CN108081303A - Windscreen wiper connecting rod catching robot - Google Patents
Windscreen wiper connecting rod catching robot Download PDFInfo
- Publication number
- CN108081303A CN108081303A CN201711427147.9A CN201711427147A CN108081303A CN 108081303 A CN108081303 A CN 108081303A CN 201711427147 A CN201711427147 A CN 201711427147A CN 108081303 A CN108081303 A CN 108081303A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- windscreen wiper
- wiper connecting
- magnet
- finger
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
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
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of windscreen wiper connecting rod catching robot, for solving the problems, such as that windscreen wiper connecting rod is not easy to capture and position in the prior art.It includes：Clamp assemblies, the clamp assemblies include actuator and finger, and the actuator drives the fingerhold windscreen wiper connecting rod；Installing plate, the installing plate are used to install the clamp assemblies；Magnet is additionally provided on the installing plate, the magnet and the finger are located at the same side of the installing plate.Windscreen wiper connecting rod is held by magnet, then finger clamps magnet, on the one hand windscreen wiper connecting rod can be picked up from plane and come, another aspect clamp assemblies and magnet cooperation can also windscreen wiper connecting rod folder it is steady, avoid dropping in transport process.
Description
Technical field
The present invention relates to a kind of windscreen wiper connecting rod transloading equipment, more particularly to a kind of windscreen wiper connecting rod catching robot.
Background technology
When windscreen wiper connecting rod manufactures, it is necessary to be transported through crawl to windscreen wiper connecting rod, but due to the radial ruler of windscreen wiper connecting rod
It is very little smaller, if existing gripper is taken directly to capture, crawl can be caused to fail, meanwhile, windscreen wiper when putting perhaps not
It is to put in correct position completely, and in the prior art, when carrying out oiling to windscreen wiper connecting rod, mostly using manual operation, from
The degree of dynamicization is not high, and in order to improve the degree of automation of the manufacture of windscreen wiper connecting rod, applicant devises a kind of windscreen wiper and connects therefore
Bar catching robot.
The content of the invention
In view of the foregoing deficiencies of prior art, it is an object of the invention to provide a kind of windscreen wiper connecting rod crawl machineries
Hand, for solving the problems, such as that windscreen wiper connecting rod is not easy to capture and position in the prior art.
In order to achieve the above objects and other related objects, the present invention provides a kind of windscreen wiper connecting rod catching robot, including：
Clamp assemblies, the clamp assemblies include actuator and finger, and the actuator drives the fingerhold windscreen wiper
Connecting rod；
Installing plate, the installing plate are used to install the clamp assemblies；
Magnet is additionally provided on the installing plate, the magnet and the finger are located at the same side of the installing plate.
Windscreen wiper connecting rod is held by magnet, then finger clamps magnet, on the one hand can be by windscreen wiper connecting rod from plane
Pick up and, another aspect clamp assemblies and magnet cooperation can also windscreen wiper connecting rod folder it is steady, avoid dropping in transport process.
Preferably, the actuator is cylinder.
The cost of cylinder is low.
Preferably, the finger refers to structure, and two forming finger angles for two.
The different positions of windscreen wiper connecting rod can be preferably adapted to, after magnet is held, between entering between finger
Every interior.
Preferably, the inside of the finger is equipped with skid resistant course.
It is more preferable to the clamping effect of windscreen wiper connecting rod.
Preferably, the magnet is electromagnet.
Facilitate control, when needing to put down windscreen wiper connecting rod, electromagnet is powered off, finger release can put down windscreen wiper connecting rod.
Preferably, the magnet at least there are two, between the line of two magnet is through two fingers
Every.
Two magnet avoid windscreen wiper connecting rod there is a situation where one end tilt, when windscreen wiper connecting rod is picked up, can effectively into
Enter into the interval between finger.
Preferably, the magnet is telescopic structure.
It is more preferable to the adsorption effect of windscreen wiper connecting rod, and the distance between magnet and remaining light connecting rod can be controlled in real time.
Preferably, the flexible of the magnet is driven by linear drives part.
Structure is simplified.
Preferably, alignment sensor is additionally provided on the installing plate, the alignment sensor connects for detecting the windscreen wiper
The position of bar.The position of windscreen wiper connecting rod is positioned by alignment sensor, realizes the crawl of manipulator different position.
As described above, the windscreen wiper connecting rod catching robot of the present invention, has the advantages that：
The windscreen wiper connecting rod in plane can be captured, and can effectively be clamped after capturing, windscreen wiper connecting rod is avoided to drop, ensure that
The reliability of crawl.
Description of the drawings
Fig. 1 is shown as the schematic diagram at one visual angle of windscreen wiper connecting rod catching robot of the present invention.
Fig. 2 is shown as the schematic diagram at another visual angle of windscreen wiper connecting rod catching robot of the present invention.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book understands other advantages and effect of the present invention easily.
It please refers to Fig.1 to Fig. 2.It should be clear that structure, ratio, size depicted in this specification institute accompanying drawings etc., only to
Coordinate the revealed content of specification, so that those skilled in the art understands and reads, being not limited to the present invention can be real
The qualifications applied, therefore do not have technical essential meaning, the tune of the modification of any structure, the change of proportionate relationship or size
It is whole, in the case where not influencing the effect of present invention can be generated and the purpose that can reach, should all still fall in disclosed skill
Art content is obtained in the range of covering.
It please refers to Fig.1 and Fig. 2, the present invention provides a kind of windscreen wiper connecting rod catching robot, including：
Clamp assemblies a1, it is cylinder that the clamp assemblies a1, which includes actuator a11 and finger a12, the actuator a11,
The finger a12 refers to structure, and two finger a12 forming V-shape angles for two.The inside of the finger a12 is equipped with skid resistant course
a121.The actuator a11 drives the finger a12 clampings windscreen wiper connecting rod；
Installing plate a2, the installing plate a2 are for installing the clamp assemblies a1；Positioning is additionally provided on the installing plate a2
Sensor a4, the alignment sensor a4 are used to detect the position of the windscreen wiper connecting rod.
Magnet a3, the magnet a3 and the finger a12 are additionally provided on the installing plate a2 and is located at the installing plate a2's
The same side.The magnet a3 is electromagnet.The magnet a3 at least there are two, the line of two magnet a3 passes through two institutes
State the interval between finger a12.The magnet a3 is telescopic structure.The magnet a3's is flexible by linear drives part
A31 drives, and linear drives part a31 is cylinder.
In conclusion the present invention can capture the windscreen wiper connecting rod in plane, and its position can be detected automatically, transporting
The stabilization of windscreen wiper connecting rod can also be kept in journey, even if there are certain deviation, finger a12 in the position that windscreen wiper connecting rod is put in the plane
V-shaped, this manipulator also can adapt to.So the present invention effectively overcomes various shortcoming of the prior art and has height and produce
Industry utility value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete without departing from disclosed spirit and institute under technological thought such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (9)
1. a kind of windscreen wiper connecting rod catching robot, including：
Clamp assemblies (a1), the clamp assemblies (a1) include actuator (a11) and finger (a12), and the actuator (a11) is driven
Dynamic finger (a12) the clamping windscreen wiper connecting rod；
Installing plate (a2), the installing plate (a2) are used to install the clamp assemblies (a1)；
It is characterized in that, being additionally provided with magnet (a3) on the installing plate (a2), the magnet (a3) and the finger (a12) are located at
The same side of the installing plate (a2).
2. windscreen wiper connecting rod catching robot according to claim 1, it is characterised in that：The actuator (a11) is cylinder.
3. windscreen wiper connecting rod catching robot according to claim 1, it is characterised in that：The finger (a12) refers to for two ties
Structure, and two finger (a12) forming V-shape angles.
4. windscreen wiper connecting rod catching robot according to claim 1, it is characterised in that：It is set on the inside of the finger (a12)
There is skid resistant course (a121).
5. windscreen wiper connecting rod catching robot according to claim 4, it is characterised in that：The magnet (a3) is electromagnet.
6. windscreen wiper connecting rod catching robot according to claim 3, it is characterised in that：The magnet (a3) at least two
It is a, the interval of the lines of two magnet (a3) through two fingers (a12).
7. windscreen wiper connecting rod catching robot according to claim 1, it is characterised in that：The magnet (a3) is telescopic
Structure.
8. windscreen wiper connecting rod catching robot according to claim 7, it is characterised in that：Flexible the passing through of the magnet (a3)
Linear drives part (a31) drives.
9. windscreen wiper connecting rod catching robot according to claim 1, it is characterised in that：It is additionally provided on the installing plate (a2)
Alignment sensor (a4), the alignment sensor (a4) are used to detect the position of the windscreen wiper connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711427147.9A CN108081303A (en) | 2017-12-26 | 2017-12-26 | Windscreen wiper connecting rod catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711427147.9A CN108081303A (en) | 2017-12-26 | 2017-12-26 | Windscreen wiper connecting rod catching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108081303A true CN108081303A (en) | 2018-05-29 |
Family
ID=62178398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711427147.9A Pending CN108081303A (en) | 2017-12-26 | 2017-12-26 | Windscreen wiper connecting rod catching robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108081303A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109433535A (en) * | 2018-11-05 | 2019-03-08 | 湖南河豚机电设备有限公司 | A kind of rain shaving electrical machine stator case capture apparatus |
| CN110145262A (en) * | 2019-05-31 | 2019-08-20 | 中煤科工集团西安研究院有限公司 | A kind of drilling rod capture member, drilling rod loading arm and coal mine drill stem charging crane |
| WO2020142464A1 (en) * | 2018-12-31 | 2020-07-09 | Sarcos Corp. | Hybrid robotic end effector |
| US10765537B2 (en) | 2016-11-11 | 2020-09-08 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system |
| US10766133B2 (en) | 2014-05-06 | 2020-09-08 | Sarcos Lc | Legged robotic device utilizing modifiable linkage mechanism |
| US10780588B2 (en) | 2012-05-14 | 2020-09-22 | Sarcos Lc | End effector for a robotic arm |
| US10821614B2 (en) | 2016-11-11 | 2020-11-03 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
| US10828767B2 (en) | 2016-11-11 | 2020-11-10 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
| US10843330B2 (en) | 2017-12-07 | 2020-11-24 | Sarcos Corp. | Resistance-based joint constraint for a master robotic system |
| US10919161B2 (en) | 2016-11-11 | 2021-02-16 | Sarcos Corp. | Clutched joint modules for a robotic system |
| US11224968B2 (en) | 2014-05-06 | 2022-01-18 | Sarcos Lc | Energy recovering legged robotic device |
| US11241801B2 (en) | 2018-12-31 | 2022-02-08 | Sarcos Corp. | Robotic end effector with dorsally supported actuation mechanism |
| US11331809B2 (en) | 2017-12-18 | 2022-05-17 | Sarcos Corp. | Dynamically controlled robotic stiffening element |
| US11351675B2 (en) | 2018-12-31 | 2022-06-07 | Sarcos Corp. | Robotic end-effector having dynamic stiffening elements for conforming object interaction |
| US11717956B1 (en) | 2022-08-29 | 2023-08-08 | Sarcos Corp. | Robotic joint system with integrated safety |
| US11826907B1 (en) | 2022-08-17 | 2023-11-28 | Sarcos Corp. | Robotic joint system with length adapter |
| US11833676B2 (en) | 2020-12-07 | 2023-12-05 | Sarcos Corp. | Combining sensor output data to prevent unsafe operation of an exoskeleton |
| US11897132B1 (en) | 2022-11-17 | 2024-02-13 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
| US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
| US12172298B2 (en) | 2022-11-04 | 2024-12-24 | Sarcos Corp. | Robotic end-effector having dynamic stiffening elements with resilient spacers for conforming object interaction |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10780588B2 (en) | 2012-05-14 | 2020-09-22 | Sarcos Lc | End effector for a robotic arm |
| US10766133B2 (en) | 2014-05-06 | 2020-09-08 | Sarcos Lc | Legged robotic device utilizing modifiable linkage mechanism |
| US11224968B2 (en) | 2014-05-06 | 2022-01-18 | Sarcos Lc | Energy recovering legged robotic device |
| US10821614B2 (en) | 2016-11-11 | 2020-11-03 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
| US10765537B2 (en) | 2016-11-11 | 2020-09-08 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system |
| US11981027B2 (en) | 2016-11-11 | 2024-05-14 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
| US11926044B2 (en) | 2016-11-11 | 2024-03-12 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
| US10828767B2 (en) | 2016-11-11 | 2020-11-10 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
| US11772283B2 (en) | 2016-11-11 | 2023-10-03 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
| US10919161B2 (en) | 2016-11-11 | 2021-02-16 | Sarcos Corp. | Clutched joint modules for a robotic system |
| US11759944B2 (en) | 2016-11-11 | 2023-09-19 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi- passive elastic actuators with internal valve arrangements |
| US10843330B2 (en) | 2017-12-07 | 2020-11-24 | Sarcos Corp. | Resistance-based joint constraint for a master robotic system |
| US11331809B2 (en) | 2017-12-18 | 2022-05-17 | Sarcos Corp. | Dynamically controlled robotic stiffening element |
| CN109433535A (en) * | 2018-11-05 | 2019-03-08 | 湖南河豚机电设备有限公司 | A kind of rain shaving electrical machine stator case capture apparatus |
| US10906191B2 (en) | 2018-12-31 | 2021-02-02 | Sarcos Corp. | Hybrid robotic end effector |
| US11351675B2 (en) | 2018-12-31 | 2022-06-07 | Sarcos Corp. | Robotic end-effector having dynamic stiffening elements for conforming object interaction |
| US11679511B2 (en) | 2018-12-31 | 2023-06-20 | Sarcos Corp. | Robotic end effector with dorsally supported actuation mechanism |
| US11241801B2 (en) | 2018-12-31 | 2022-02-08 | Sarcos Corp. | Robotic end effector with dorsally supported actuation mechanism |
| WO2020142464A1 (en) * | 2018-12-31 | 2020-07-09 | Sarcos Corp. | Hybrid robotic end effector |
| CN110145262B (en) * | 2019-05-31 | 2021-09-14 | 中煤科工集团西安研究院有限公司 | Drilling rod snatchs component, drilling rod loading and unloading arm and drilling rod loader for coal mine |
| CN110145262A (en) * | 2019-05-31 | 2019-08-20 | 中煤科工集团西安研究院有限公司 | A kind of drilling rod capture member, drilling rod loading arm and coal mine drill stem charging crane |
| US11833676B2 (en) | 2020-12-07 | 2023-12-05 | Sarcos Corp. | Combining sensor output data to prevent unsafe operation of an exoskeleton |
| US11826907B1 (en) | 2022-08-17 | 2023-11-28 | Sarcos Corp. | Robotic joint system with length adapter |
| US11717956B1 (en) | 2022-08-29 | 2023-08-08 | Sarcos Corp. | Robotic joint system with integrated safety |
| US12172298B2 (en) | 2022-11-04 | 2024-12-24 | Sarcos Corp. | Robotic end-effector having dynamic stiffening elements with resilient spacers for conforming object interaction |
| US11897132B1 (en) | 2022-11-17 | 2024-02-13 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
| US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
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Application publication date: 20180529 |
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