CN105500384A - Manipulator sucker operating signal trigger device - Google Patents
Manipulator sucker operating signal trigger device Download PDFInfo
- Publication number
- CN105500384A CN105500384A CN201610075348.6A CN201610075348A CN105500384A CN 105500384 A CN105500384 A CN 105500384A CN 201610075348 A CN201610075348 A CN 201610075348A CN 105500384 A CN105500384 A CN 105500384A
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- CN
- China
- Prior art keywords
- sucker
- push rod
- manipulator
- vacuum cup
- vacuum
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/086—Proximity sensors
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator sucker operating signal trigger device, which belongs to the technical field of grabbing manipulators. The manipulator sucker operating signal trigger device comprises a sucker installation frame and a vacuum sucker installed on the sucker installation frame, and also comprises an approaching sensor and a push rod, the push rod is telescopically installed on the sucker installation frame, the axis direction of the push rod is consistent with the moving direction of the vacuum sucker, the bottom end of the push rod is lower than the vacuum sucker, and the approaching sensor is installed above the top end of the push rod. During the descending process of the manipulator, the push rod first contacts a material and moves upwards, after the vacuum sucker stably touches the material, the top end of the push rod enters a sensing area of the approaching sensor so as to trigger the approaching sensor, and a vacuum assembly of the vacuum sucker is controlled to work, so that the manipulator sucker operating signal trigger device has the characteristics of long service life, no malfunction, no interference and the like.
Description
Technical field
The present invention relates to a kind of signal sensor, more particularly, relate to a kind of manipulator sucker working signal flip flop equipment.
Background technology
Along with the fast development of science and technology, automated machine equipment replaces manual working just gradually.In the industries such as sheet fabrication, adopt sucking disc type mechanical hand to capture sheet material and used more and more extensive, there is the features such as operating efficiency is high, accuracy is good.
In the course of work of sucking disc type mechanical hand, when manipulator decline touches material, the vacuum subassembly be connected with sucker is started working, and material can be picked up by sucker.In the prior art, after sucker contact material, the signal controlling vacuum subassembly work generally adopts the modes such as travel switch (microswitch), reflective photoelectric switch and tongue tube.And travel switch is machinery touching parts, service life is limited; Reflective photoelectric switch is inconsistent at different objects surface property, has limitation; Tongue tube is easy missed signal when speed, or by system as interference process, accuracy is poor.
Summary of the invention
1. invent the technical problem that will solve
The object of the invention is to overcome existing machinery hand sucker working signal flip flop equipment above shortcomings, a kind of long service life, not misoperation, interference-free manipulator sucker working signal flip flop equipment are provided.
2. technical scheme
For achieving the above object, technical scheme provided by the invention is:
A kind of manipulator sucker working signal flip flop equipment of the present invention, comprise sucker installing rack and be installed on the vacuum cup on sucker installing rack, also comprise proximity transducer and push rod, described push rod telescopically is installed on sucker installing rack, the axis direction of described push rod is consistent with the direction of motion of vacuum cup, proximity transducer, lower than vacuum cup, is installed above the top of push rod in the bottom of described push rod.
Further preferably, described push rod is installed on sucker installing rack by linear bearing.
Further preferably, described proximity transducer is annular proximity transducer.
Further preferably, the sucker bar of described vacuum cup is installed on sucker installing rack by linear bearing, and the sucker bar of vacuum cup is also provided with spring.
3. beneficial effect
Adopt technical scheme provided by the invention, compared with existing known technology, there is following beneficial effect:
(1) a kind of manipulator sucker working signal flip flop equipment of the present invention, its push rod telescopically is installed on sucker installing rack, the axis direction of push rod is consistent with the direction of motion of vacuum cup, and proximity transducer, lower than vacuum cup, is installed above the top of push rod in the bottom of push rod; In manipulator decline process, first push rod contacts material and moves upward, and after vacuum cup stably touches material, push rod top enters the induction region of proximity transducer simultaneously and triggers proximity transducer, and the vacuum subassembly work of control connection vacuum cup, there is long service life, not misoperation, the feature such as interference-free;
(2) a kind of manipulator sucker working signal flip flop equipment of the present invention, its push rod is installed on sucker installing rack by linear bearing, and pushrod movement is reliable and stable, triggers sensitive;
(3) a kind of manipulator sucker working signal flip flop equipment of the present invention, its proximity transducer is annular proximity transducer, accuracy and sensitivity higher.
Accompanying drawing explanation
Fig. 1 is the perspective view of a kind of manipulator sucker working signal flip flop equipment of the present invention;
Fig. 2 is the main TV structure schematic diagram of a kind of manipulator sucker working signal flip flop equipment of the present invention;
Fig. 3 is the side-looking structural representation of a kind of manipulator sucker working signal flip flop equipment of the present invention.
Label declaration in schematic diagram:
1, vacuum cup; 2, linear bearing; 3, spring; 4, sucker installing rack; 5, proximity transducer; 6, push rod; 7, linear bearing.
Detailed description of the invention
For understanding content of the present invention further, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment
Shown in composition graphs 1, Fig. 2 and Fig. 3, a kind of manipulator sucker working signal flip flop equipment of the present embodiment, comprise sucker installing rack 4, be installed on vacuum cup 1 on sucker installing rack 4 and proximity transducer 5 and push rod 6, sucker installing rack 4 is carried by two arms, and two groups of vacuum cups 1 are respectively installed at the two ends of sucker installing rack 4, for stably capturing sheet material class material, such as plank, floor, glass etc.; Push rod 6 telescopically is installed on sucker installing rack 4, the axis direction of push rod 6 is consistent with the direction of motion of vacuum cup 1, namely push rod 6 is perpendicular to material surface, the bottom of push rod 6 is lower than vacuum cup 1 (can be found out by Fig. 2 and Fig. 3), proximity transducer 5 is installed above the top of push rod 6, particularly, proximity transducer 5 can be fixed therein on an arm.A kind of manipulator sucker working signal flip flop equipment of the present embodiment, in an initial condition, push rod 6 is positioned at the position of bottom under gravity naturally, when manipulator declines crawl material, because the bottom height of push rod 6 is lower than the height of vacuum cup 1, therefore more close to material, push rod 6 will first with material surface contact, along with manipulator continues to decline, push rod 6 will be headed on rising by material, until the top of push rod finally enters in the induction region of proximity transducer 5, the proximity transducer 5 backward system that is triggered reliably sends feedback signal, the vacuum subassembly being connected vacuum cup 1 by Systematical control is started working, vacuum cup 1 is made to pick up material, there is long service life, not misoperation, the feature such as interference-free.
In addition, in order to improve the kinetic stability of push rod 6, the push rod 6 in the present embodiment is installed on sucker installing rack 4 by linear bearing 7, the top of push rod 6 is also provided with position limiting structure, be limited to by push rod 6 on linear bearing 7, push rod 6 motion stabilization is reliable, triggers sensitive; Further, the bottom of push rod 6 is that ball head structure is best, and polishing scratch is caused on anti-throw-out lever 6 pairs of material surfaces.In the present embodiment, proximity transducer 5 is annular proximity transducer, accuracy and sensitivity higher.
In addition, in the present embodiment, the sucker bar of vacuum cup 1 is installed on sucker installing rack 4 by linear bearing 2, and the sucker bar of vacuum cup 1 is also provided with spring 3, composition sucker grabbing device, after vacuum cup 1 grabs material, under the effect of spring 3, reliability can be higher.
A kind of manipulator sucker working signal flip flop equipment of the present invention, in manipulator decline process, first push rod contacts material and moves upward, and after vacuum cup stably touches material, push rod top enters the induction region of proximity transducer simultaneously and triggers proximity transducer, and the vacuum subassembly work of control connection vacuum cup, there is long service life, not misoperation, the feature such as interference-free.
Below be schematically described the present invention and embodiment thereof, this description does not have restricted, and shown in accompanying drawing is also one of embodiments of the present invention, and actual structure is not limited thereto.So, if those of ordinary skill in the art enlightens by it, when not departing from the invention aim, without creatively designing the frame mode similar to this technical scheme and embodiment, all should protection scope of the present invention be belonged to.
Claims (4)
1. a manipulator sucker working signal flip flop equipment, comprise sucker installing rack (4) and be installed on the vacuum cup (1) on sucker installing rack (4), it is characterized in that: also comprise proximity transducer (5) and push rod (6), described push rod (6) telescopically is installed on sucker installing rack (4), the axis direction of described push rod (6) is consistent with the direction of motion of vacuum cup (1), the bottom of described push rod (6) is lower than vacuum cup (1), proximity transducer (5) is installed above the top of push rod (6).
2. a kind of manipulator sucker working signal flip flop equipment according to claim 1, is characterized in that: described push rod (6) is installed on sucker installing rack (4) by linear bearing (7).
3. a kind of manipulator sucker working signal flip flop equipment according to claim 2, is characterized in that: described proximity transducer (5) is annular proximity transducer.
4. a kind of manipulator sucker working signal flip flop equipment according to claim 1 or 2 or 3, it is characterized in that: the sucker bar of described vacuum cup (1) is installed on sucker installing rack (4) by linear bearing (2), and the sucker bar of vacuum cup (1) is also provided with spring (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610075348.6A CN105500384A (en) | 2016-02-02 | 2016-02-02 | Manipulator sucker operating signal trigger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610075348.6A CN105500384A (en) | 2016-02-02 | 2016-02-02 | Manipulator sucker operating signal trigger device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105500384A true CN105500384A (en) | 2016-04-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610075348.6A Pending CN105500384A (en) | 2016-02-02 | 2016-02-02 | Manipulator sucker operating signal trigger device |
Country Status (1)
| Country | Link |
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| CN (1) | CN105500384A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904476A (en) * | 2016-06-24 | 2016-08-31 | 美克国际家私（天津）制造有限公司 | Drawer plate collecting mechanical arm for automatic production line in drawer plate dovetail joint processing |
| CN105965625A (en) * | 2016-06-24 | 2016-09-28 | 美克国际家私（天津）制造有限公司 | Automatic production line for drawer board dovetail joint machining |
| CN106514679A (en) * | 2016-12-23 | 2017-03-22 | 绍兴环思智慧科技股份有限公司 | Displacement detecting mechanism of vacuum sucker |
| CN108032291A (en) * | 2018-01-23 | 2018-05-15 | 上海读家电子科技有限公司 | A kind of vacuum cup machinery hand for moving article |
| WO2018195866A1 (en) * | 2017-04-27 | 2018-11-01 | 深圳配天智能技术研究院有限公司 | Component grabbing method based on robot system, and robot system and clamp |
| CN112644808A (en) * | 2020-11-30 | 2021-04-13 | 珠海格力智能装备有限公司 | Automatic place outer quick-witted top cap foam device and air conditioner packaging system |
| CN113353625A (en) * | 2021-06-15 | 2021-09-07 | 上海发网云物流科技有限公司 | Grab cantilever structure of frame sucking disc |
| CN113385430A (en) * | 2021-06-15 | 2021-09-14 | 上海发网云物流科技有限公司 | Frame structure is grabbed to high efficiency |
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| US6437560B1 (en) * | 2000-10-31 | 2002-08-20 | Syron Engineering & Manufacturing, Llc | Combined suction cup and isolated sensor |
| CN201456004U (en) * | 2009-01-06 | 2010-05-12 | 上海埃蒙特自动化***有限公司 | Cylinder hoisting structure of vacuum sucker |
| CN201988653U (en) * | 2010-12-09 | 2011-09-28 | 江苏金方圆数控机床有限公司 | Continuous sucking device for sheet material |
| CN203371550U (en) * | 2013-08-06 | 2014-01-01 | 东旭集团有限公司 | Gripping tool used for substrate handling robot |
| 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 |
| CN103586873A (en) * | 2013-12-04 | 2014-02-19 | 苏州怡丰工业设备有限公司 | Automatic tracking material grasping mechanical hand device |
| CN205497504U (en) * | 2016-02-02 | 2016-08-24 | 江苏豪林自动化科技有限公司 | Manipulator suction disc work signal trigger device |
-
2016
- 2016-02-02 CN CN201610075348.6A patent/CN105500384A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6437560B1 (en) * | 2000-10-31 | 2002-08-20 | Syron Engineering & Manufacturing, Llc | Combined suction cup and isolated sensor |
| CN201456004U (en) * | 2009-01-06 | 2010-05-12 | 上海埃蒙特自动化***有限公司 | Cylinder hoisting structure of vacuum sucker |
| CN201988653U (en) * | 2010-12-09 | 2011-09-28 | 江苏金方圆数控机床有限公司 | Continuous sucking device for sheet material |
| CN203371550U (en) * | 2013-08-06 | 2014-01-01 | 东旭集团有限公司 | Gripping tool used for substrate handling robot |
| 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 |
| CN103586873A (en) * | 2013-12-04 | 2014-02-19 | 苏州怡丰工业设备有限公司 | Automatic tracking material grasping mechanical hand device |
| CN205497504U (en) * | 2016-02-02 | 2016-08-24 | 江苏豪林自动化科技有限公司 | Manipulator suction disc work signal trigger device |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904476A (en) * | 2016-06-24 | 2016-08-31 | 美克国际家私（天津）制造有限公司 | Drawer plate collecting mechanical arm for automatic production line in drawer plate dovetail joint processing |
| CN105965625A (en) * | 2016-06-24 | 2016-09-28 | 美克国际家私（天津）制造有限公司 | Automatic production line for drawer board dovetail joint machining |
| CN106514679A (en) * | 2016-12-23 | 2017-03-22 | 绍兴环思智慧科技股份有限公司 | Displacement detecting mechanism of vacuum sucker |
| CN106514679B (en) * | 2016-12-23 | 2019-02-05 | 绍兴环思智慧科技股份有限公司 | A kind of displacement detecting mechanism of vacuum chuck |
| WO2018195866A1 (en) * | 2017-04-27 | 2018-11-01 | 深圳配天智能技术研究院有限公司 | Component grabbing method based on robot system, and robot system and clamp |
| CN108032291A (en) * | 2018-01-23 | 2018-05-15 | 上海读家电子科技有限公司 | A kind of vacuum cup machinery hand for moving article |
| CN112644808A (en) * | 2020-11-30 | 2021-04-13 | 珠海格力智能装备有限公司 | Automatic place outer quick-witted top cap foam device and air conditioner packaging system |
| CN113353625A (en) * | 2021-06-15 | 2021-09-07 | 上海发网云物流科技有限公司 | Grab cantilever structure of frame sucking disc |
| CN113385430A (en) * | 2021-06-15 | 2021-09-14 | 上海发网云物流科技有限公司 | Frame structure is grabbed to high efficiency |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160420 |
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| WD01 | Invention patent application deemed withdrawn after publication |