CN108851355B - Sole grabbing and positioning device for industrial robot - Google Patents
Sole grabbing and positioning device for industrial robot Download PDFInfo
- Publication number
- CN108851355B CN108851355B CN201811077541.9A CN201811077541A CN108851355B CN 108851355 B CN108851355 B CN 108851355B CN 201811077541 A CN201811077541 A CN 201811077541A CN 108851355 B CN108851355 B CN 108851355B
- Authority
- CN
- China
- Prior art keywords
- sole
- connecting rod
- industrial robot
- grabbing
- positioning device
- 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.)
- Active
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 238000001179 sorption measurement Methods 0.000 claims abstract description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003698 laser cutting Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D8/00—Machines for cutting, ornamenting, marking or otherwise working up shoe part blanks
-
- 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
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention relates to a sole grabbing and positioning device for an industrial robot, which comprises a connecting rod arranged at the tail end of the industrial robot, wherein one end of the connecting rod, which is far away from the industrial robot, is provided with a plurality of prickers, the connecting rod is also provided with an adsorption part which can move in an opening and closing way relative to the connecting rod so as to adsorb soles, the adsorption part is used for adsorbing soles and matching with the prickers to finish positioning, and the whole movement of the soles is realized through the connecting rod at the tail end of the industrial robot, so that the device is convenient and quick, has high intelligent degree and strong flexibility; the sole positioning is realized through the stretching mechanism and the vacuum sucking discs, the mechanism is simple, the manufacturing cost is low, and the large-scale popularization is facilitated.
Description
Technical Field
The invention relates to the technical field of shoe material processing equipment, in particular to a sole grabbing and positioning device for an industrial robot.
Background
The product positioning is applied to industrial production more and more widely, the requirement is higher and more, the current product positioning is either a visual positioning device based on a personal computer, and the product positioning device has the advantages of complex structure, huge volume and difficult installation; or some algorithms have poor real-time performance or cannot reach the formulated performance index at all, are high in price and cost, and aiming at the positioning soles, the ordinary factory cannot bear the excessive cost, so that market blank is caused.
As disclosed in chinese publication No. CN201520476997.8, the loading chuck of the sole processing machine comprises a chuck plate, a vacuum suction head, and a suction head mounting member; the sucker plate is provided with a plurality of strip-shaped through holes; the number of the vacuum suction heads is multiple, and the vacuum suction heads are in one-to-one correspondence with the suction head mounting pieces; the vacuum suction head is detachably fixed on the suction disc plate through the suction head mounting piece, wherein the suction head mounting piece is fixed in the strip-shaped through hole, the vacuum suction head has the advantages of being simple in structure, convenient to operate and adaptable to different shoe types, can be applied to other shoe material automatic feeding besides being applied to sole laser cutting equipment, belongs to the technical field of shoe material processing equipment, and is not easy to move when the position needing to be moved is in a three-dimensional space, and is poor in flexibility and low in intellectualization.
Disclosure of Invention
In order to solve the problems, the invention provides a sole grabbing and positioning device for an industrial robot.
The utility model provides a sole snatchs positioner for industrial robot, includes the connecting rod of installing at industrial robot end, the one end that the connecting rod kept away from industrial robot have a plurality of pjncture needle, still have on the connecting rod can make the absorption portion that opens and draw in the motion in order to adsorb the sole with the connecting rod, absorption portion be used for adsorbing the sole and with the pjncture needle cooperation, accomplish the location.
The connecting rod is provided with a stretching mechanism for completing stretching and drawing motions, and the stretching mechanism can be a hydraulic cylinder or an air cylinder.
The connecting rod is provided with a fixed plate for connecting the puncture needle, and the needle point area formed by the puncture needle on the fixed plate is matched with the outer contour area of the sole.
The adsorption part comprises a movable plate and a plurality of vacuum chucks arranged on the movable plate.
The movable plate is provided with a plurality of movable guide posts matched with the connecting rods.
The suction area of the space formed by the suction nozzle of the vacuum suction cup is matched with the area surrounded by the surface contour of the sole.
The movable plate is provided with a plurality of through holes which are matched with the pricking needles to prevent interference.
The puncture needle is thick at the upper part and thin at the lower part, and the thin end of the puncture needle is opposite to the sole.
The beneficial effects of the invention are as follows: the invention realizes the integral movement of the sole through the connecting rod at the tail end of the industrial robot, and has the advantages of convenience, rapidness, high intelligent degree and strong flexibility; the sole positioning is realized through the stretching mechanism and the vacuum sucking discs, the mechanism is simple, the manufacturing cost is low, and the large-scale popularization is facilitated.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic perspective view of an industrial robot according to the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a schematic view of a solid structure of a stator plate according to the present invention;
Fig. 4 is a schematic perspective view of a moving plate and a through hole according to the present invention.
Detailed Description
The present invention will be further described in the following to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the present invention easy to understand.
As shown in fig. 1 to 4, a sole grabbing and positioning device for an industrial robot comprises a connecting rod 1 arranged at the tail end of the industrial robot, wherein one end of the connecting rod 1 far away from the industrial robot is provided with a plurality of pricking needles 4, the connecting rod 1 is also provided with an adsorption part which can move relative to the connecting rod 1 to open and close so as to adsorb soles 6, and the adsorption part is used for adsorbing soles 6 and matching with the pricking needles 4 to finish positioning.
The connecting rod 1 is provided with a stretching mechanism 2 for completing stretching and drawing motions, and the stretching mechanism 2 can be a hydraulic cylinder or an air cylinder.
The whole movement of the sole 6 is realized through the connecting rod 1 on the tail end of the industrial robot, the shoe is convenient and quick, the intelligent degree is high, and the flexibility is strong.
The connecting rod 1 is provided with a fixed plate 7 for connecting the puncture needle 4, and the needle tip area formed by the puncture needle 4 on the fixed plate 7 is matched with the outer contour area of the sole 6.
The sole 6 is positioned through the stretching mechanism 2 and the vacuum sucking discs 5, the mechanism is simple, the manufacturing cost is low, and the large-scale popularization is facilitated.
The adsorption part comprises a movable plate 8 and a plurality of vacuum chucks 5 arranged on the movable plate 8.
The movable plate 8 is provided with a plurality of movable guide posts 3 matched with the connecting rod 1.
The motion guide post 3 is matched with the fixed plate 7 to realize motion guide.
After the sole 6 is formed, the connecting rod 1 at the tail end of the industrial robot drives the vacuum chuck 5 to adsorb and move to a required position, and then drives the stretching mechanism 2 to pull back so that the plurality of needles 4 penetrate into the sole 6 to fix.
The suction area of the space formed by the suction nozzle of the vacuum suction cup 5 is matched with the area surrounded by the surface contour of the sole 6.
The movable plate 8 is provided with a plurality of through holes 8a which are matched with the puncture needles 4 to prevent interference.
The puncture needle 4 is thick at the upper part and thin at the lower part, and the thin end of the puncture needle 4 is opposite to the sole 6.
The application method of the invention comprises the following steps: after the sole 6 is formed, the connecting rod 1 at the tail end of the industrial robot drives the vacuum chuck 5 to adsorb and move to a required position, and then drives the stretching mechanism 2 to pull back so that the plurality of needles 4 penetrate into the sole 6 to fix.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The utility model provides an industrial robot is with sole grabbing positioner, includes connecting rod (1) of installing at industrial robot end, its characterized in that: one end of the connecting rod (1) far away from the industrial robot is provided with a plurality of pricking needles (4), the connecting rod (1) is also provided with an adsorption part which can open and close relative to the connecting rod (1) to adsorb the sole (6), and the adsorption part is used for adsorbing the sole (6) and matching with the pricking needles (4) to finish positioning; the connecting rod (1) is provided with a stretching mechanism (2) for completing stretching and drawing movements, and the stretching mechanism (2) can be a hydraulic cylinder or an air cylinder; the connecting rod (1) is provided with a fixed plate (7) for connecting the puncture needle (4), and a needle point area formed by the puncture needle (4) on the fixed plate (7) is matched with the outer contour area of the sole (6); the adsorption part comprises a movable plate (8) and a plurality of vacuum chucks (5) arranged on the movable plate (8); the movable plate (8) is provided with a plurality of through holes (8 a) which are matched with the pricking needles (4) to prevent interference.
2. The sole grabbing and positioning device for an industrial robot according to claim 1, wherein: the movable plate (8) is provided with a plurality of movable guide posts (3) matched with the connecting rod (1).
3. The sole grabbing and positioning device for an industrial robot according to claim 1, wherein: the suction area of the space formed by the suction nozzle of the vacuum suction cup (5) is matched with the area surrounded by the surface contour of the sole (6).
4. The sole grabbing and positioning device for an industrial robot according to claim 1, wherein: the puncture needle (4) is thick at the upper part and thin at the lower part, and the thin end of the puncture needle (4) is opposite to the sole (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811077541.9A CN108851355B (en) | 2018-09-15 | 2018-09-15 | Sole grabbing and positioning device for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811077541.9A CN108851355B (en) | 2018-09-15 | 2018-09-15 | Sole grabbing and positioning device for industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108851355A CN108851355A (en) | 2018-11-23 |
| CN108851355B true CN108851355B (en) | 2024-06-25 |
Family
ID=64324179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811077541.9A Active CN108851355B (en) | 2018-09-15 | 2018-09-15 | Sole grabbing and positioning device for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108851355B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113287838B (en) * | 2021-05-20 | 2022-07-08 | 知守科技(杭州)有限公司 | Intelligent bottom attaching production line |
| CN114916750A (en) * | 2022-06-24 | 2022-08-19 | 泉州华数机器人有限公司 | To full automatic scanning of traditional shoemaking production line sole and spout gluey workstation |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204196170U (en) * | 2014-11-12 | 2015-03-11 | 晋江市陈埭华堂鞋底厂 | A kind of manipulator for capturing sole |
| CN107183841A (en) * | 2017-07-13 | 2017-09-22 | 宁波慈星股份有限公司 | A kind of vamp positioner and its localization method for pressing vamp |
| CN209073626U (en) * | 2018-09-15 | 2019-07-09 | 芜湖慧盈自动化设备有限公司 | A kind of industrial robot sole crawl positioning device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476553A (en) * | 2014-11-13 | 2015-04-01 | 常州先进制造技术研究所 | Sucker type stacking manipulator capable of remaining gap |
| CN204747789U (en) * | 2015-06-30 | 2015-11-11 | 广州锐速电气有限公司 | Material loading sucking disc of sole processing machine |
| CN206085039U (en) * | 2016-07-20 | 2017-04-12 | 中山市盛屹机电科技有限公司 | Piece machinery cell -phone of inhaling of battery wrapper sheet machine constructs |
| CN207172107U (en) * | 2017-09-30 | 2018-04-03 | 武汉库柏特科技有限公司 | A kind of flexible manipulator of cylinder driving |
| CN207616604U (en) * | 2017-12-25 | 2018-07-17 | 哈工大机器人（合肥）国际创新研究院 | A kind of adaptive aspirated-air type robot end grasping mechanism |
-
2018
- 2018-09-15 CN CN201811077541.9A patent/CN108851355B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204196170U (en) * | 2014-11-12 | 2015-03-11 | 晋江市陈埭华堂鞋底厂 | A kind of manipulator for capturing sole |
| CN107183841A (en) * | 2017-07-13 | 2017-09-22 | 宁波慈星股份有限公司 | A kind of vamp positioner and its localization method for pressing vamp |
| CN209073626U (en) * | 2018-09-15 | 2019-07-09 | 芜湖慧盈自动化设备有限公司 | A kind of industrial robot sole crawl positioning device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108851355A (en) | 2018-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108851355B (en) | Sole grabbing and positioning device for industrial robot | |
| CN107047073B (en) | Multi-plant synchronous vegetable seedling grafting device | |
| CN105364453B (en) | Bearing automatic assembling device | |
| CN210650675U (en) | Manipulator capable of overturning workpiece | |
| CN206123058U (en) | Device is got to jump ring automatic clamp | |
| CN201202018Y (en) | Paillette embroidery lifting mechanism of computer controlled embroidery machine | |
| CN204538450U (en) | Apparatus automatization assembling | |
| CN209073626U (en) | A kind of industrial robot sole crawl positioning device | |
| CN204819554U (en) | Rail mounted manipulator | |
| CN101829991B (en) | Manipulator disk catching device | |
| CN214391868U (en) | Steel mesh punching and carrying manipulator | |
| CN114367847A (en) | Energy-conserving electric power cabinet business turn over line hole positioner that punches | |
| CN203649152U (en) | Dual-power composite die | |
| CN205270924U (en) | Drilling machine | |
| CN220179461U (en) | Novel plastic uptake piece cutting is fixed device | |
| CN216359580U (en) | Driving mechanism of mechanical arm device | |
| CN205651618U (en) | Shearing mechanism at photo holder frame base mouth of a river | |
| CN201450793U (en) | End effector of potted tray seedling transplanting system | |
| CN207915312U (en) | Cover board fetching device and workpiece positioning component | |
| CN208628279U (en) | A kind of stamping die of air-conditioning part | |
| CN216389996U (en) | Pin cutting mechanism for pin inserting machine | |
| CN213352452U (en) | Multi-suction-nozzle suction head manipulator | |
| CN208645371U (en) | A kind of swing arm suction means | |
| CN213261158U (en) | Automobile lamp part pressing mechanism jig | |
| CN208614638U (en) | A kind of product load seat for automatic assembling |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |