CN109333570A - A kind of automatic catching robot - Google Patents
A kind of automatic catching robot Download PDFInfo
- Publication number
- CN109333570A CN109333570A CN201811456112.2A CN201811456112A CN109333570A CN 109333570 A CN109333570 A CN 109333570A CN 201811456112 A CN201811456112 A CN 201811456112A CN 109333570 A CN109333570 A CN 109333570A
- Authority
- CN
- China
- Prior art keywords
- feeding finger
- driving device
- stop part
- workpiece
- viscous
- 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
- 239000000463 material Substances 0.000 claims abstract description 31
- 238000009434 installation Methods 0.000 claims description 26
- 238000004519 manufacturing process Methods 0.000 abstract description 16
- 238000010586 diagram Methods 0.000 description 3
- 230000009975 flexible effect Effects 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 239000004576 sand Substances 0.000 description 3
- 244000137852 Petrea volubilis Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000009991 scouring Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
Classifications
-
- 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
- B25J15/008—Gripping heads and other end effectors with sticking, gluing or adhesive means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of automatic catching robot, including rack, control device and the driving device being installed in rack, be connected to driving device for the viscous feeding finger for taking workpiece；The lower end of feeding finger is provided with for the viscous velcro for taking workpiece；Driving device is electrically connected at control device；Stop part is provided in rack；Driving device driving feeding finger pumps in the two sides up and down of stop part；When driving device driving feeding finger moves downward, feeding finger is viscous to take workpiece；When driving device driving, which is stained with the feeding finger of workpiece, to move up, the viscous workpiece taken of feeding finger by stop part backstop and be detached from feeding finger；Whereby, drive feeding finger is viscous to take consumptive material by driving device, and the structure for combining stop part to remove consumptive material designs, automatically grabbing for consumptive material is realized, production efficiency is improved, reduces production cost, and ensure that the quality of product, preferably meet the needs of automated production equipment and production line.
Description
Technical field
The present invention relates to grip device field technologies, refer in particular to a kind of automatic catching robot.
Background technique
Existing automation fixture (also referred to as manipulator), usually negative pressure sucker, mechanical grip finger, electromagnet etc..So
And the material for the features such as traditional fixture is to some structurally flexibles, and thickness is small is crawl difficult to realize.Such as: polishing consumptive material,
Because consumptive material front of polishing has sand face, surface irregularity, the back side usually has back flannelette, it is difficult to keep very flat absorption
Face, so can not be drawn with negative pressure sucker；Either sponge sand, scouring pad, or back suede sand paper etc., all have structurally flexible,
The features such as thickness is small, so mechanical grip finger can not be used；And electromagnet is to these structurally flexibles, the small thin type material of thickness
It can not play the role of magnetic crawl again.Therefore, existing taking, putting for consumptive material of polishing still needs to by the way of manual work, can not
Realize automation crawl, production efficiency is lower, and influences the quality of product.
Therefore, it is necessary to develop the new technical solution of one kind to solve the above problems.
Summary of the invention
In view of this, in view of the deficiencies of the prior art, the present invention aims to provide one kind to automatically grab machine
Tool hand realizes automatically grabbing for consumptive material, improves production efficiency, ensure that the quality of product, preferably meets automation
The demand of production equipment and production line.
To achieve the above object, the present invention is using following technical solution:
A kind of automatic catching robot including rack, control device and the driving device being installed in rack, is connected to driving dress
That sets is used for the viscous feeding finger for taking workpiece；The lower end of the feeding finger is provided with for the viscous velcro for taking workpiece；The driving
Device is electrically connected at control device；The stop part for backstop workpiece is provided in the rack；The driving device drives feeding
Finger pumps in the two sides up and down of stop part；When driving device driving feeding finger moves downward, feeding finger
It is viscous to take workpiece；When the feeding finger that driving device driving is stained with workpiece moves up, the viscous workpiece taken of feeding finger is by backstop
The backstop of part and be detached from feeding finger.
As a preferred embodiment, the velcro changeable type is set to the lower end of feeding finger.
As a preferred embodiment, it is additionally provided in the rack moving up and down for installing pushing away for feeding finger
Plate is connected to driving device on the upside of the push plate, and the feeding finger is installed on the downside of push plate.
As a preferred embodiment, the feeding finger has several, several feeding finger space types are arranged in push plate
Lower section.
As a preferred embodiment, the stop part has several through-holes passed through for feeding finger, the material taking hand
Finger can move up and down formula and move back and forth in corresponding through-hole；
When the feeding finger that driving device driving is stained with workpiece moves up, the lower section of feeding finger from corresponding through-hole is upward
Be moved in corresponding through-hole, the viscous workpiece taken of feeding finger by the lower end surface of respective through hole backstop and be detached from feeding finger.
As a preferred embodiment, the velcro is magic male patch.
As a preferred embodiment, the rack includes upper mounting plate, lower installation board and guide post；The upper and lower ends of the guide post
It is connected to upper mounting plate, lower installation board；The push plate can move up and down formula and be connected on guide post, and be located at upper mounting plate,
Between lower installation board；For the stop part between push plate and lower installation board, the driving device is installed on the upper of upper mounting plate
Side.
As a preferred embodiment, the lower installation board has an installation cavity for installing stop part, the installation cavity it is interior
Side wall periphery is recessed with the locating slot for positioning stop part, which penetrates through upwards to the top of lower installation board, described to stop
The periphery of block piece is positioned in locating slot.
As a preferred embodiment, the positioning plate for installing feeding finger is additionally provided with below the push plate, this is fixed
Position plate is installed on the lower section of push plate, and several feeding fingers are mounted below positioning plate.
As a preferred embodiment, the company for being connected to external equipment is additionally provided at left and right sides of the upper mounting plate
Fishplate bar.
The present invention has obvious advantages and beneficial effects compared with the existing technology, specifically, by above-mentioned technical proposal
It is found that it mainly drives feeding finger is viscous to take consumptive material by driving device, and the structure for removing consumptive material in conjunction with stop part is set
Meter, realizes automatically grabbing for consumptive material, improves production efficiency, reduce production cost, and ensure that the quality of product, more preferably
Ground meets the needs of automated production equipment and production line.
More clearly to illustrate structure feature of the invention, technological means and its specific purposes achieved and function, under
In conjunction with attached drawing and specific embodiment, invention is further described in detail in face.
Detailed description of the invention
Fig. 1 is the general configuration schematic diagram of embodiments of the present invention；
Fig. 2 is the decomposition diagram of embodiments of the present invention；
Fig. 3 is the structural schematic diagram of the feeding finger of embodiments of the present invention.
Description of drawing identification:
100, rack 101, driving device
102, feeding finger 1021, velcro
103, stop part 1031, through-hole
104, push plate 105, upper mounting plate
106, lower installation board 1061, installation cavity
1062, locating slot 107, guide post
108, positioning plate 109, connecting plate.
Specific embodiment
It please refers to shown in Fig. 1 to Fig. 3, that show the specific structures of embodiments of the present invention；It is described herein automatic
Catching robot is mainly used for automatically grabbing for consumptive material, such as: the consumptive materials such as sand sponge, scouring pad, back suede sand paper automatically grab,
In fact, being not limited to automatically grabbing for consumptive material, the crawl of other products can be applied to.Herein, automatically grabbing with consumptive material
For explain.
Firstly, it is necessary to illustrate, in description below, the orientation of the instructions such as some term " on ", "lower" or position are closed
System is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description technical solution of the present invention and simplifies description, and
It is not that the device of indication or suggestion meaning or element must have a particular orientation or be constructed and operated in a specific orientation, because
This, is not considered as limiting the invention.
The manipulator includes rack 100, control device and the driving device 101 being installed in rack 100, is connected to drive
Dynamic device 101 is used for the viscous feeding finger 102 for taking workpiece；The driving device 101 is electrically connected at control device；Preferably,
The driving device 101 is that cylinder can also be used other driving devices and driven certainly, need to only meet 101 band of driving device
Dynamic feeding finger 102 carries out material taking, here, not repeating them here；Stopping for backstop workpiece is provided in the rack 100
Block piece 103；The driving device 101 driving feeding finger 102 pumps in the two sides up and down of stop part 103, described to take
The lower end changeable type of material finger 102 is provided with for the viscous velcro 1021 for taking workpiece, and the velcro 1021 is that magic is public
Patch；When driving device 101 drives feeding finger 102 to move downward, feeding finger 102 is viscous to take workpiece；When driving device 101 is driven
When the dynamic feeding finger 102 for being stained with workpiece moves up, the viscous workpiece taken of feeding finger 102 by stop part 103 backstop and take off
From feeding finger 102.
Wherein, the push plate 104 moving up and down for being used to install feeding finger 102 is additionally provided in the rack 100, it should
The upside of push plate 104 is connected to driving device 101, and the feeding finger 102 is installed on the downside of push plate 104；The material taking hand
Refer to that 102 there are several, several 102 space types of feeding finger are arranged in the lower section of push plate 104；The stop part 103, which has, to be supplied
Several through-holes 1031 that feeding finger 102 passes through, the feeding finger 102 can move up and down formula and move back and forth in corresponding logical
In hole 1031；The aperture of each through-hole 1031 is all larger than the maximum gauge of feeding finger 102；When the driving of driving device 101 is stained with
When the feeding finger 102 of workpiece moves up, the lower section of feeding finger 102 from corresponding through-hole 1031 is moved upward to accordingly
In through-hole 1031, the viscous workpiece taken of feeding finger 102 by the lower end surface of respective through hole 1031 backstop and be detached from feeding finger
102。
The rack 100 includes upper mounting plate 105, lower installation board 106 and guide post 107；The upper and lower ends of the guide post 107 point
It is not connected to upper mounting plate 105, lower installation board 106；The push plate 104 can move up and down formula and be connected on guide post 107, and be located at
Between upper mounting plate 105, lower installation board 106；The stop part 103 is between push plate 104 and lower installation board 106, the drive
Dynamic device 101 is installed on the top of upper mounting plate 105；The lower installation board 106 has the installation cavity for installing stop part 103
1061, the inner sidewall periphery of the installation cavity 1061 is recessed with the locating slot 1062 for positioning stop part 103, the locating slot 1062
To the top of lower installation board 106, the periphery of the stop part 103 is positioned in locating slot 1062 for perforation upwards；The push plate 104
Lower section be additionally provided with the positioning plate 108 for installing feeding finger 102, which is installed on the lower section of push plate 104,
Several feeding fingers 102 are mounted on 108 lower section of positioning plate.
And in this present embodiment, the left and right sides of the upper mounting plate 105 is additionally provided with for being connected to external equipment
Connecting plate 109 make it easy to be installed in external equipment with this.
In addition, one end of each feeding finger 102 is preferably provided with screw thread, each feeding finger 102 preferably passes through screw thread
It is connected to the lower section of positioning plate 108, certainly, other modes can also be used, feeding finger 102 is installed on positioning plate 108；
And the positioning plate 108 is preferably locked in push plate 104 by screw；The stop part 103 is preferably the plate knot of hollow out
Structure, several through-holes 1031 are preferably in the layout of stop part 103, and the stop part 103 is preferably locked in down by screw
On mounting plate 106；In addition, the upper mounting plate 105, push plate 104, the setting of the equal hollow out of positioning plate 108, to mitigate whole weight
Amount.
Substantially the course of work is as follows for it:
Firstly, driving device 101 drives push plate 104 to move down along guide post 107 close to consumptive material to be taken, under the effect of appropriate pressure, take
The velcro 1021 and consumptive material back suede for expecting 102 head of finger are pasted together automatically；Then, it is automatically grabbed by external equipment drive
Manipulator integrally moves up, and consumptive material is picked up；Then, drive automatic catching robot overall operation to specified blowing by external equipment
Position, driving device 101 drive push plate 104 to translate up along guide post 107, and push plate 104 drives feeding finger 102 to move up, until
The upper surface of consumptive material touches stop part 103, and stop part 103 prevents consumptive material from moving up, thus by the consumptive material of crawl from velcro
It is pushed down on 1021；The crawl of consumptive material is realized in such repetitive operation.
In conclusion design focal point of the invention is, mainly drive feeding finger is viscous to take consumption by driving device
Material, and the structure for combining stop part to remove consumptive material designs, and realizes automatically grabbing for consumptive material, improves production efficiency, reduces
Production cost, and ensure that the quality of product, preferably meet the needs of automated production equipment and production line.
The above described is only a preferred embodiment of the present invention, be not intended to limit the scope of the present invention,
Therefore any subtle modifications, equivalent variations and modifications to the above embodiments according to the technical essence of the invention, still
Belong in the range of technical solution of the present invention.
Claims (10)
1. a kind of automatic catching robot, it is characterised in that: including rack, control device and the driving dress being installed in rack
Set, be connected to driving device for the viscous feeding finger for taking workpiece；The lower end of the feeding finger, which is provided with, takes workpiece for viscous
Velcro；The driving device is electrically connected at control device；The stop part for backstop workpiece is provided in the rack；The drive
Dynamic device driving feeding finger pumps in the two sides up and down of stop part；When driving device driving feeding finger is transported downwards
When dynamic, feeding finger is viscous to take workpiece；When the feeding finger that driving device driving is stained with workpiece moves up, feeding finger is viscous to be taken
Workpiece by stop part backstop and be detached from feeding finger.
2. a kind of automatic catching robot according to claim 1, it is characterised in that: the velcro changeable type setting
In the lower end of feeding finger.
3. a kind of automatic catching robot according to claim 1, it is characterised in that: be additionally provided in the rack can on
Lower movement for installing the push plate of feeding finger, be connected to driving device on the upside of the push plate, the feeding finger is installed on
The downside of push plate.
4. a kind of automatic catching robot according to claim 3, it is characterised in that: the feeding finger has several,
Several feeding finger space types are arranged in the lower section of push plate.
5. a kind of automatic catching robot according to claim 4, it is characterised in that: the stop part has for material taking hand
Refer to across several through-holes, the feeding finger can move up and down formula move back and forth in corresponding through-hole；
When the feeding finger that driving device driving is stained with workpiece moves up, the lower section of feeding finger from corresponding through-hole is upward
Be moved in corresponding through-hole, the viscous workpiece taken of feeding finger by the lower end surface of respective through hole backstop and be detached from feeding finger.
6. a kind of automatic catching robot according to claim 1, it is characterised in that: the velcro is magic male patch.
7. a kind of automatic catching robot according to claim 3, it is characterised in that: the rack include upper mounting plate,
Lower installation board and guide post；The upper and lower ends of the guide post are connected to upper mounting plate, lower installation board；The push plate can move up and down
Formula is connected on guide post, and between upper mounting plate, lower installation board；The stop part between push plate and lower installation board,
The driving device is installed on the top of upper mounting plate.
8. a kind of automatic catching robot according to claim 7, it is characterised in that: the lower installation board has for pacifying
Fill the installation cavity of stop part, the inner sidewall periphery of the installation cavity is recessed with the locating slot for positioning stop part, the locating slot to
To the top of lower installation board, the periphery of the stop part is positioned in locating slot for upper perforation.
9. a kind of automatic catching robot according to claim 7, it is characterised in that: be additionally provided with below the push plate
For installing the positioning plate of feeding finger, which is installed on the lower section of push plate, and several feeding fingers are mounted on positioning plate
Lower section.
10. a kind of automatic catching robot according to claim 7, it is characterised in that: the left and right two of the upper mounting plate
Side is additionally provided with the connecting plate for being connected to external equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811456112.2A CN109333570A (en) | 2018-11-30 | 2018-11-30 | A kind of automatic catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811456112.2A CN109333570A (en) | 2018-11-30 | 2018-11-30 | A kind of automatic catching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109333570A true CN109333570A (en) | 2019-02-15 |
Family
ID=65319181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811456112.2A Pending CN109333570A (en) | 2018-11-30 | 2018-11-30 | A kind of automatic catching robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109333570A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111153237A (en) * | 2020-01-20 | 2020-05-15 | 长春融成智能设备制造股份有限公司 | Automatic loading machine for cylindrical steel drums |
| CN112192497A (en) * | 2020-09-30 | 2021-01-08 | 东风富士汤姆森调温器有限公司 | Carbon canister non-woven fabrics assembly devices |
| JP2022128820A (en) * | 2021-02-24 | 2022-09-05 | 株式会社ウエーブ | Attachment method and attachment device of hook-and-loop fastener tape |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111153237A (en) * | 2020-01-20 | 2020-05-15 | 长春融成智能设备制造股份有限公司 | Automatic loading machine for cylindrical steel drums |
| CN112192497A (en) * | 2020-09-30 | 2021-01-08 | 东风富士汤姆森调温器有限公司 | Carbon canister non-woven fabrics assembly devices |
| CN112192497B (en) * | 2020-09-30 | 2022-04-29 | 东风富士汤姆森调温器有限公司 | Carbon canister non-woven fabrics assembly devices |
| JP2022128820A (en) * | 2021-02-24 | 2022-09-05 | 株式会社ウエーブ | Attachment method and attachment device of hook-and-loop fastener tape |
| JP7323869B2 (en) | 2021-02-24 | 2023-08-09 | 株式会社ウエーブ | Method and Apparatus for Attaching Hook-and-Loop Tape |
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