CN105904454A - Grabbing manipulator - Google Patents
Grabbing manipulator Download PDFInfo
- Publication number
- CN105904454A CN105904454A CN201610409292.3A CN201610409292A CN105904454A CN 105904454 A CN105904454 A CN 105904454A CN 201610409292 A CN201610409292 A CN 201610409292A CN 105904454 A CN105904454 A CN 105904454A
- Authority
- CN
- China
- Prior art keywords
- fixed plate
- rotary shaft
- paw
- catching robot
- plate
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- 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
- B25J13/081—Touching devices, e.g. pressure-sensitive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a grabbing manipulator. The grabbing manipulator comprises manipulator grippers and further comprises clamping springs. The clamping springs are mounted on the opposite inner sides of the two manipulator grippers. The tail ends of the manipulator grippers are connected with a cylinder gripper. The cylinder gripper is mounted on a cylinder fixing plate. The cylinder fixing plate is fixedly connected with the lower end of a rotary shaft. The rotary shaft is mounted on a rotary bearing. The rotary bearing is mounted on a base. The upper end of the rotary shaft is connected with an output shaft of a reducing mechanism. An input shaft of the reducing mechanism is connected with an output shaft of a driving motor. The grabbing manipulator provided by the invention is high in control precision and good in stability and applicability.
Description
Technical field
The present invention relates to the mechanical hand of Electromechanical Control, especially a kind of catching robot.
Background technology
The micro-drill mill of PCB is the important tool in printed circuit board (PCB) processing, and its size, volume have
Institute is different, different because of the difference of circuit board processing request.In the production of the micro-drill mill of PCB,
Box-packed cutter it is frequently necessary to move in each operation, owing to various types of box-packed cutter volume is each not
Identical, existing grasping mechanism is often just for the cutter movement requirement of a kind of model, it is impossible to
Meet flexible production needs now, cause often processing a kind of new type of cutter and be accomplished by again changing
Grasping mechanism, very inconvenient.Modern factories automatization processing request, the movement of box-packed cutter should
Convenient, flexible, it is possible to adapt to the demand that Enterprise Flexibility metaplasia is produced, capture machinery in the urgent need to one
Hands, but there is no such mechanical hand in the market.
Summary of the invention
In order to overcome the micro-drill mill of existing PCB produce in cutter Grasp Modes control accuracy relatively
The deficiency that low, less stable, the suitability are poor, the present invention provide a kind of control accuracy higher,
Have good stability, the preferable catching robot of the suitability.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of catching robot, including mechanical paw, described catching robot also includes clamping bullet
Spring, the inner side that two mechanical paws are relative is installed described clamp springs, described mechanical paw end
End is connected with cylinder paw, and described cylinder paw is arranged in air cylinder fixed plate, and described cylinder is solid
Determining that the lower end of plate and rotary shaft is fixing to be connected, described rotary shaft is arranged on swivel bearing, described
Swivel bearing is arranged on pedestal, and the upper end of described rotary shaft is connected with the output shaft of reducing gear,
The power shaft of described reducing gear is connected with the output shaft driving motor.
Further, the rotary shaft being positioned at pedestal is provided with processing boss, on described processing boss
Installing sensing chip, described base internal wall installs zero level switch, and described sensing chip is returned with described
Zero potential switch coordinates.
Further, induction apparatus fixed plate, described induction apparatus are installed in the back side of described cylinder paw
Install in fixed plate for detecting whether need to be captured the detection sensor of product.
Described pedestal includes left fixed plate, has fixed plate, upper mounted plate and bottom plate, described
Left fixed plate, have fixed plate, upper mounted plate and bottom plate surround for swivel bearing assembling sky
Chamber.
Connecting plate is installed on described pedestal.
The technology of the present invention is contemplated that: zero level switch and sensing chip by top make machine
The motion of tool hands, return action more accurate；Detection induction apparatus is utilized to monitor in real time at mechanical hand
Whether need the product captured, feed back to control system, thus the realization controlling mechanical hand captures
Operation: be equipped with multiple rows of spring on paw, on the one hand can increase the stability captured, on the other hand
These springs can stretch according to the volume difference of product, it is achieved a kind of robot manipulator structure, real
Show the function capturing polytype product.
Beneficial effects of the present invention is mainly manifested in: control accuracy is higher, have good stability, suitable
Preferable by property.
Accompanying drawing explanation
Fig. 1 is the structural representation of catching robot.
Fig. 2 is the structural representation of zero level switch.
Fig. 3 is detection sensor and the structural representation of connecting plate.
In figure, 1, clamp springs, 2, paw, 3, detection sensor, 5, cylinder paw,
6, sensor fixation plate, 7, air cylinder fixed plate, 8, right fixed plate, 14, sensing chip, 15,
Upper mounted plate, 16, bottom plate, 18, motor, 19, reducing motor, 21, connecting plate,
24, zero photoswitch, 26, swivel bearing, 27, left fixed plate, 28, rotary shaft.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.
With reference to Fig. 1～Fig. 3, a kind of catching robot, including mechanical paw 2, described gripper
Tool hands also includes clamp springs 1, and described clamping is installed in the inner side that two mechanical paws 2 are relative
Spring 1, described mechanical paw 2 end is connected with cylinder paw 5, and described cylinder paw 5 is pacified
Being contained in air cylinder fixed plate 7, described air cylinder fixed plate 7 is fixing with the lower end of rotary shaft 28 to be connected,
Described rotary shaft 28 is arranged on swivel bearing 26, and described swivel bearing 26 is arranged on pedestal,
The upper end of described rotary shaft 28 is connected with the output shaft of reducing gear 19, described reducing gear 19
Power shaft with drive motor 18 output shaft be connected.
Further, the rotary shaft 28 being positioned at pedestal is provided with processing boss, described processing boss
Upper installation sensing chip 14, described base internal wall installs zero level switch 24, described sensing chip
14 open 24 passes with described zero current potential coordinates.
Further, induction apparatus fixed plate 6, described sense are installed in the back side of described cylinder paw 5
Answer and install in device fixed plate 6 for detecting whether need to be captured the detection sensor 3 of product.
Described pedestal includes left fixed plate 27, has fixed plate 8, upper mounted plate 15 and bottom plate
16, described left fixed plate 27, there are fixed plate 8, upper mounted plate 15 and bottom plate 16 to surround
Cavity for swivel bearing 26 assembling.
Connecting plate 21 is installed on described pedestal.
In the present embodiment, clamp springs 1 is arranged on mechanical paw 2, and paw 2 is with screw thread even
The mode connect links together with cylinder paw 5, and the back side of cylinder paw 5 is solid equipped with induction apparatus
Determining plate 6, detection induction apparatus 3 is arranged in induction apparatus fixed plate 6, and cylinder paw 5 is arranged on
On air cylinder fixed plate 7 lower surface, its upper surface coordinates with rotary shaft 28, left fixed plate 27,
Right fixed plate 8, upper mounted plate 15, bottom plate 16 connect formation pedestal by welding procedure,
Swivel bearing 26 is arranged on above bottom plate 16, and coordinates with rotary shaft 28, sensing chip
14 are arranged on the processing boss of rotary shaft 28, and zero level switch 24 is arranged on left fixed plate
On the right flank of 27, the other end of rotary shaft 28 coordinates with reducing gear 19, reducing gear 19
Top assembling drives motor 18, and bottom plate 16 is connected to connecting plate in bolted mode
On 21.
When this robot work, detection sensor 3 inspecting manipuator whether have to be moved
Product, feeds back to control system by signal, when product having been detected, by control system control
Cylinder paw 5, thus control the folding of mechanical paw 2, it is achieved capture operation.
Above-described embodiment is presently preferred embodiments of the present invention, is not to technical solution of the present invention
Restriction, as long as can realize on the basis of above-described embodiment without creative work
Technical scheme, in the range of being regarded as falling into the rights protection of patent of the present invention.
Claims (5)
1. a catching robot, including mechanical paw, it is characterised in that: described catching robot is also
Including clamp springs, described clamp springs is installed in the inner side that two mechanical paws are relative, described
Mechanical paw end is connected with cylinder paw, and described cylinder paw is arranged in air cylinder fixed plate,
Described air cylinder fixed plate is fixing with the lower end of rotary shaft to be connected, and described rotary shaft is arranged on rotary shaft
Holding, described swivel bearing is arranged on pedestal, the upper end of described rotary shaft and reducing gear
Output shaft connects, and the power shaft of described reducing gear is connected with the output shaft driving motor.
2. catching robot as claimed in claim 1, it is characterised in that: it is positioned at the rotation of pedestal
Axle is provided with processing boss, and described processing boss is installed sensing chip, and described base internal wall is installed
Zero level switch, described sensing chip coordinates with described zero level switch.
3. catching robot as claimed in claim 1 or 2, it is characterised in that: described cylinder paw
The back side install induction apparatus fixed plate, in described induction apparatus fixed plate install for detecting whether have
The detection sensor of product to be captured.
4. catching robot as claimed in claim 1 or 2, it is characterised in that: described pedestal includes
Left fixed plate, have fixed plate, upper mounted plate and bottom plate, described left fixed plate, have fixing
Plate, upper mounted plate and bottom plate surround the cavity for swivel bearing assembling.
5. catching robot as claimed in claim 1 or 2, it is characterised in that: pacify on described pedestal
Load fishplate bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409292.3A CN105904454A (en) | 2016-06-12 | 2016-06-12 | Grabbing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409292.3A CN105904454A (en) | 2016-06-12 | 2016-06-12 | Grabbing manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105904454A true CN105904454A (en) | 2016-08-31 |
Family
ID=56750770
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610409292.3A Pending CN105904454A (en) | 2016-06-12 | 2016-06-12 | Grabbing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105904454A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313015A (en) * | 2016-11-04 | 2017-01-11 | 成都英博格科技有限公司 | Transmission and robot |
| CN106695288A (en) * | 2016-11-30 | 2017-05-24 | 中国科学院自动化研究所 | Automatic device for mounting bearing on eccentric shaft |
| CN107044291A (en) * | 2017-06-26 | 2017-08-15 | 重庆工业职业技术学院 | Anchor bar of waterproof plate in tunnels intelligently lays platform system |
| CN107738248A (en) * | 2017-10-20 | 2018-02-27 | 深圳市精实机电科技有限公司 | A kind of manipulator and its control method with two-pawl structure |
| CN110977478A (en) * | 2019-12-26 | 2020-04-10 | 北京卫星制造厂有限公司 | Mobile dual-robot machining system and method for drilling and milling weak rigid support |
| CN111152208A (en) * | 2020-02-03 | 2020-05-15 | 深圳市时维智能装备有限公司 | Rotating device and manipulator |
| CN112692779A (en) * | 2020-12-09 | 2021-04-23 | 中广核研究院有限公司 | Filter element extraction device |
| CN112963182A (en) * | 2019-04-28 | 2021-06-15 | 周艳君 | Anchoring device and motor disassembling method based on same |
| CN116748878A (en) * | 2023-07-17 | 2023-09-15 | 杭州铭达五金有限公司 | Bearing frame shaping machine tool |
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| CN101284380A (en) * | 2008-05-22 | 2008-10-15 | 上海交通大学 | Large multi-sensor integration electric claw |
| EP2130790A1 (en) * | 2008-06-03 | 2009-12-09 | Guitti Macchine S.a.S. di Guitti Elisa & C. | Central transfer unit having a plurality of independently actuated gripper arms |
| CN102239804A (en) * | 2011-05-03 | 2011-11-16 | 中国农业大学 | Automatic seedling picking paw mechanism and seedling picking method thereof |
| CN102601255A (en) * | 2012-02-24 | 2012-07-25 | 丰顺县培英电声有限公司 | Car audio hardware stamping automatic feeding and unloading manipulator |
| CN102642331A (en) * | 2012-04-25 | 2012-08-22 | 华南理工大学 | Control system for loading and unloading manipulator of press |
| CN202498546U (en) * | 2012-01-18 | 2012-10-24 | 苏州光宝康电子有限公司 | Novel rotation manipulator |
| CN103786152A (en) * | 2014-02-19 | 2014-05-14 | 苏州博众精工科技有限公司 | Rotatable clamping claw mechanism |
| CN203752150U (en) * | 2014-02-19 | 2014-08-06 | 苏州博众精工科技有限公司 | Rotatable clamping jaw mechanism |
| CN203919046U (en) * | 2013-12-30 | 2014-11-05 | 温州左岸品牌设计推广有限公司 | Rotary without return difference precision optical machinery hand |
| CN105150233A (en) * | 2015-10-14 | 2015-12-16 | 东南大学 | Mechanical gripper device |
| CN205148345U (en) * | 2015-12-03 | 2016-04-13 | 山东科技大学 | Novel self -adaptation mechanical clamping hand claw |
| CN205166950U (en) * | 2015-10-26 | 2016-04-20 | 东莞技研新阳电子有限公司 | Terminal is carried out to big rotation angle plug -in components of manipulator double -end |
| CN205238039U (en) * | 2015-10-26 | 2016-05-18 | 东莞技研新阳电子有限公司 | Terminal is carried out to big rotation angle plug -in components of manipulator single -end |
| CN205817864U (en) * | 2016-06-12 | 2016-12-21 | 浙江工业大学 | A kind of catching robot |
-
2016
- 2016-06-12 CN CN201610409292.3A patent/CN105904454A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101284380A (en) * | 2008-05-22 | 2008-10-15 | 上海交通大学 | Large multi-sensor integration electric claw |
| EP2130790A1 (en) * | 2008-06-03 | 2009-12-09 | Guitti Macchine S.a.S. di Guitti Elisa & C. | Central transfer unit having a plurality of independently actuated gripper arms |
| CN102239804A (en) * | 2011-05-03 | 2011-11-16 | 中国农业大学 | Automatic seedling picking paw mechanism and seedling picking method thereof |
| CN202498546U (en) * | 2012-01-18 | 2012-10-24 | 苏州光宝康电子有限公司 | Novel rotation manipulator |
| CN102601255A (en) * | 2012-02-24 | 2012-07-25 | 丰顺县培英电声有限公司 | Car audio hardware stamping automatic feeding and unloading manipulator |
| CN102642331A (en) * | 2012-04-25 | 2012-08-22 | 华南理工大学 | Control system for loading and unloading manipulator of press |
| CN203919046U (en) * | 2013-12-30 | 2014-11-05 | 温州左岸品牌设计推广有限公司 | Rotary without return difference precision optical machinery hand |
| CN103786152A (en) * | 2014-02-19 | 2014-05-14 | 苏州博众精工科技有限公司 | Rotatable clamping claw mechanism |
| CN203752150U (en) * | 2014-02-19 | 2014-08-06 | 苏州博众精工科技有限公司 | Rotatable clamping jaw mechanism |
| CN105150233A (en) * | 2015-10-14 | 2015-12-16 | 东南大学 | Mechanical gripper device |
| CN205166950U (en) * | 2015-10-26 | 2016-04-20 | 东莞技研新阳电子有限公司 | Terminal is carried out to big rotation angle plug -in components of manipulator double -end |
| CN205238039U (en) * | 2015-10-26 | 2016-05-18 | 东莞技研新阳电子有限公司 | Terminal is carried out to big rotation angle plug -in components of manipulator single -end |
| CN205148345U (en) * | 2015-12-03 | 2016-04-13 | 山东科技大学 | Novel self -adaptation mechanical clamping hand claw |
| CN205817864U (en) * | 2016-06-12 | 2016-12-21 | 浙江工业大学 | A kind of catching robot |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313015A (en) * | 2016-11-04 | 2017-01-11 | 成都英博格科技有限公司 | Transmission and robot |
| CN106695288A (en) * | 2016-11-30 | 2017-05-24 | 中国科学院自动化研究所 | Automatic device for mounting bearing on eccentric shaft |
| CN107044291A (en) * | 2017-06-26 | 2017-08-15 | 重庆工业职业技术学院 | Anchor bar of waterproof plate in tunnels intelligently lays platform system |
| CN107044291B (en) * | 2017-06-26 | 2023-08-25 | 重庆工业职业技术学院 | Intelligent laying rack system for tunnel waterproof board |
| CN107738248A (en) * | 2017-10-20 | 2018-02-27 | 深圳市精实机电科技有限公司 | A kind of manipulator and its control method with two-pawl structure |
| CN112963182B (en) * | 2019-04-28 | 2023-01-31 | 周艳君 | Anchoring device and motor disassembling method based on same |
| CN112963182A (en) * | 2019-04-28 | 2021-06-15 | 周艳君 | Anchoring device and motor disassembling method based on same |
| CN110977478B (en) * | 2019-12-26 | 2021-11-16 | 北京卫星制造厂有限公司 | Mobile dual-robot machining system and method for drilling and milling weak rigid support |
| CN110977478A (en) * | 2019-12-26 | 2020-04-10 | 北京卫星制造厂有限公司 | Mobile dual-robot machining system and method for drilling and milling weak rigid support |
| CN111152208A (en) * | 2020-02-03 | 2020-05-15 | 深圳市时维智能装备有限公司 | Rotating device and manipulator |
| CN112692779A (en) * | 2020-12-09 | 2021-04-23 | 中广核研究院有限公司 | Filter element extraction device |
| CN112692779B (en) * | 2020-12-09 | 2023-11-24 | 中广核研究院有限公司 | Filter element extracting device |
| CN116748878A (en) * | 2023-07-17 | 2023-09-15 | 杭州铭达五金有限公司 | Bearing frame shaping machine tool |
| CN116748878B (en) * | 2023-07-17 | 2024-03-15 | 杭州铭达五金有限公司 | Bearing frame shaping machine tool |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160831 |
|
| RJ01 | Rejection of invention patent application after publication |