CN103878765A - Manipulator capable of automatically aligning grabbed round objects - Google Patents
Manipulator capable of automatically aligning grabbed round objects Download PDFInfo
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- CN103878765A CN103878765A CN201410124187.6A CN201410124187A CN103878765A CN 103878765 A CN103878765 A CN 103878765A CN 201410124187 A CN201410124187 A CN 201410124187A CN 103878765 A CN103878765 A CN 103878765A
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Abstract
The invention discloses a manipulator capable of automatically aligning grabbed round objects. A left clamping arm (1a) of the manipulator is connected with a left semicircular-cone sleeve (13a) through a left front supporting rod (5a) on the right side and a left rear supporting rod (5b) on the right side, and a first left bearing (6a) is installed at the front end of the left clamping arm (1a); a right clamping arm (1b) is connected with a right semicircular-cone sleeve (13b) through a right front supporting rod (5c) on the left side and a right rear supporting rod (5d) on the left side, and a first right bearing (6b) is installed at the front end of the right clamping arm (1b); the inner circular face of the left semicircular-cone sleeve (13a) is opposite to the inner circular face of the right semicircular-cone sleeve (13b), and a large opening of the left semicircular-cone sleeve (13a) and a large opening of the right semicircular-cone sleeve (13b) both face downwards. A stand rod (8) is fixed to the lower portion of the center of the hinged position between a lifting support (10) and the left clamping arm (1a) and the hinged position between the lifting support (10) and the right clamping arm (1b), and a frontward wide-opening clamp (9) adaptive to a positioning column (7) is connected to the lower portion of the stand rod (8). The automatically-grabbed round objects can be automatically aligned with a target position and placed by the manipulator, and the manipulator is simple in structure, low in manufacturing and maintaining cost, good in stability and high in reliability.
Description
Technical field
The present invention relates to a kind of manipulator that the circular object automatic centering capturing can be placed.
Background technology
Full-fledged along with Robotics often requires robot to complete various grasping movement, and the object of crawl accurately need to be placed in the target location of regulation or the predetermined member of target device in industrial production and athletic competition.As needs are accurately aimed at circular object to be positioned on target substance or parts, the manipulator of existing crawl circular object, its structure is to comprise that postmedian is articulated with the left and right clamp arm on the liftable support of robot, the tail end of left clamp arm is articulated with on the lever of cylinder, step up on thick stick cylinder that arm is articulated with cylinder on the right side, it is hinged that the tail end of left and right clamp arm is also distinguished left and right synchronizing bar, and the other end of left and right synchronizing bar is articulated with in the longitudinal chute on liftable support.It is clamped and under the driving of cylinder, is clamped the circular object capturing by left and right, then robot motion is near target location, again by liftable support by the height alignment target location of object, then cylinder reverse drive, left and right clamp arm unclamps the circular object of crawl and is placed near target location.Because manipulator does not have the mechanism of auto-alignment placement location, need the situation of strict centering (as needs are placed on circular object on Precision Machining facility to placement location, carry out following process), conventionally need reprocessabilty repeatedly to operate control, repeatedly placing could be successful, wastes time and energy.Also the manipulator having arranges high-precision sensor by arrangement, to being installed, placement location carries out accurate synchronous detection and FEEDBACK CONTROL, also can realize auto-alignment, place operation, due to high-precision sensor costliness, perishable, production and the maintenance cost of manipulator are improved, also reduced the Stability and dependability of manipulator simultaneously.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of manipulator that the circular object automatic centering capturing can be placed, this kind of manipulator can be aimed at placement by the circular object capturing automatically automatically with target location, and it is simple in structure, to make with maintenance cost lowly, good stability, reliability are strong.
The present invention solves its technical problem, the technical scheme adopting is: a kind of manipulator that the circular object automatic centering capturing can be placed, comprise that postmedian is articulated with the left and right clamp arm on robot liftable support, the rear end of left clamp arm is articulated with on the cylinder bar of cylinder, the rear end of right clamp arm is articulated with on the cylinder barrel of cylinder, the rear end of left and right clamp arm is also hinged with left and right synchronizing bar respectively, and the other end of left and right synchronizing bar is articulated with in the longitudinal chute on liftable support; It is characterized in that:
Described left clamp arm is connected with left semicircle tapered sleeve by the left front support bar on right side and the left back support bar on right side, and the front end of left clamp arm is provided with left bearing one; Described right clamp arm is connected with right semi-circle tapered sleeve by the right anterior branch strut in its left side and the right back support bar in left side thereof, and the front end of right clamp arm is provided with right bearing one; Relative and large mouthful of the inner headed face of left semicircle tapered sleeve and right semi-circle tapered sleeve all down;
Described liftable support is fixed with vertical rod in the bottom at the center of left clamp arm hinged place and right clamp arm hinged place, and the bottom of vertical rod is connected with forward and wide-mouth clamp locating dowel adaptation.
The course of work of the present invention and principle are:
Under the effect of cylinder, left and right clamp arm closes up, liftable support and object are left front, the left bearing one on right anterior branch strut, the side that right bearing one pushes against circular object, the bottom support of circular object is on left front, left back, right front, right back support bar simultaneously, and circular object is clenched by manipulator.Robot moves towards target location, near robot moves to target location and near default locating dowel, liftable support rises until locate the bottom surface of tapered sleeve higher than the end face of locating dowel, robot is drawn close to locating dowel direction, wide-mouth clamp blocks locating dowel, realizes the preliminary centering of manipulator and locating dowel, and liftable support declines, location tapered sleeve packs into the top of locating dowel, the further accurate centering of the circular object that guiding captures and locating dowel.Cylinder cylinder bar shrinks, and left and right clamp arm unclamps, and circular object is that auto-alignment is accurately positioned over target location.As with holes in circular object center, wish is installed on circular object centre bore in locating dowel, realizes locating dowel automatic centering and inserts circular object centre bore.
Compared with prior art, the invention has the beneficial effects as follows:
The adaptive way of machinery that employing wide-mouth clamp and the tapered sleeve locating dowel default with target location are mated realizes the automatic centering of robot crawl circular object placement location and places.This Adaptive Mechanical centering method can realize centering accurately, reliably, efficiently; It is simple in structure simultaneously, and cost of manufacture is low, easy to maintenance, has also well ensured the reliability and stability of manipulator.
The front end of described left clamp arm is also connected with the left front support bar of large object left, the end of the large left front support bar of object is fixed with left bearing two, left clamp arm is fixed with the left back support bar of large object left at position, liftable support front, the end of left back support bar is also fixed with right baffle-plate upwards;
The head end of described right clamp arm is fixed with large object right anterior branch strut to the right, the end of large object right anterior branch strut is fixed with left bearing two, right clamp arm is fixed with the right back support bar of large object to the right at position, liftable support front, the end of right back support bar is also fixed with right baffle plate upwards.
Like this, in the time that needs capture larger object, the more large-area bracing frame that can be made up of left front, left back, right front, the right back large object support bar of large object, from the larger circular object of bottom supporting.Meanwhile, from the side large circular object is clamped by the baffle plate on the left bearing two on left front, right front large object support bar, right bearing two and left back, right back large object support bar.And the centering of the centering operation of itself and locating dowel and principle and above wisp is just the same.
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Brief description of the drawings
Fig. 1 is the perspective view of the embodiment of the present invention while not capturing object.
Perspective view when Fig. 2 is embodiment of the present invention crawl wisp.
Fig. 3 is the perspective view of the embodiment of the present invention while capturing large object.
The wisp for capturing of label 15a in Fig. 2, the large object for capturing of label 15b in Fig. 3.
Detailed description of the invention
Embodiment
Fig. 1-3 illustrate, a kind of specific implementation of the present invention is, a kind of manipulator that the circular object automatic centering capturing can be placed, comprise that postmedian is articulated with left and right clamp arm 1a, the 1b on robot liftable support 10, the rear end of left clamp arm 1a is articulated with on the cylinder bar 2a of cylinder, the rear end of right clamp arm 1b is articulated with on the cylinder barrel 2b of cylinder, the rear end of left and right clamp arm 1a, 1b is also hinged with left and right synchronizing bar 3a, 3b respectively, and the other end of left and right synchronizing bar 3a, 3b is articulated with in the longitudinal chute on liftable support 10.
The left clamp arm 1a of this example is connected with left semicircle tapered sleeve 13a by the left front support bar 5a on right side and the left back support bar 5b on right side, and the front end of left clamp arm 1a is provided with left bearing one 6a; Described right clamp arm 1b is connected with right semi-circle tapered sleeve 13b by the right anterior branch strut 5c in its left side and the right back support bar 5d in left side thereof, and the front end of right clamp arm 1b is provided with right bearing one 6b; Relative and large mouthful of the inner headed face of left semicircle tapered sleeve 13a and right semi-circle tapered sleeve 13b all down;
This routine liftable support 10 is fixed with vertical rod 8 in the bottom at the center of left clamp arm 1a hinged place and right clamp arm 1b hinged place, and the bottom of vertical rod 8 is connected with forward and wide-mouth clamps 9 locating dowel 7 adaptations.
The front end of the left clamp arm 1a of this example is also connected with the left front support bar 11a of large object left, the end of the large left front support bar 11a of object is fixed with left bearing two 12a, left clamp arm 1a is fixed with the left back support bar 11b of large object left at liftable support 10 positions, front, the end of left back support bar 11b is also fixed with right baffle-plate 12b upwards;
The head end of the right clamp arm 1b of this example is fixed with large object right anterior branch strut 11c to the right, the end of large object right anterior branch strut 11c is fixed with left bearing two 12c, right clamp arm 1b is fixed with the right back support bar 11d of large object to the right at liftable support 10 positions, front, the end of right back support bar 11d is also fixed with right baffle plate 12d upwards.
The situation of Fig. 1-3 for 1 manipulator of the present invention being installed on the liftable support 10 of robot.But in reality is implemented, a manipulator both can be installed on the liftable support 10 of robot more than two manipulator also can be installed.
Claims (2)
1. the manipulator that the circular object automatic centering capturing can be placed, comprise that postmedian is articulated with the left and right clamp arm (1a, 1b) on robot liftable support (10), the rear end of left clamp arm (1a) is articulated with on the cylinder bar (2a) of cylinder, the rear end of right clamp arm (1b) is articulated with on the cylinder barrel (2b) of cylinder, the rear end of left and right clamp arm (1a, 1b) is also hinged with left and right synchronizing bar (3a, 3b) respectively, and the other end of left and right synchronizing bar (3a, 3b) is articulated with in the longitudinal chute on liftable support (10); It is characterized in that:
Described left clamp arm (1a) is connected with left semicircle tapered sleeve (13a) by the left front support bar (5a) on right side and the left back support bar (5b) on right side, and the front end of left clamp arm (1a) is provided with left bearing one (6a); Described right clamp arm (1b) is connected with right semi-circle tapered sleeve (13b) by the right anterior branch strut (5c) in its left side and the right back support bar (5d) in left side thereof, and the front end of right clamp arm (1b) is provided with right bearing one (6b); Relative and large mouthful of the inner headed face of left semicircle tapered sleeve (13a) and right semi-circle tapered sleeve (13b) all down;
Described liftable support (10) is fixed with vertical rod (8) in the bottom at the center of left clamp arm (1a) hinged place and right clamp arm (1b) hinged place, and the bottom of vertical rod (8) is connected with the wide-mouth clamp (9) adaptive with locating dowel (7) forward.
2. a kind of manipulator that the circular object automatic centering capturing can be placed according to claim 1, is characterized in that:
The front end of described left clamp arm (1a) is also connected with the left front support bar of large object (11a) left, the end of the large left front support bar of object (11a) is fixed with left bearing two (12a), left clamp arm (1a) is fixed with the left back support bar of large object (11b) left at liftable support (10) position, front, and the end of left back support bar (11b) is also fixed with right baffle-plate (12b) upwards;
The head end of described right clamp arm (1b) is fixed with large object right anterior branch strut (11c) to the right, the end of large object right anterior branch strut (11c) is fixed with left bearing two (12c), right clamp arm (1b) is fixed with the right back support bar of large object (11d) to the right at liftable support (10) position, front, and the end of right back support bar (11d) is also fixed with right baffle plate (12d) upwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410124187.6A CN103878765B (en) | 2014-03-29 | 2014-03-29 | A kind of manipulator circular object automatic centering captured can placed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410124187.6A CN103878765B (en) | 2014-03-29 | 2014-03-29 | A kind of manipulator circular object automatic centering captured can placed |
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| Publication Number | Publication Date |
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| CN103878765A true CN103878765A (en) | 2014-06-25 |
| CN103878765B CN103878765B (en) | 2016-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410124187.6A Expired - Fee Related CN103878765B (en) | 2014-03-29 | 2014-03-29 | A kind of manipulator circular object automatic centering captured can placed |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107627259A (en) * | 2017-10-25 | 2018-01-26 | 北京航天发射技术研究所 | The adaptive centralising device in mechanical hydraulic servo position and method |
| CN113847438A (en) * | 2021-09-22 | 2021-12-28 | 江苏三力防腐管阀件有限公司 | Turbine butterfly valve with double-stage flow adjusting function and method thereof |
Citations (9)
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| SU1013267A1 (en) * | 1982-03-16 | 1983-04-23 | Крымский Проектно-Конструкторский Технологический Институт Министерства Машиностроения Для Легкой И Пищевой Промышленности И Бытовых Приборов Ссср | Apparatus for indexing and retaining workpieces |
| CN2031338U (en) * | 1988-05-18 | 1989-01-25 | 吴连珠 | Cripping head |
| EP0265814B1 (en) * | 1986-10-22 | 1991-07-17 | Ab Asea-Atom | Retracting, aligning and fixing device |
| US6142487A (en) * | 1999-06-23 | 2000-11-07 | Xerox Corporation | Centering and holding apparatus and method using inclined surface |
| CN2435217Y (en) * | 2000-08-04 | 2001-06-20 | 桂林橡胶机械厂 | Manipulator centering device for tyre moulding vulcanizer |
| CN201872169U (en) * | 2010-12-06 | 2011-06-22 | 苏州塞维拉上吴电梯轨道***有限公司 | Semi-automatic centering mechanical-hand device of T-shaped guide rail straightener |
| CN201962198U (en) * | 2011-01-20 | 2011-09-07 | 三瑞科技(江西)有限公司 | Three-dimensional emulation check gauge for mechanical grippers |
| DE102010020382A1 (en) * | 2010-05-12 | 2011-11-17 | Hans-Erich Maul | Pneumatic parallel guided linear point symmetric three-jaw gripper for use in automation of handling e.g. larger workpieces, has pivoting levers and sliding blocks that are guided into grooves of gripper jaws to move gripper jaws |
| CN203765610U (en) * | 2014-03-29 | 2014-08-13 | 西南交通大学 | Manipulator capable of automatically placing captured circular objects in alignment manner |
-
2014
- 2014-03-29 CN CN201410124187.6A patent/CN103878765B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1013267A1 (en) * | 1982-03-16 | 1983-04-23 | Крымский Проектно-Конструкторский Технологический Институт Министерства Машиностроения Для Легкой И Пищевой Промышленности И Бытовых Приборов Ссср | Apparatus for indexing and retaining workpieces |
| EP0265814B1 (en) * | 1986-10-22 | 1991-07-17 | Ab Asea-Atom | Retracting, aligning and fixing device |
| CN2031338U (en) * | 1988-05-18 | 1989-01-25 | 吴连珠 | Cripping head |
| US6142487A (en) * | 1999-06-23 | 2000-11-07 | Xerox Corporation | Centering and holding apparatus and method using inclined surface |
| CN2435217Y (en) * | 2000-08-04 | 2001-06-20 | 桂林橡胶机械厂 | Manipulator centering device for tyre moulding vulcanizer |
| DE102010020382A1 (en) * | 2010-05-12 | 2011-11-17 | Hans-Erich Maul | Pneumatic parallel guided linear point symmetric three-jaw gripper for use in automation of handling e.g. larger workpieces, has pivoting levers and sliding blocks that are guided into grooves of gripper jaws to move gripper jaws |
| CN201872169U (en) * | 2010-12-06 | 2011-06-22 | 苏州塞维拉上吴电梯轨道***有限公司 | Semi-automatic centering mechanical-hand device of T-shaped guide rail straightener |
| CN201962198U (en) * | 2011-01-20 | 2011-09-07 | 三瑞科技(江西)有限公司 | Three-dimensional emulation check gauge for mechanical grippers |
| CN203765610U (en) * | 2014-03-29 | 2014-08-13 | 西南交通大学 | Manipulator capable of automatically placing captured circular objects in alignment manner |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107627259A (en) * | 2017-10-25 | 2018-01-26 | 北京航天发射技术研究所 | The adaptive centralising device in mechanical hydraulic servo position and method |
| CN113847438A (en) * | 2021-09-22 | 2021-12-28 | 江苏三力防腐管阀件有限公司 | Turbine butterfly valve with double-stage flow adjusting function and method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103878765B (en) | 2016-04-20 |
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