CN105269554A - Robot gripper capable of eliminating accumulated errors of migration program - Google Patents
Robot gripper capable of eliminating accumulated errors of migration program Download PDFInfo
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- CN105269554A CN105269554A CN201410354027.0A CN201410354027A CN105269554A CN 105269554 A CN105269554 A CN 105269554A CN 201410354027 A CN201410354027 A CN 201410354027A CN 105269554 A CN105269554 A CN 105269554A
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- robot
- robot hand
- installing plate
- guide rod
- bounce cylinder
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Abstract
The invention provides a robot gripper capable of eliminating accumulated errors of a migration program. The robot gripper comprises a flange, a fixing plate, a cushion cylinder, a photosensitive support, vacuum chucks, two or more connection rods and a mounting plate, wherein the flange is fixed to the top of the fixing plate and connected with a wrist part of a robot. The cushion cylinder is mounted on the side part of the fixing plate. Movable rods of the cushion cylinder are connected with the mounting plate with the vacuum chucks. When the cushion cylinder pushes downwards to press a workpiece, the contact surface of the workpiece compresses guide rods of the vacuum chucks; when the contact surface of the workpiece presses ejection rods, back pressure is generated, gas in the cylinder is compressed, and the accumulated errors are eliminated. The cushion cylinder is provided with the vertically downward movable rod, and the photosensitive support is mounted on the lower portion of the mounting plate. A sensor used for detecting materials is mounted on the photosensitive support. The connection rods are distributed on the edge of the lower portion of the mounting plate, and the corresponding vacuum chuck is arranged at the end, opposite to the mounting plate, of each connection rod. The vacuum chucks are used for sucking and grabbing materials.
Description
Technical field
The present invention relates to robot controlling field, more particularly, the present invention relates to a kind of robot hand can eliminating migration program accumulated error.
Background technology
Line is produced, the general employing vertical grabbing workpiece of robot migration program (such as plate pickup) at compressor housing production line.
As shown in Figure 1, in the prior art, when the vertical grabbing workpiece of employing robot migration program, first manipulator 100 declines, the vacuum cup guide rod compression of manipulator 100, the sensor of manipulator 100 detects material 200, and when survey material 200 being detected, vacuum valve is opened, and when reciprocal of duty cycle meets the demands, manipulator 100 has promoted feeding.
But, at present, adopt during robot migration program carrying flitch and generally there is accumulated error, this accumulated error is made up of two reasons, i.e. flitch error and robot device's error, negative error accumulation Hou Huishi robot gets less than material, and positive error can cause robot hand and workpiece collision, this collision can cause robot arm injured, can damage robot time serious.
Summary of the invention
Technical problem to be solved by this invention is for there is above-mentioned defect in prior art, provides a kind of robot hand can eliminating migration program accumulated error of effective compensation flitch thickness accumulated error.
In order to realize above-mentioned technical purpose, according to the present invention, provide a kind of robot hand can eliminating migration program accumulated error, it is characterized in that comprising: flange, fixed head, bounce cylinder, light sensation support, vacuum cup, two or more connecting rods and installing plate; Wherein, flange is fixed to fixed head top, is connected with robot wrist; The sidepiece of fixed head is provided with bounce cylinder; Bounce cylinder is configured with motion bar straight down, and bounce cylinder motion bar is connected and installed plate, when bounce cylinder eject downwards be pressed onto workpiece time, work piece interface compression vacuum sucker guide rod, produce counter-pressure when being pressed onto push rod, cylinder interior gas is compressed, eliminate accumulated error; Photoelectric support is arranged on installing plate bottom; Photoelectric support is provided with the sensor for detecting material; Two or more connecting rods are arranged in the marginal position of installing plate bottom, and the end relative with installing plate of each connecting rod is furnished with vacuum cup; Vacuum cup is used for adhesive and captures material.
Preferably, described robot hand is used for carrying out vertical grabbing workpiece by robot migration program.
Preferably, described robot hand also comprises and also comprises guide rod and briquetting; Guide rod is arranged on installing plate bottom.
Preferably, described robot hand also comprises briquetting, and described briquetting has the area of section larger than guide rod, and briquetting is arranged in lower end of the guide rod.
Preferably, the sensor for detecting material is arranged on the downside of photoelectric support.
Preferably, the quantity of connecting rod is two, and two connecting rods are arranged in the two ends of installing plate bottom.
Accompanying drawing explanation
By reference to the accompanying drawings, and by reference to detailed description below, will more easily there is more complete understanding to the present invention and more easily understand its adjoint advantage and feature, wherein:
Fig. 1 schematically shows the schematic diagram of the vertical grabbing workpiece of employing robot migration program according to prior art.
Fig. 2 schematically shows according to the preferred embodiment of the invention for adopting the front view of the robot hand of the vertical grabbing workpiece of robot migration program.
Fig. 3 schematically shows according to the preferred embodiment of the invention for adopting the side view of the robot hand of the vertical grabbing workpiece of robot migration program.
Fig. 4 schematically shows according to the preferred embodiment of the invention for adopting the operation chart of the robot hand of the vertical grabbing workpiece of robot migration program.
It should be noted that, accompanying drawing is for illustration of the present invention, and unrestricted the present invention.Note, represent that the accompanying drawing of structure may not be draw in proportion.Further, in accompanying drawing, identical or similar element indicates identical or similar label.
Detailed description of the invention
In order to make content of the present invention clearly with understandable, below in conjunction with specific embodiments and the drawings, content of the present invention is described in detail.
Fig. 2 schematically shows according to the preferred embodiment of the invention for adopting the front view of the robot hand of the vertical grabbing workpiece of robot migration program, and Fig. 3 schematically shows according to the preferred embodiment of the invention for adopting the side view of the robot hand of the vertical grabbing workpiece of robot migration program.
Robot hand shown in Fig. 2 with Fig. 3 can effectively for adopting the vertical grabbing workpiece of robot migration program.
As shown in Figures 2 and 3, according to the preferred embodiment of the invention for adopting the robot hand of the vertical grabbing workpiece of robot migration program to comprise: flange 1, fixed head 2, bounce cylinder 3, light sensation support 4, guide rod 5, briquetting 6, vacuum cup 7, two or more connecting rods 8 and installing plate 9.
Wherein, flange 1 is fixed to fixed head 2 top, for robot hand is connected to robot.
The sidepiece of fixed head 2 is provided with bounce cylinder 3 (bounce cylinder 3 is for eliminating error and damping) (such as being installed by screw), the bottom of bounce cylinder 3 is mounted to installing plate 9 end face (thus, fixed head 2 increases support intensity), bounce cylinder 3 down can produce pressure to installing plate 9 end face thus; Photoelectric support 4 and guide rod 5 are arranged on installing plate 9 bottom; Photoelectric support 4 is provided with the sensor (do not specifically illustrate, such as, sensor for detecting material can be arranged on the downside of photoelectric support 4) for detecting material.
Particularly, bounce cylinder 3 is configured with motion bar 10 straight down, and the motion bar 10 of bounce cylinder 3 connects the installing plate that (being such as connected by screw) bottom is provided with vacuum cup 7, when bounce cylinder eject downwards be pressed onto workpiece time, the guide rod of work piece interface compression vacuum sucker 7, produce counter-pressure when being pressed onto push rod 6, cylinder interior gas is compressed, eliminate accumulated error.
As the guide rod 5 of selectable unit (SU) for carrying out position limitation protection to sensor and carrying out pusher action (that is, there is pusher effect); Briquetting 6 as further alternative parts has the area of section larger than guide rod 5, and briquetting 6 is arranged in guide rod 5 lower end, when may be used for thus increasing guide rod 6 pusher and the contact area of material (workpiece).
Two or more connecting rods 8 are arranged in the marginal position of installing plate 9 bottom, and the end relative with installing plate 9 of each connecting rod 8 is furnished with vacuum cup 7; Vacuum cup 7 is for capturing material (workpiece).
In the examples illustrated in the figures, the quantity of connecting rod 8 is two, and two connecting rods 8 are arranged in the two ends of installing plate bottom.
Fig. 4 schematically shows according to the preferred embodiment of the invention for adopting the operation chart of the robot hand of the vertical grabbing workpiece of robot migration program.
When the operation of shown robot hand, manipulator drives robot hand to decline, at this moment bounce cylinder 3 is pushed out (eliminating error and damping, buffering) and produces pressure to be compressed to guide rod 5 pairs of installing plate 9 end faces down to workpiece sucker 7 bar 8, sensor detects material or workpiece 200 simultaneously, when material or workpiece 200 being detected, vacuum cup 7 vacuum valve is opened, when vacuum meets the demands, manipulator has promoted feeding.
Wherein, the downward pressure that bounce cylinder 3 produces can be controlled as pressure P 1 and the P2 of the vacuum cup 7 of the left and right sides.
By using robot hand bounce cylinder method according to the preferred embodiment of the invention, use flow process at robot migration program, eliminate the fault that feeding collides, robot device's rate of starting significantly improves, and the probability that robot damages reduces greatly.Use through actual, stable, the reliable of equipment operation of system works all improve a lot.
In addition, it should be noted that, unless stated otherwise or point out, otherwise the term " first " in description, " second ", " the 3rd " etc. describe only for distinguishing each assembly, element, step etc. in description, instead of for representing logical relation between each assembly, element, step or ordinal relation etc.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (6)
1. can eliminate a robot hand for migration program accumulated error, it is characterized in that comprising: flange, fixed head, bounce cylinder, light sensation support, vacuum cup, two or more connecting rods and installing plate; Wherein, flange is fixed to fixed head top, is connected with robot wrist; The sidepiece of fixed head is provided with bounce cylinder; Bounce cylinder is configured with motion bar straight down, and bounce cylinder motion bar is connected and installed plate, when bounce cylinder eject downwards be pressed onto workpiece time, work piece interface compression vacuum sucker guide rod, produce counter-pressure when being pressed onto push rod, cylinder interior gas is compressed, eliminate accumulated error; Photoelectric support is arranged on installing plate bottom; Photoelectric support is provided with the sensor for detecting material; Two or more connecting rods are arranged in the marginal position of installing plate bottom, and the end relative with installing plate of each connecting rod is furnished with vacuum cup; Vacuum cup is used for adhesive and captures material.
2. robot hand according to claim 1, is characterized in that, described robot hand is used for carrying out vertical grabbing workpiece by robot migration program.
3. robot hand according to claim 1 and 2, characterized by further comprising guide rod and briquetting; Guide rod is arranged on installing plate bottom.
4. robot hand according to claim 3, characterized by further comprising briquetting, and described briquetting has the area of section larger than guide rod, and briquetting is arranged in lower end of the guide rod.
5. robot hand according to claim 1 and 2, is characterized in that, is arranged on the downside of photoelectric support for the sensor detecting material.
6. robot hand according to claim 1 and 2, is characterized in that, the quantity of connecting rod is two, and two connecting rods are arranged in the two ends of installing plate bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410354027.0A CN105269554B (en) | 2014-07-24 | 2014-07-24 | A kind of robot hand that can eliminate migration program accumulated error |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410354027.0A CN105269554B (en) | 2014-07-24 | 2014-07-24 | A kind of robot hand that can eliminate migration program accumulated error |
Publications (2)
| Publication Number | Publication Date |
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| CN105269554A true CN105269554A (en) | 2016-01-27 |
| CN105269554B CN105269554B (en) | 2017-06-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410354027.0A Active CN105269554B (en) | 2014-07-24 | 2014-07-24 | A kind of robot hand that can eliminate migration program accumulated error |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106516804A (en) * | 2016-12-20 | 2017-03-22 | 昆明船舶设备集团有限公司 | Automatic unloading device system for cigarette packet unloading mechanical arm |
| CN107942320A (en) * | 2017-10-26 | 2018-04-20 | 卢爱珠 | A kind of photoelectric positioning apparatus of construction mechanical arm |
| CN110713004A (en) * | 2019-10-22 | 2020-01-21 | 苏州富强科技有限公司 | Tray carrying mechanism |
| CN110963308A (en) * | 2018-09-28 | 2020-04-07 | 捷普电子(广州)有限公司 | Stacking machine |
| CN112247521A (en) * | 2020-11-12 | 2021-01-22 | 长春工业大学 | Automobile body part grabbing device for automobile production line |
| CN113716337A (en) * | 2021-09-16 | 2021-11-30 | 江山欧派门业股份有限公司 | Automatic feeding mechanism of plain noodles big board |
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| CN202226383U (en) * | 2011-08-13 | 2012-05-23 | 张家港市金桥轻工机械有限公司 | Material taking device |
| CN102642718A (en) * | 2011-11-01 | 2012-08-22 | 浙江豪情汽车制造有限公司 | Track sucking disk type gripping device |
| CN203390939U (en) * | 2013-08-09 | 2014-01-15 | 上海发那科机器人有限公司 | Robot gripper for disassembling packaged stacks |
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| JPH06115733A (en) * | 1992-10-05 | 1994-04-26 | Nec Toyama Ltd | Substrate transfer device |
| JPH1071586A (en) * | 1996-08-28 | 1998-03-17 | Mitsubishi Electric Corp | Industrial robot |
| CN201999522U (en) * | 2010-12-21 | 2011-10-05 | 苏州阿特斯阳光电力科技有限公司 | Full-automatic silicon chip feeding machine |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106516804A (en) * | 2016-12-20 | 2017-03-22 | 昆明船舶设备集团有限公司 | Automatic unloading device system for cigarette packet unloading mechanical arm |
| CN106516804B (en) * | 2016-12-20 | 2019-08-09 | 昆明昆船物流信息产业有限公司 | A kind of device systems that cigarette packet wagon shaker hand is unloaded automatically |
| CN107942320A (en) * | 2017-10-26 | 2018-04-20 | 卢爱珠 | A kind of photoelectric positioning apparatus of construction mechanical arm |
| CN107942320B (en) * | 2017-10-26 | 2019-09-24 | 颜禾智能科技(浙江)有限公司 | A kind of photoelectric positioning apparatus of construction mechanical arm |
| CN110963308A (en) * | 2018-09-28 | 2020-04-07 | 捷普电子(广州)有限公司 | Stacking machine |
| CN110963308B (en) * | 2018-09-28 | 2021-11-09 | 捷普电子(广州)有限公司 | Stacking machine |
| CN110713004A (en) * | 2019-10-22 | 2020-01-21 | 苏州富强科技有限公司 | Tray carrying mechanism |
| CN112247521A (en) * | 2020-11-12 | 2021-01-22 | 长春工业大学 | Automobile body part grabbing device for automobile production line |
| CN113716337A (en) * | 2021-09-16 | 2021-11-30 | 江山欧派门业股份有限公司 | Automatic feeding mechanism of plain noodles big board |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105269554B (en) | 2017-06-20 |
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| CP01 | Change in the name or title of a patent holder |
Address after: 201206 Pudong New Area Jinqiao Ning Road, Shanghai, No. 888 Patentee after: Shanghai Haili Electrical Appliance Co. Ltd. Address before: 201206 Pudong New Area Jinqiao Ning Road, Shanghai, No. 888 Patentee before: Rili Electric Appliance Co., Ltd., Shanghai |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180418 Address after: 621000 188 Mianyang Road, Mianyang economic and Technological Development Zone, Sichuan Co-patentee after: Shanghai Haili Electrical Appliance Co. Ltd. Patentee after: Mianyang Haili Electrical Appliance Co. Ltd. Address before: 201206 Pudong New Area Jinqiao Ning Road, Shanghai, No. 888 Patentee before: Shanghai Haili Electrical Appliance Co. Ltd. |