CN106466848A - Manipulator tail end mechanism and material taking and discharging scheme - Google Patents
Manipulator tail end mechanism and material taking and discharging scheme Download PDFInfo
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- CN106466848A CN106466848A CN201510517366.0A CN201510517366A CN106466848A CN 106466848 A CN106466848 A CN 106466848A CN 201510517366 A CN201510517366 A CN 201510517366A CN 106466848 A CN106466848 A CN 106466848A
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- supporting plate
- die head
- expansion link
- stripper
- syringe needle
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Abstract
The invention relates to a manipulator tail end mechanism and a material taking and discharging scheme. The connecting and fixing plate is vertically provided with a guide pillar and a die head telescopic rod cylinder body; the lower end of the die head telescopic rod is fixedly provided with the die head, the lower end of the die head is fixedly provided with a needle tail of a plurality of needles, the rear part of a needle point head is normally flicked and forked and is contracted when being pressed, the lower end of the die head is fixedly provided with a guide sleeve corresponding to the position of a guide pillar, the lower section of the guide pillar penetrates through the guide sleeve and is connected with a stripper plate, and the stripper plate and an object supporting plate are provided with through holes corresponding to. The advantage is suitable for ventilative, soft, the unsmooth automation of article such as roughness of surface is held and is unloaded fast, position standard, safely. The structure is simple and compact, and the cost is lower; realizes the automation of the transportation and production processes and is suitable for various automatic machines.
Description
Technical field
The present invention relates to a kind of roboticses, particularly a kind of arm end mechanism and charge and discharge scheme.Can quickly, location criteria hold and unload resilient object ventilative, soft, that concave-convex surface is coarse.
Background technology
Developing rapidly with roboticses, according to the needs of clipped object part shape, size variation, the design as the actuator of robots arm end becomes more and more unique and important.But in traditional ventilative, soft, resilient object course of processing that concave-convex surface is coarse, or adopt artificial material-feeding and fetching, inefficiency, the shortcomings of labor cost is high；
At present, the hand of mechanical hand（It is used to grasp the part of workpiece or instrument）Version：Clamp-type, holding type and absorbent-type.These mechanical hand shortcomings at present：During clamp-type hand clamping flexible material, when material is placed, position is inaccurate；Holding type hand can not overturn object and position is inaccurate；The difficult grasping of attraction-type hand is ventilative, the coarse object of concave-convex surface.
Therefore, a kind of can quickly, location criteria holding of design is unloaded the mechanism of ventilative, soft, resilient object and is very necessary and has practicality：Such end is had to hold release mechanism, mechanical hand captures for such object, moves and unloads will become more efficiently and convenient.
Content of the invention
The problem existing for prior art, it is an object of the invention to：Design provides a kind of arm end mechanism and charge and discharge scheme, this arm end mechanism and charge and discharge scheme can quickly, location criteria hold and unload the resilient objects such as ventilative, soft, concave-convex surface is coarse.
The present invention is achieved through the following technical solutions above-mentioned purpose：Arm end mechanism and charge and discharge scheme, including the plate that is connected, Zhen Chi mechanism and stripper.Fixed plate is connected to automatization's machine mechanical arm, and the plate sidepiece that is connected, vertically equipped with guide pillar, links fixed plate and is fixed with expansion link cylinder body；Die head is fixed in expansion link lower end, the backshank of the fixing many pieces of pins of die head lower end array, needle point back of head flicks bifurcated under normal conditions, shrink when pressurized, die head is provided with vertical guide pin bushing corresponding with guide pillar position, guide pillar hypomere is connected through guide pin bushing with stripper, and stripper is provided with the through hole corresponding with die head lower end pin；Object supporting plate is provided with the room hole corresponding with pin, and object supporting plate is provided with the spring needle with the dislocation of die head lower end pin.
Further, the needle point back of head of above-mentioned Zhen Chi mechanism flicks bifurcated under normal conditions, shrinks, bifurcated needle is spring material when pressurized.
Further, above-mentioned expansion link cylinder body needs to configure respective type according to automatization's machine and object production technology, is reconfigured at respective switch, the type such as the optional hydraulic cylinder of expansion link cylinder, pneumatic cylinder, electric cylinder.
Further, above-mentioned expansion link cylinder telescoping switch holding wire connects the controller of automatization's machine.
Further, above-mentioned stripper digs room at, equipped with object detection sensor device, detection sensor device holding wire connects the controller of automatization's machine.
Further, above-mentioned object supporting plate is provided with the room hole corresponding with pin.
Further, the charge and discharge scheme of the above-mentioned arm end mechanism with the present invention is：Charge and discharge scheme with the arm end mechanism of the present invention is：The pin of arm end holds mechanism kinematic to above the object supporting plate of feeding position，Detection sensor device 7 detects has object on object supporting plate，And signal to automatization's machine controller，What controller signaled to expansion link controls switch，Expansion link is stretched downwards and driving spring syringe needle is pricked into object，The pressurized contraction of spring syringe needle is closed up，Penetrate and during object, flick bifurcated，Object is held in the palm at the spring needle head breadth position of lower section，Mechanical hand-held object motion is to above object supporting plate，Detection sensor device detects no object and position is normal，And signal to automatization's machine controller，Controller control machinery hand acupuncture is held mechanism and is continued motion，Then spring syringe needle puts in corresponding object supporting plate room through hole，Object is close to object supporting plate，Contracting driving spring syringe needle moves expansion link upwards upwards，Stripper keeps off object，Spring syringe needle is extracted out from object，Object is entirely unloaded on object supporting plate；Zhen Chi mechanism moves upwards, and detection sensor device detects on pin no object, and mechanical hand acupuncture is held mechanism and returned to above the object supporting plate of feeding position；Go round and begin again, be automatically performed object unloading.
Mentality of designing of the present invention：Being held thing by toothpick to inspire it is contemplated that pricking object with the expansion link driving spring syringe needle of cylinder, holding object, when expansion link driving spring syringe needle is retracted, above object, unload object with plate gear.Next it is exactly design structure and details, syringe needle can not prick tactile object supporting plate, employ guide pillar guide pin bushing positioning, the realization stretched as expansion link for preventing expansion link from shaking, the realization of mechanical hand locomotive function has ready-made machine and functive.
The principle of the invention is：Stretched downwards by described expansion link and when thin object pricked by driving spring syringe needle, needle point back of head flicks bifurcated under normal conditions, pricks and closes up into the pressurized contraction of object, flicks bifurcated when penetrating object, and object is held in the palm at the spring needle head breadth position of lower section.Object supporting plate is provided with the room hole corresponding with pin.The driving spring syringe needle of contracting upwards of object expansion link moves upwards, and stripper keeps off object, and spring syringe needle is extracted out from object, thus completing discharging.Connect automatization machine mechanical arm with the present invention plate that is connected, Telescopic be exactly utilize hydraulic cylinder, pneumatic cylinder, the expansion link Telescopic of electric cylinder, the controller of expansion link cylinder signal Xian Jie automatization machine mechanical arm, controller signals to the switch of expansion link cylinder, and the on-off control expansion link of expansion link cylinder stretches.Stripper digs at one room equipped with object detection sensor device.Detection sensor device holding wire connects the controller of automatization's machine mechanical arm, and whether whether detect object supporting plate and have on object, syringe needle has the information of object to pass to controller, and controller controls expansion link action according to information.Because object supporting plate is provided with the room through hole corresponding with pin,
So, spring syringe needle will not brush up against object supporting plate, and object can be close to object supporting plate and entirely be unloaded on object supporting plate.
Outstanding feature of the present invention is：Can quickly, location criteria hold and unload ventilative, soft, flexible object.Tie-up part pin hole is little.Can be directly mounted at and use on process equipment, hold that discharging is quick, location criteria, improve work efficiency, substitute artificial operate, reduce labor cost, improve safety guarantee, low cost.The automatization realizing carrying, production process is it is adaptable to polytype automatization machine.
Brief description
Fig. 1 is the positive structure diagram of the present invention.
Fig. 2 is the present invention looks up structural representation of the present invention.
In figure：1- links fixed plate；2- Zhen Chi mechanism；3- stripper；21- die head；22- expansion link；23- expansion link cylinder body；24- pin；25- guide pillar；26- guide pin bushing；201- spring syringe needle；Tiny place in 202- pin；203- pin rear end；4- object;5- object supporting plate；6- through hole；7- detection sensor device.
Specific embodiment
Under with reference to the accompanying drawings and detailed description the present invention is described in further detail.
Referring to Fig. 12：The present invention relates to a kind of arm end mechanism and charge and discharge scheme, including the plate 1 that is connected, Zhen Chi mechanism 2, stripper 3, object supporting plate 5.Be connected plate 1 sidepiece vertically equipped with guide pillar 25, link fixed plate 1 and be fixed with expansion link cylinder body 23；Die head 21 is fixed in expansion link 22 lower end, the pin rear end 203 of the fixing many pieces of pins 24 in die head 21 lower end, die head 21 is provided with vertical guide pin bushing 26 corresponding with guide pillar 25 position, and guide pillar 25 hypomere is connected through guide pin bushing 26 with stripper 3, and stripper 3 is provided with the through hole 6 corresponding with pin 24.Object supporting plate 5 is provided with the through hole 6 corresponding with pin 24.Charge and discharge scheme with the arm end mechanism of the present invention is：The Zhen Chi mechanism 2 of arm end moves to above the object supporting plate 5 of feeding position，Detection sensor device 7 detects has object on object supporting plate 5，And signal to automatization's machine controller，What controller signaled to expansion link 22 controls switch，Expansion link 22 is stretched downwards and driving spring syringe needle 201 is pricked into object 4，The pressurized contraction of spring syringe needle 201 is closed up，Penetrate and during object 4, flick bifurcated，Object 4 is held in the palm at the wide position of lower section spring syringe needle 201，Mechanical hand-held object 4 moves to above object supporting plate 5，Detection sensor device 7 detects no object 4 and position is normal，And signal to automatization's machine controller，Controller control machinery hand acupuncture is held mechanism 2 and is continued motion，Then spring syringe needle 201 puts in corresponding object supporting plate 5 room through hole 6，Object 4 is close to object supporting plate 5，Contracting driving spring syringe needle 201 moves expansion link 22 upwards upwards，Stripper 3 keeps off object 4，Spring syringe needle 201 is extracted out from object 4，Object 4 is entirely unloaded on object supporting plate 5；Zhen Chi mechanism 2 moves upwards, and detection sensor device detects on pin 24 no object 4, and mechanical hand acupuncture is held mechanism 2 and returned to above the object supporting plate 5 of feeding position；Go round and begin again, be automatically performed object 4 unloading.
Although the foregoing describing the specific embodiment of the present invention, it will be appreciated by those of skill in the art that these are merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art, on the premise of the principle without departing substantially from the present invention and essence, can make various changes or modifications to these embodiments, but these changes and modification each fall within protection scope of the present invention.
Claims (5)
1. arm end mechanism and charge and discharge scheme it is characterised in that：Including the plate that is connected, Zhen Chi mechanism, stripper and object supporting plate, be connected plate sidepiece vertically equipped with guide pillar, link fixed plate and be fixed with die head expansion link cylinder body, die head is fixed in die head expansion link lower end, the backshank of the fixing many pieces of pins in die head lower end, needle point back of head flicks bifurcated under normal conditions, shrink when pressurized, die head is provided with vertical guide pin bushing corresponding with guide pillar position, guide pillar hypomere is connected through guide pin bushing with stripper, stripper is provided with the through hole corresponding with pin, and object supporting plate is provided with the room hole corresponding with pin；Stripper is equipped with object detection sensor device.
2. arm end mechanism according to claim 1 and charge and discharge scheme it is characterised in that：The needle point back of head of described Zhen Chi mechanism is to flick bifurcated and flexible under normal conditions, and bifurcated needle is spring material.
3. arm end mechanism according to claim 1 and charge and discharge scheme it is characterised in that：Stripper digs room at, and, equipped with object detection sensor device, detection sensor device holding wire connects the controller of automatization's machine, and whether whether detect object supporting plate and have on object, syringe needle has the information of object to pass to controller, and controller controls expansion link action according to information.
4. arm end mechanism according to claim 1 and charge and discharge scheme it is characterised in that：Described object supporting plate is provided with the room hole corresponding with pin.
5. arm end mechanism according to claim 1 and charge and discharge scheme it is characterised in that：Charge and discharge scheme with the arm end mechanism of the present invention is：The pin of arm end holds mechanism kinematic to above the object supporting plate of feeding position, detection sensor device 7 detects has object on object supporting plate, and signal to automatization's machine controller, what controller signaled to expansion link controls switch, expansion link is stretched downwards and driving spring syringe needle is pricked into object, the pressurized contraction of spring syringe needle is closed up, penetrate and during object, flick bifurcated, object is held in the palm at the spring needle head breadth position of lower section, mechanical hand-held object motion is to above object supporting plate, detection sensor device detects that no object and position are normal, and signal to automatization's machine controller
Controller control machinery hand acupuncture is held mechanism and is continued motion, then spring syringe needle puts in corresponding object supporting plate room through hole, object is close to object supporting plate, contracting driving spring syringe needle moves expansion link upwards upwards, stripper keeps off object, and spring syringe needle is extracted out from object, and object is entirely unloaded on object supporting plate；Zhen Chi mechanism moves upwards, and detection sensor device detects on pin no object, and mechanical hand acupuncture is held mechanism and returned to above the object supporting plate of feeding position；Go round and begin again, be automatically performed object unloading.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510517366.0A CN106466848A (en) | 2015-08-21 | 2015-08-21 | Manipulator tail end mechanism and material taking and discharging scheme |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510517366.0A CN106466848A (en) | 2015-08-21 | 2015-08-21 | Manipulator tail end mechanism and material taking and discharging scheme |
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| CN106466848A true CN106466848A (en) | 2017-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510517366.0A Pending CN106466848A (en) | 2015-08-21 | 2015-08-21 | Manipulator tail end mechanism and material taking and discharging scheme |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901588A (en) * | 2017-11-24 | 2018-04-13 | 瑞安市宏达皮塑机械厂 | Automatic midsole printing machine |
| CN109823603A (en) * | 2019-03-28 | 2019-05-31 | 漯河恒丰机械制造科技有限公司 | a food ordering machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5446835A (en) * | 1991-10-30 | 1995-08-29 | Nippondenso Co., Ltd. | High-speed picking system for stacked parts |
| JP2002200588A (en) * | 2000-12-28 | 2002-07-16 | Denso Corp | Method and apparatus for detecting gripping position of grippable part by robot |
| CN102164718A (en) * | 2008-10-10 | 2011-08-24 | 本田技研工业株式会社 | Method for taking out work |
| CN203579675U (en) * | 2013-12-05 | 2014-05-07 | 连云港杰瑞模具技术有限公司 | Pin cushion type pneumatic gripper |
| CN204450559U (en) * | 2015-03-11 | 2015-07-08 | 衢州市立掏智能科技有限公司 | Arm end mechanism |
-
2015
- 2015-08-21 CN CN201510517366.0A patent/CN106466848A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5446835A (en) * | 1991-10-30 | 1995-08-29 | Nippondenso Co., Ltd. | High-speed picking system for stacked parts |
| JP2002200588A (en) * | 2000-12-28 | 2002-07-16 | Denso Corp | Method and apparatus for detecting gripping position of grippable part by robot |
| CN102164718A (en) * | 2008-10-10 | 2011-08-24 | 本田技研工业株式会社 | Method for taking out work |
| CN203579675U (en) * | 2013-12-05 | 2014-05-07 | 连云港杰瑞模具技术有限公司 | Pin cushion type pneumatic gripper |
| CN204450559U (en) * | 2015-03-11 | 2015-07-08 | 衢州市立掏智能科技有限公司 | Arm end mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901588A (en) * | 2017-11-24 | 2018-04-13 | 瑞安市宏达皮塑机械厂 | Automatic midsole printing machine |
| CN109823603A (en) * | 2019-03-28 | 2019-05-31 | 漯河恒丰机械制造科技有限公司 | a food ordering machine |
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Application publication date: 20170301 |
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