WO2016095676A1 - Bras mécanique de saisie de bouteille - Google Patents

Bras mécanique de saisie de bouteille Download PDF

Info

Publication number
WO2016095676A1
WO2016095676A1 PCT/CN2015/095490 CN2015095490W WO2016095676A1 WO 2016095676 A1 WO2016095676 A1 WO 2016095676A1 CN 2015095490 W CN2015095490 W CN 2015095490W WO 2016095676 A1 WO2016095676 A1 WO 2016095676A1
Authority
WO
WIPO (PCT)
Prior art keywords
claw
bottle
positioning
robot
closing
Prior art date
Application number
PCT/CN2015/095490
Other languages
English (en)
Chinese (zh)
Inventor
邓军
Original Assignee
邓军
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 邓军 filed Critical 邓军
Publication of WO2016095676A1 publication Critical patent/WO2016095676A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to a robot, and more particularly to a bottle grabber.
  • the purpose of the present invention is to solve the deficiencies of the prior art, thereby providing a bottle grabber.
  • a bottle grabber robot comprising: a base, a left jaw, a right jaw, a stepping motor, a left jaw connector, a right jaw connector, a slide rail, a slider, a positioning piece, and a cymbal Positioning film, ⁇ detection and inspection.
  • the base is a T-shaped structure that functions as a support, a connection, and a fix.
  • the left and right claws are symmetrical with each other, and the opposite inner sides are provided with grooves, and the two grooves cooperate with each other and correspond to the shape of the bottle body.
  • the left claw is disposed on the left claw connecting member
  • the right claw is disposed on the right claw connecting member
  • the left claw is an actuator
  • the right claw is a fixing member.
  • the stepping motor is fixed on the right claw connecting piece and the output shaft is a screw rod, the lead screw passes through the right claw connecting piece and has a lead of 2 mm, and the screw rod is covered with a screw rod a nut, the lead screw nut being fixed to the left jaw connecting piece.
  • the lead screw and the lead screw nut constitute a screw nut pair.
  • the left claw connecting piece is connected to the sliding block, the sliding block is connected to the sliding rail, and the sliding rail is fixed at the bottom In the seat, the left claw connecting member drives the left claw to slide left and right on the sliding rail under the driving of the stepping motor screw nut pair.
  • the left claw is moved to the right to the robot "close” process, and the positioning accuracy of the gripping bottle by the robot "closing” process is completed by the joint positioning piece triggering and detecting the closing action, the left claw is leftward
  • the process of moving to the robot " ⁇ ” process, the positioning accuracy of the loose bottle of the robot " ⁇ ” process is completed by the triggering action of the ⁇ positioning piece, and the locating piece and the locating piece are fixed on the left claw connecting piece.
  • the detecting hook is fixed on the right claw connecting piece, and the detecting point is fixed on the side of the base.
  • the beneficial effects of the present invention are as follows: the stepping motor screw nut pair is used to drive the clamping of the claws, and the positioning piece is triggered to detect the positioning to control the positioning precision thereof, and the structure is simple and controlled. Accurate, safe and high performance, easy to popularize.
  • FIG. 1 is a structural view of the present invention.
  • a bottle grabber characterized by comprising a base 1, a left claw 2, a right claw 3, a stepping motor 4, a left jaw connecting member 5, a right claw connecting member 6, a slide rail 7, and a slide
  • the block 8 the positioning piece 9, the ⁇ positioning piece 10, the ⁇ detecting switch 11 and the detecting switch 12 are provided.
  • the base 1 has a T-shaped structure for supporting, connecting and fixing.
  • the left claw 2 and the right claw 3 are symmetrical with each other, and the opposite inner sides are provided with grooves, and the two grooves are matched with each other. Fit and correspond to the shape of the bottle.
  • the left claw 2 is disposed on the left claw connecting member 5, the right claw 3 is disposed on the right claw connecting member 6, the left claw 2 is an actuator, and the right claw 3 is fixed. Pieces.
  • the stepping motor 4 is fixed on the right claw connecting member 6 and the output shaft is a screw rod 401 which passes through the right claw connecting piece 6 and has a lead of 2 mm.
  • the screw 401 is sleeved on the 401, and the screw nut 402 is fixed on the left claw connecting member 5.
  • the screw rod 401 and the screw nut 402 constitute a screw nut pair.
  • the left claw connector 5 is connected to the slider 8, the slider 8 is connected to the slide rail 7, the slide rail 7 is fixed on the base 1, and the left claw connector 5 is The left claw 2 is slid on the slide rail 7 by the driving of the stepping motor 4 screw nut pair.
  • the left claw 2 is moved to the right to a robot "coupling" process, and the positioning accuracy of the gripping cylinder of the robot is "closed” by the positioning piece 9 to trigger the detection of the closing switch 12, the left card
  • the movement of the claw 2 to the left is a robot " ⁇ ” process, and the positioning accuracy of the loose bottle of the robot " ⁇ ” process is completed by the action of the ⁇ positioning piece 10 to trigger the detection of the ⁇ 11, the locating piece 9, the locating piece 10 It is fixed to the left jaw connecting member 5, and the closing detecting switch 12 is fixed to the right claw connecting member 6, and the click detecting switch 11 is fixed to the side of the base 1.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Filling Of Jars Or Cans And Processes For Cleaning And Sealing Jars (AREA)

Abstract

L'invention concerne un bras mécanique de saisie de bouteille, comprenant une base (1), une griffe de serrage gauche (2), une griffe de serrage droite (3), un moteur pas-à-pas (4), un élément de liaison de griffe de serrage gauche (5), un élément de liaison de griffe de serrage droite (6), un rail coulissant (7), un bloc coulissant (8), une pièce de positionnement de fermeture (9), une pièce de positionnement d'ouverture (10), un commutateur de détection d'ouverture (11) et un commutateur de détection de fermeture (12). La griffe de serrage gauche (2) et la griffe de serrage droite (3) sont symétriques l'une par rapport à l'autre, et les côtés intérieurs opposés de ces derniers comprennent chacun une rainure convexe, les deux rainures convexes se réglant l'une avec l'autre et correspondant à la forme d'un corps de bouteille. La griffe de serrage gauche (2) se déplaçant vers la droite est le processus de "fermeture" du bras mécanique, et la précision de positionnement de saisie d'une bouteille pendant le processus de ''fermeture" du bras mécanique est exécutée au moyen de la pièce de positionnement de fermeture (9) déclenchant le fonctionnement du commutateur de détection de fermeture (12) ; la griffe de serrage gauche (2) se déplaçant vers la gauche est le processus ''d'ouverture" du bras mécanique, et la précision de positionnement de libération d'une bouteille pendant le processus "d'ouverture" du bras mécanique est exécutée au moyen de la pièce de positionnement d'ouverture (10) déclenchant le fonctionnement du commutateur de détection d'ouverture (11). L'ouverture et la fermeture des griffes de serrage (2, 3) sont entraînées au moyen d'une paire d'écrous de vis du moteur pas-à-pas (4), et la précision de positionnement de ces dernières est commandée au moyen des pièces de positionnement (9, 10) déclenchant les commutateurs de détection (11, 12) ; la structure est simple, la commande est précise, et la performance de sécurité est élevée.
PCT/CN2015/095490 2014-12-19 2015-11-25 Bras mécanique de saisie de bouteille WO2016095676A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201420806178.0U CN204382287U (zh) 2014-12-19 2014-12-19 一种抓瓶机械手
CN201420806178.0 2014-12-19

Publications (1)

Publication Number Publication Date
WO2016095676A1 true WO2016095676A1 (fr) 2016-06-23

Family

ID=53355041

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2015/095490 WO2016095676A1 (fr) 2014-12-19 2015-11-25 Bras mécanique de saisie de bouteille

Country Status (2)

Country Link
CN (1) CN204382287U (fr)
WO (1) WO2016095676A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104626178A (zh) * 2014-12-19 2015-05-20 邓军 一种抓瓶机械手
CN204382287U (zh) * 2014-12-19 2015-06-10 邓军 一种抓瓶机械手
CN108622594A (zh) * 2018-05-18 2018-10-09 广西联壮科技股份有限公司 新型陶瓷生产线搬运机器手臂
CN110217410B (zh) * 2019-05-30 2021-09-03 北京控制工程研究所 一种对接环捕获锁紧机构及捕获锁紧方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4815203A (en) * 1988-05-02 1989-03-28 Emhart Industries, Inc. Electronic component insertion machine
JP2000317871A (ja) * 1999-05-11 2000-11-21 Akihiro Hayashi 異物の付着を排除しながら把持する搬送用把持具
JP2009202332A (ja) * 2008-01-28 2009-09-10 Nachi Fujikoshi Corp 産業用ロボットのハンド装置
CN103341778A (zh) * 2013-06-26 2013-10-09 扬州锻压机床股份有限公司 自动找正夹持装置和包括它的机械手
CN203765637U (zh) * 2014-03-14 2014-08-13 淮安信息职业技术学院 大尺寸柱状零件抓取机械手
CN203765620U (zh) * 2014-03-14 2014-08-13 淮安信息职业技术学院 柱状内壁零件拾取机械手
CN104626178A (zh) * 2014-12-19 2015-05-20 邓军 一种抓瓶机械手
CN204382287U (zh) * 2014-12-19 2015-06-10 邓军 一种抓瓶机械手

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4815203A (en) * 1988-05-02 1989-03-28 Emhart Industries, Inc. Electronic component insertion machine
JP2000317871A (ja) * 1999-05-11 2000-11-21 Akihiro Hayashi 異物の付着を排除しながら把持する搬送用把持具
JP2009202332A (ja) * 2008-01-28 2009-09-10 Nachi Fujikoshi Corp 産業用ロボットのハンド装置
CN103341778A (zh) * 2013-06-26 2013-10-09 扬州锻压机床股份有限公司 自动找正夹持装置和包括它的机械手
CN203765637U (zh) * 2014-03-14 2014-08-13 淮安信息职业技术学院 大尺寸柱状零件抓取机械手
CN203765620U (zh) * 2014-03-14 2014-08-13 淮安信息职业技术学院 柱状内壁零件拾取机械手
CN104626178A (zh) * 2014-12-19 2015-05-20 邓军 一种抓瓶机械手
CN204382287U (zh) * 2014-12-19 2015-06-10 邓军 一种抓瓶机械手

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