direction of the first walking frame 11, the first walking frame 11 is sequentially provided with a front photoelectric proximity switch which is in place, a front deceleration photoelectric proximity switch, a rear deceleration photoelectric proximity switch and a rear photoelectric proximity switch which are in place along the length direction, and is used for controlling the rough positioning of the second walking frame 2 in the front and rear direction, two manipulator gripping mechanisms which can move along the length direction are arranged on the second walking frame 2, the manipulator snatchs the mechanism and includes arm 4 and installs manipulator 5 on arm 4, it supplies arm 4 to stretch out logical chamber 20 of below to have in the second walking frame 2, go up to target in place photoelectric switch 9 and install in the one side of leading to chamber 20 towards arm 4, be equipped with on the arm 4 and last photoelectric switch 9 matched with first tablet 402 that targets in place for the location of controlling the vertical direction lift of arm 4, the goods centre bore detects photoelectric switch 6 and sets up on the mechanism of snatching of arm 5, laser diffuse reflection photoelectric switch 7 symmetry sets up in the both sides of the mechanism of snatching of arm 5, is used for controlling the fine positioning that 2 fore-and-aft directions of second walking frame removed.
Further, a first guide rail is arranged on the first walking frame 11 along the length direction of the first walking frame, first sliding seats 201 matched with the first guide rail are respectively arranged at two ends of the second walking frame 2, the first sliding seats 201 are driven by a servo motor to control the second walking frame 2 to move in the front-back direction, second guide rails 202 are arranged on the second walking frame 2 along the length direction of the second walking frame, the second sliding seats 3 are matched with the second guide rails 202, the lifting mechanism 41 is used for controlling the mechanical arm 4 to move in the up-down direction, and the second sliding seats 3 are driven by a servo electric cylinder to control the mechanical arm 4 to move in the left-right direction.
Further, the cargo center hole detection photoelectric switch 6 is a laser correlation type switch, and the laser diffuse reflection photoelectric switches 7 are symmetrically arranged on two sides of the cargo center hole detection photoelectric switch 6.
Further, the grabbing mechanism of the manipulator 5 is an insert rod 51 for grabbing the goods 10 with a central hole, the goods central hole is detected by a photoelectric switch 6 installed at the center of the insert rod 51, and a central hole for the laser to penetrate through is formed in the insert rod 51.
The control system is electrically connected with the front in-place photoelectric proximity switch, the front speed-reducing photoelectric proximity switch, the rear in-place photoelectric proximity switch, the cargo center hole detection photoelectric switch 6, the laser diffuse reflection photoelectric switch 7 and the upper in-place photoelectric switch 9.
Further, referring to fig. 4, an upper limit photoelectric switch 21 and a lower limit photoelectric switch 22 electrically connected to the control system are further disposed on one side of the through cavity 20, the upper limit photoelectric switch 21 and the lower limit photoelectric switch 22 are respectively disposed on two sides of the upper position photoelectric switch 9, a second sensing board 401 and a third sensing board 403 matched with the upper limit photoelectric switch 21 and the lower limit photoelectric switch 22 are disposed on the mechanical arm 4, the height of the second sensing board 401 is lower than that of the first sensing board 402, and the height of the third sensing board 403 is higher than that of the first sensing board 402.
Further, still including location material loading support frame 8, material loading support frame 8 sets up in the one end that is close to the input side between two transport support frames 1, a plurality of V font locating bracket 81 that is used for bearing goods 10 has been arranged side by side to the top of location material loading support frame 8, goods 10 is the cylinder, and center department has the centre bore.
The utility model discloses the working process:
positioning in the front and back walking directions: when the goods are put and return to the original point, the front-in-place photoelectric proximity switch, the front speed-reducing photoelectric proximity switch, the rear speed-reducing photoelectric proximity switch and the rear-in-place photoelectric proximity switch can realize the rough positioning of the front and rear traveling directions of the second traveling frame 2, and the second traveling frame 2 firstly moves to the position above the feeding station of the positioning feeding support frame 8.
Positioning in the lifting direction: when taking goods: the highest point of the goods is detected by the photoelectric switch 6 through the goods center hole, and the mechanical arm is controlled to descend to the highest point parallel position of the goods center hole to complete primary positioning. Then, a certain pulse value is lowered through an encoder of the lifting motor belt (the value is fixed, and the setting basis of the value is half of the diameter of the central hole), and at the moment, the mechanical arm is lowered to a grabbing station to complete the positioning in the vertical direction. The lower limit switch 22 is used for fall protection in the event of other photoelectric failures.
When goods are put: after the goods are grabbed, the lifting direction needs to be lifted to the position of the upper position switch 9. The upper limit switch 21 is used for rise protection in the event of other photoelectric failures.
When the goods are put: and calculating the encoder value of the goods release position according to the recorded encoder value of the lifting direction during goods taking, the height difference of the goods taking position and the goods release position (the height difference exists due to different goods taking and releasing devices), and lowering the goods to the height of the calculated encoder value. The lower limit switch 22 is used for fall protection in the event of other photoelectric failures.
Returning to the original point: after the goods are put, the lifting direction needs to be lifted to the position of the upper position switch 9. The upper limit switch 21 is used for rise protection in the event of other photoelectric failures.
Accurate positioning is carried out when goods are taken from the front and back walking directions: after the robot is lifted and walks in place, the two laser diffuse reflection photoelectric switches 7 arranged on the mechanical arm can detect whether the positioning is accurate (which photoelectric switch is on which side is bright) and adjust to the optimal position according to the photoelectric switch.
The direction of the mechanical arm: the grabbing action of the manipulator is controlled by the servo electric cylinder (the inserted bar can be inserted into a central hole of a cargo), and after the front-back walking and the lifting accurate positioning are completed, the grabbing can be realized (at the moment, the encoder value of the lifting direction when the grabbing needs to be recorded).
The above-mentioned embodiment is right the utility model discloses an explanation, it is not right the utility model discloses a limited, any right the scheme after the simple transform of the utility model all belongs to the protection scope of the utility model.
Claims (6)
1. The utility model provides an utilize photoelectricity to realize manipulator grabbing device of accurate positioning which characterized in that: comprises a conveying support frame (1), a second walking frame (2), a second sliding seat (3), a mechanical arm (4), a mechanical arm (5), a cargo center hole detection photoelectric switch (6), a laser diffuse reflection photoelectric switch (7) and an upper in-place photoelectric switch (9), wherein the conveying support frame (1) is symmetrically arranged, a first walking frame (11) is arranged above the conveying support frame (1), the second walking frame (2) can move back and forth along the length direction of the first walking frame (11), the first walking frame (11) is sequentially provided with a front in-place photoelectric proximity switch, a front speed reduction photoelectric proximity switch, a rear speed reduction photoelectric proximity switch and a rear in-place photoelectric proximity switch along the length direction of the first walking frame for controlling the rough positioning of the front and rear direction movement of the second walking frame (2), and two mechanical arm grabbing mechanisms capable of moving along the length direction are arranged on the second walking frame (2), the manipulator snatchs the mechanism and includes arm (4) and install manipulator (5) on arm (4), it supplies arm (4) to stretch out logical chamber (20) of below to have in second walking frame (2), on target in place photoelectric switch (9) and install in the one side of leading to chamber (20) towards arm (4), be equipped with on arm (4) and last photoelectric switch (9) matched with first tablet (402) that targets in place for the location that control arm (4) vertical direction goes up and down, goods centre bore detection photoelectric switch (6) set up on the mechanism of snatching of manipulator (5), laser diffuse reflection photoelectric switch (7) symmetry sets up in the both sides of the mechanism of snatching of manipulator (5), is used for controlling the accurate location that second walking frame (2) fore-and-aft direction removed.
2. The robot gripping device for performing precise positioning by using photoelectricity as claimed in claim 1, wherein: be equipped with first guide rail along its length direction on first walking frame (11), the both ends of second walking frame (2) are equipped with respectively and move with first guide rail matched with first slide (201), first slide (201) are driven by servo motor to control second walking frame (2) fore-and-aft direction, be equipped with second guide rail (202) along its length direction on second walking frame (2), second slide (3) and second guide rail (202) looks adaptation, drive elevating system (41) for controlling arm (4) upper and lower direction removal, second slide (3) are driven by servo electric cylinder to control arm (4) left and right directions removal.
3. The robot gripping device for performing precise positioning by using photoelectricity as claimed in claim 2, wherein: the photoelectric switches (6) for detecting the goods center hole are all laser opposite-emitting switches.
4. A robot gripping device for performing accurate positioning by using photoelectricity according to claim 3, wherein: the grabbing mechanism of the manipulator (5) is an insert rod (51) and is used for grabbing goods (10) with a center hole, the goods center hole detects that a photoelectric switch (6) is installed at the center of the insert rod (51), and a center hole through which a laser line can penetrate is formed in the insert rod (51).
5. The robot gripping device for performing precise positioning by using photoelectricity as claimed in claim 1, wherein: the device is characterized by further comprising a control system, wherein the control system is electrically connected with the front in-place photoelectric proximity switch, the front speed-reducing photoelectric proximity switch, the rear in-place photoelectric proximity switch, the cargo center hole detection photoelectric switch (6), the laser diffuse reflection photoelectric switch (7) and the upper in-place photoelectric switch (9).
6. The robot gripping device for performing precise positioning by using photoelectricity according to claim 5, wherein: lead to one side of chamber (20) and still be equipped with upper limit photoelectric switch (21), lower limit photoelectric switch (22) that link to each other with the control system electrical property, upper limit photoelectric switch (21), lower limit photoelectric switch (22) set up respectively in the both sides of last photoelectric switch (9) that targets in place, be equipped with respectively on arm (4) with upper limit photoelectric switch (21), lower limit photoelectric switch (22) matched with second tablet (401), third tablet (403), highly being less than the height of first tablet (402) of second tablet (401), the height that highly is higher than first tablet (402) of third tablet (403).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022618663.3U CN214238226U (en) | 2020-11-13 | 2020-11-13 | Manipulator grabbing device capable of achieving accurate positioning through photoelectricity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022618663.3U CN214238226U (en) | 2020-11-13 | 2020-11-13 | Manipulator grabbing device capable of achieving accurate positioning through photoelectricity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214238226U true CN214238226U (en) | 2021-09-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022618663.3U Active CN214238226U (en) | 2020-11-13 | 2020-11-13 | Manipulator grabbing device capable of achieving accurate positioning through photoelectricity |
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| Country | Link |
|---|---|
| CN (1) | CN214238226U (en) |
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2020
- 2020-11-13 CN CN202022618663.3U patent/CN214238226U/en active Active
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