CN108312161B - Mobile manipulator for cup-shaped articles in industrial production - Google Patents
Mobile manipulator for cup-shaped articles in industrial production Download PDFInfo
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- CN108312161B CN108312161B CN201810112394.8A CN201810112394A CN108312161B CN 108312161 B CN108312161 B CN 108312161B CN 201810112394 A CN201810112394 A CN 201810112394A CN 108312161 B CN108312161 B CN 108312161B
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- 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
- B25J15/0023—Gripper surfaces directly activated by a fluid
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Abstract
The invention provides a moving manipulator for cup-shaped articles in industrial production, which comprises a main body seat, wherein the bottom of the main body seat is provided with a moving arm, the front side surface of the main body seat is provided with an auxiliary sliding groove and an auxiliary moving seat, the moving arm and the auxiliary moving seat are provided with two communicated grooves respectively used as a first pipeline groove and a second pipeline groove, the first pipeline groove and the second pipeline groove are respectively provided with a gas pipe connected with a gas pump, the bottom of the second pipeline groove is provided with an auxiliary gas bin, the bottom of the main body seat is provided with a fixing piece and a movable fixing piece, the fixing piece and the movable fixing piece are respectively provided with a fixed airbag, the gas pipe in the second pipeline groove is connected with the auxiliary gas bin, and the auxiliary gas bin is connected with the fixed airbag on the movable fixing piece through the auxiliary gas pipe. The mobile manipulator for the cup-shaped articles in the industrial production has the advantages of reasonable and stable structure, intelligent operation, enlarged application range, ensured reliability and safety in the operation process and ensured service life.
Description
Technical Field
The invention relates to a mobile manipulator, in particular to a mobile manipulator for cup-shaped articles in industrial production.
Background
The conveying process of the cup-shaped articles such as glass cups, plastic cups and the like is generally carried out by adopting a conveying belt, if the conveying belt shakes in the conveying process, the conveyed cup-shaped articles can topple over, the next operation is influenced, sometimes even the articles are broken, the quantity of unqualified products is increased, and meanwhile, some mechanical hands for conveying the cup-shaped articles individually are arranged, the mechanical arms are generally controlled by hydraulic cylinders or air cylinders, the hydraulic oil or air conveying pipelines can often generate friction with metal parts on the mechanical arms during the use process of the mechanical arms, the service life of the conveying pipelines can not be ensured, and the mechanical arms generally directly contact with the cup-shaped articles by the metal parts, when the oily substance is held on the metal member, stability of the cup in the conveying process cannot be guaranteed, and the cup-shaped object is damaged due to unstable application of force when the metal member is contacted with the cup-shaped object.
Disclosure of Invention
The object of the present invention is to provide a mobile manipulator for cup-shaped articles in industrial production, solving the above-mentioned problems of the prior art.
The invention provides a mobile manipulator for cup-shaped articles in industrial production, which comprises a main body seat, wherein the bottom of the main body seat is provided with a sliding groove and a mobile arm, the top of the mobile arm is embedded in the sliding groove, the front side surface of the main body seat is provided with an auxiliary sliding groove and an auxiliary mobile seat, one end of the auxiliary mobile seat is embedded in the auxiliary sliding groove, the bottom of the auxiliary mobile seat is connected with the top of the mobile arm, the mobile arm and the auxiliary mobile seat are provided with two communicated grooves which are respectively used as a first pipeline groove and a second pipeline groove, the first pipeline groove and the second pipeline groove are both provided with gas pipes connected with a gas pump, the bottom of the second pipeline groove is provided with an auxiliary gas bin, the bottom of the main body seat is provided with a fixing piece and a movable fixing piece, the fixing piece and the movable fixing piece are both provided with fixing air bags, the gas pipes in the first pipeline groove pass through openings on the, the gas pipe in the second pipeline groove is connected with the auxiliary gas bin, and the auxiliary gas bin is connected with the fixed air bag on the movable fixing piece through the auxiliary gas pipe.
The auxiliary connecting plates are arranged on all two sides of the main body seat, connecting holes are formed in the auxiliary connecting plates, and therefore the moving manipulator for the cup-shaped articles in industrial production can be conveniently installed on required equipment by means of bolts penetrating through the connecting holes.
The left side of the first pipeline groove is connected with two auxiliary fixing covers through a rotary connecting piece at least in the vertical direction, the right side of the second pipeline groove is provided with fixing buckles, the number of the fixing buckles is equal to that of the auxiliary fixing covers, the auxiliary fixing covers correspond to the fixing buckles one to one, and the auxiliary fixing covers are connected with the fixing buckles.
Furthermore, the auxiliary fixing cover and the fixing buckle can be detached.
Preferably, the rotary connector, the auxiliary fixing cover and the fixing buckle are made of resin, and have the advantages of light weight and low cost.
The top of the auxiliary moving seat is provided with three auxiliary rollers, one auxiliary roller is arranged on the left side of the first pipeline groove, one auxiliary roller is arranged between the first pipeline groove and the second pipeline groove, one auxiliary roller is arranged on the right side of the second pipeline groove, the side groove wall of the bottom of the first pipeline groove is provided with an opening, and the upper end and the lower end of the opening are respectively provided with one auxiliary roller.
The movable fixing piece is connected with a movable guide rail arranged at the bottom of the movable arm, an auxiliary cylinder connected with an auxiliary air pump is arranged on the right side of the movable fixing piece, and a telescopic rod is arranged on the auxiliary cylinder and connected with the movable fixing piece.
Further, mounting and portable mounting all include a fixed mainboard, are equipped with fixed gasbag on the fixed mainboard, two fixed gasbag relative distributions, and fixed gasbag on the mounting is direct to be connected with the gas-supply pipe, and fixed gasbag on the portable mounting is connected with supplementary gas-supply pipe, be equipped with pressure-sensitive device on the fixed mainboard in the fixed gasbag, be equipped with the spacing strake of U type on the below of fixed gasbag and the fixed mainboard of the left and right sides, the inside of spacing strake is equipped with the inner chamber corresponding with spacing strake shape, fixed mainboard in the portable mounting is connected with movable guide and telescopic link.
Further, the limiting edge strips are made of rubber.
Further, the inner cavity is directly filled with air, and the volume of the air accounts for 92% -97% of the volume of the whole inner cavity.
The bottom of supplementary gas storehouse is equipped with supplementary slip track, be equipped with scalable sealing member on the supplementary interactive track, be equipped with the gas outlet on the scalable sealing member, gas outlet and supplementary gas-supply pipe fixed connection, supplementary gas-supply pipe can drive scalable sealing member and stretch out and draw back left or right.
The movable fixing part is provided with a movable main board, the movable main board is provided with a movable arm, the movable main board is provided with a movable main board, the movable main board is provided with a movable auxiliary connecting block, the movable auxiliary connecting block is fixedly connected with the movable main board, and the movable auxiliary connecting block is movably connected with the movable main board.
Further, the bottom of auxiliary connecting block is the arc to the indent, and two auxiliary connecting blocks set up respectively in the outside of two fixed mainboards for the dispersion extrusion force for the structure of the removal manipulator that cup article were used is more stable among the industrial production.
The mobile manipulator for the cup-shaped articles in industrial production has the advantages that: rational in infrastructure stable, the operation intelligence is convenient, can be applicable to the cup article of different thickness, has effectually increased its application scope, and the effectual article that has reduced to hold the operation in-process and realized holding the operation tightly has guaranteed to hold reliability and security of operation processes such as removal to the damage of cup article. Meanwhile, the service life of the movable manipulator for the cup-shaped articles in industrial production is effectively guaranteed.
Drawings
FIG. 1 is a front view of a mobile robot for cup-shaped articles in industrial production according to an embodiment of the present invention;
FIG. 2 is a bottom view of the moving arm in one embodiment of the present invention;
FIG. 3 is a bottom view of an auxiliary gas bin in an embodiment of the present invention;
FIG. 4 is a side view of a fixed motherboard in accordance with one embodiment of the invention.
Detailed Description
As shown in fig. 1 to 4, the present invention provides a mobile manipulator for industrial production of cup-shaped articles, which comprises a main body seat 1, wherein a sliding groove and a mobile arm 2 with the top embedded in the sliding groove are arranged at the bottom of the main body seat 1, an auxiliary sliding groove 102 and an auxiliary mobile seat 18 with one end embedded in the auxiliary sliding groove 102 are arranged on the front side surface of the main body seat 1, the bottom of the auxiliary mobile seat 18 is connected with the top of the mobile arm 2, two communicated grooves are respectively arranged on the mobile arm 2 and the auxiliary mobile seat 18 as a first pipeline groove 301 and a second pipeline groove 302, gas pipes connected with an air pump are respectively arranged on the first pipeline groove 301 and the second pipeline groove 302, an auxiliary gas bin 9 is arranged at the bottom of the second pipeline groove 302, a fixing member and a movable fixing member are arranged at the bottom of the main body seat 1, a fixing airbag 13 is respectively arranged on the fixing member and the movable fixing member, the gas pipe in the first pipeline groove 301 passes through an opening 8 on the first pipeline groove 301 and is connected with The fixed air bag 13 is connected, the air pipe in the second pipeline groove 302 is connected with the auxiliary air bin 9, and the auxiliary air bin 9 is connected with the fixed air bag 13 on the movable fixing piece through the auxiliary air pipe 14.
Preferably, the main body base 1 is provided with an auxiliary connecting plate 101 on each of both sides thereof, and the auxiliary connecting plates 101 are provided with connecting holes for facilitating installation of the moving robot for cup-shaped articles in industrial production to a desired apparatus by bolts inserted through the connecting holes.
Preferably, the left side of the first pipeline trough 301 is connected to two auxiliary fixing covers 6 at least in the vertical direction through a rotary connector 5, the right side of the second pipeline trough 302 is provided with fixing buckles 7, the number of the fixing buckles 7 is equal to that of the auxiliary fixing covers 6, the auxiliary fixing covers 6 correspond to the fixing buckles 7 one by one, the auxiliary fixing covers 6 are connected to the fixing buckles 7, and the auxiliary fixing covers 6 and the fixing buckles 7 are detachable.
Preferably, the rotary connector 5, the auxiliary fixing cover 6, and the fixing buckle 7 are made of resin, which has the advantages of light weight and low cost.
Preferably, in this embodiment, three auxiliary rollers 4 are disposed on the top of the auxiliary moving seat 18, one auxiliary roller 4 is disposed on the left side of the first pipe groove 301, one auxiliary roller 4 is disposed between the first pipe groove 301 and the second pipe groove 302, one auxiliary roller 4 is disposed on the right side of the second pipe groove 302, an opening 8 is disposed on a side groove wall of the bottom of the first pipe groove 301, and one auxiliary roller 4 is disposed at each of upper and lower ends of the opening 8.
The auxiliary roller 4 effectively reduces the contact chance of the pipe and some sharp corners on the first pipe groove 301 or the second pipe groove 302, and effectively ensures the service life of the gas conveying pipe.
Preferably, the movable fixing member is connected to a moving guide 17 provided at the bottom of the moving arm 2, an auxiliary cylinder 16 connected to an auxiliary air pump is provided at the right side of the movable fixing member, and an expansion link is provided on the auxiliary cylinder 16 to connect to the movable fixing member.
As the preferred of this embodiment, mounting and portable mounting all include a fixed mainboard 11, are equipped with fixed gasbag 13 on the fixed mainboard 11, two fixed gasbag 13 relative distributions, and fixed gasbag 13 on the mounting is direct to be connected with the gas-supply pipe, and fixed gasbag on the portable mounting is connected with supplementary gas-supply pipe 14, be equipped with pressure-sensitive device on the fixed mainboard 11 in the fixed gasbag 13, be equipped with the spacing strake 12 of U type on the fixed mainboard 11 of the below of fixed gasbag 13 and the left and right sides, spacing strake 12 is made by rubber, and the inside of spacing strake 12 is equipped with the inner chamber corresponding with spacing strake 12 shape, fixed mainboard 11 and mobile rail 17 and telescopic link in the portable mounting are connected.
Preferably, the inner cavity is directly filled with air, and the volume of the air accounts for 92% -97% of the volume of the whole inner cavity.
As the preferred of this embodiment, the bottom of supplementary gas storehouse 9 is equipped with supplementary slip track, be equipped with scalable sealing member 15 on the supplementary interactive track, be equipped with gas outlet 19 on the scalable sealing member 15, gas outlet 19 and supplementary gas-supply pipe 14 fixed connection, supplementary gas-supply pipe 14 can drive scalable sealing member 15 and stretch out and draw back left or right, when having avoided the gas-supply pipe directly to be connected with portable mounting, the gas-supply pipe directly moves along with portable mounting, then leads to the gas-supply pipe to produce friction many times with the bent angle of removal arm 2, the effectual life who guarantees the gas-supply pipe.
Preferably, the fixed main plate 11 is provided with an auxiliary connecting block 10, the auxiliary connecting block 10 on the fixed main plate 11 on the fixing member is fixedly connected with the bottom of the moving arm 2, and the auxiliary connecting block 10 on the fixed main plate 11 on the movable fixing member is movably connected with the bottom of the moving arm 2.
As the optimization of this embodiment, the bottom of the auxiliary connecting block 10 is an arc shape which is concave inwards, and the two auxiliary connecting blocks 10 are respectively arranged at the outer sides of the two fixed main boards 11 for dispersing the extrusion force, so that the structure of the moving manipulator for the cup-shaped objects in the industrial production is more stable, and the service life of the moving manipulator for the cup-shaped objects in the whole industrial production is better ensured.
When the mobile manipulator for the cup-shaped articles in the industrial production is used, the mobile fixing piece is adjusted through the auxiliary cylinder 16 according to the thickness of the cup-shaped articles, so that the distance between the two limiting edge strips 12 on the two fixed main boards 11 is larger than the thickness of the cup-shaped articles by 0.1 mm, then when the cup-shaped articles move between the fixing piece and the mobile fixing piece, the fixed airbags 13 on the fixing piece and the mobile fixing piece can receive gas input by the air pump through the air pipes and the like, so that the fixed airbags 13 swell, the cup-shaped articles are clasped, when the pressure value sensed by the pressure sensing device on the fixed main board 11 is larger than or equal to the set pressure value, the air pump stops running, and then the cup-shaped articles can move along with the.
This embodiment industrial production well removal manipulator that cup article were used have rational in infrastructure stable, the operation intelligence is convenient, can be applicable to the cup article of different thickness, its application scope has effectually been increased, utilize fixed gasbag 13 to hold the operation tightly simultaneously, the effectual article that has reduced to hold the operation in-process realization and hold the operation tightly is to the damage of cup article, simultaneously through supplementary roller 4, first pipe groove 301, second pipe groove 302, supplementary gas storehouse 9 and supplementary gas-supply pipe 14 etc. set up the effectual life who guarantees the removal manipulator that cup article were used among the industrial production.
The foregoing is only a preferred form of the invention and it should be noted that several similar variations and modifications could be made by one skilled in the art without departing from the inventive concept and these should also be considered within the scope of the invention.
Claims (5)
1. A movable manipulator for cup-shaped articles in industrial production is characterized by comprising a main body seat (1), wherein a sliding groove and a movable arm (2) with the top embedded in the sliding groove are arranged at the bottom of the main body seat (1), an auxiliary sliding groove (102) and an auxiliary movable seat (18) with one end embedded in the auxiliary sliding groove (102) are arranged on the front side surface of the main body seat (1), the bottom of the auxiliary movable seat (18) is connected with the top of the movable arm (2), two communicated grooves are arranged on the movable arm (2) and the auxiliary movable seat (18) and are respectively used as a first pipeline groove (301) and a second pipeline groove (301), gas pipes connected with an air pump are arranged on the first pipeline groove (301) and the second pipeline groove (301), an auxiliary gas bin (9) is arranged at the bottom of the second pipeline groove (301), the left side of the first pipeline groove (301) is at least connected with two auxiliary fixed covers (6) through a rotary connecting piece (5) in the vertical direction, the right side of second pipe groove (301) is equipped with fixed knot (7), and the quantity of fixed knot (7) equals with the quantity of supplementary fixed lid (6), supplementary fixed lid (6) and fixed knot (7) one-to-one, supplementary fixed lid (6) are connected with fixed knot (7), main part seat (1) bottom is equipped with a mounting and a portable mounting, all be equipped with fixed gasbag (13) on mounting and the portable mounting, the gas-supply pipe in first pipe groove (301) passes opening (8) on first pipe groove (301) and is connected with fixed gasbag (13) on the mounting, the gas-supply pipe in second pipe groove (301) is connected with supplementary gas storehouse (9), be connected with fixed gasbag (13) on the portable mounting through supplementary gas storehouse mounting (14) on supplementary gas storehouse mounting (9), and portable all include a fixed mainboard (11), be equipped with fixed gasbag (13) on fixed mainboard (11), two fixed gasbags (13) relative distribution, fixed gasbag (13) on the mounting are direct to be connected with the gas-supply pipe, and fixed gasbag on the portable mounting is connected with supplementary gas-supply pipe (14), be equipped with pressure-sensitive device on fixed mainboard (11) in fixed gasbag (13), be equipped with the spacing strake of U type (12) on the below of fixed gasbag (13) and the fixed mainboard (11) of the left and right sides, the inside of spacing strake (12) is equipped with the inner chamber corresponding with spacing strake (12) shape, has directly filled the air in the inner chamber, the volume of air accounts for whole inner chamber volumetric 92% -97%, fixed mainboard (11) in the portable mounting are connected with movable guide (17) and telescopic link.
2. The robot for moving cup-shaped articles in industrial production according to claim 1, wherein three auxiliary rollers (4) are provided on the top of the auxiliary moving base (18), one auxiliary roller (4) is provided on the left side of the first pipe groove (301), one auxiliary roller (4) is provided between the first pipe groove (301) and the second pipe groove (301), one auxiliary roller (4) is provided on the right side of the second pipe groove (301), the side wall of the bottom of the first pipe groove (301) is provided with the opening (8), and the upper and lower ends of the opening (8) are provided with one auxiliary roller (4).
3. The manipulator according to claim 1, wherein the movable fixed part is connected with a moving guide (17) arranged at the bottom of the moving arm (2), an auxiliary cylinder (16) connected with an auxiliary air pump is arranged at the right side of the movable fixed part, and a telescopic rod is arranged on the auxiliary cylinder (16) and connected with the movable fixed part.
4. The mechanical hand that removes that cup-shaped article used in industrial production according to claim 1, characterized in that, the bottom of supplementary gas storehouse (9) is equipped with supplementary sliding rail, be equipped with scalable sealing member (15) on the supplementary sliding rail, be equipped with gas outlet (19) on scalable sealing member (15), gas outlet (19) and supplementary gas pipe (14) fixed connection, supplementary gas pipe (14) can drive scalable sealing member (15) and stretch out and draw back left or right.
5. The mobile manipulator for cup-shaped articles in industrial production according to claim 1, characterized in that the fixed main plate (11) is provided with an auxiliary connecting block (10), the auxiliary connecting block (10) on the fixed main plate (11) on the fixed part is fixedly connected with the bottom of the mobile arm (2), and the auxiliary connecting block (10) on the fixed main plate (11) on the mobile fixed part is movably connected with the bottom of the mobile arm (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810112394.8A CN108312161B (en) | 2018-02-05 | 2018-02-05 | Mobile manipulator for cup-shaped articles in industrial production |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810112394.8A CN108312161B (en) | 2018-02-05 | 2018-02-05 | Mobile manipulator for cup-shaped articles in industrial production |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108312161A CN108312161A (en) | 2018-07-24 |
| CN108312161B true CN108312161B (en) | 2020-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810112394.8A Active CN108312161B (en) | 2018-02-05 | 2018-02-05 | Mobile manipulator for cup-shaped articles in industrial production |
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| CN (1) | CN108312161B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4469110B2 (en) * | 2001-06-18 | 2010-05-26 | 株式会社リコー | Shape deformable robot hand and gripping method using the same |
| CN101767339B (en) * | 2008-12-27 | 2012-06-20 | 鸿富锦精密工业（深圳）有限公司 | Mechanical hand |
| JP5408102B2 (en) * | 2010-10-22 | 2014-02-05 | トヨタ自動車株式会社 | Gripping device |
| CN206445799U (en) * | 2017-01-16 | 2017-08-29 | 东莞海倍斯机械科技有限公司 | It is a kind of it is horizontal walk type mechanical arm |
| CN206561419U (en) * | 2017-03-16 | 2017-10-17 | 深圳市璞瑞达薄膜开关技术有限公司 | A kind of full-automatic material all in one piece system |
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2018
- 2018-02-05 CN CN201810112394.8A patent/CN108312161B/en active Active
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