CN109531614A - A kind of multistation composite machine hand end equipment applied to automated package - Google Patents
A kind of multistation composite machine hand end equipment applied to automated package Download PDFInfo
- Publication number
- CN109531614A CN109531614A CN201811520637.8A CN201811520637A CN109531614A CN 109531614 A CN109531614 A CN 109531614A CN 201811520637 A CN201811520637 A CN 201811520637A CN 109531614 A CN109531614 A CN 109531614A
- Authority
- CN
- China
- Prior art keywords
- sucker
- module
- hand end
- end equipment
- mounting hole
- 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.)
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robot device field, in particular to a kind of multistation composite machine hand end equipment applied to automated package includes flange transfer block, sucker module and vision module；The flange transfer block is cube structure；The top surface of the flange transfer block is connecting plate, and four sides of the flange transfer block are mounting plate；The center of the mounting plate is provided with a hollow out, and the hollow out surrounding is provided with multiple first mounting holes；The application protection is that a kind of robot device is mounted in robot; no replacement is required that precise positioning can be realized for it; absorption function can be realized again; if operation has other demands; corresponding functional module can be also installed on other mounting plates; by the setting of flange transfer block, solving existing machine arm device only has the function of single absorption, positions not accurate problem.
Description
Technical field
The present invention relates to robot device field, in particular to a kind of multistation composite machine applied to automated package
Hand end equipment.
Background technique
Industrial robot fixture becomes end effector, is typically mounted in robot.Robot folder on the market
It is more single-minded to have function, only single station, substantially a fixture are equipped with a kind of function, robot to change purposes or
The change that a whole set of fixture is just able to achieve function, and the robot clamp that fixture has a single function will be replaced when person's function, positioning is not
Accurately, it is easy error occur during operation.Redesigning fixture can waste time, work when causing to change robot function
The phenomenon that work amount is big, low efficiency.How to realize robot have multiple functions, by less workload go change fixture to
Realize the main problem for being changed as multistation formula robot clamp of robot function.Therefore ad hoc this fixture of meter realizes robot
Multiple functions.
Summary of the invention
In order to overcome existing robot clamp function more single-minded, and inaccurate problem is positioned, the invention proposes
A kind of multistation composite machine hand end equipment applied to automated package.
To reach this purpose, the following technical solution is employed by the present invention:
A kind of multistation composite machine hand end equipment applied to automated package, including flange transfer block, sucker mould
Block and vision module；
The flange transfer block is cube structure；The top surface of the flange transfer block is connecting plate, the flange switching
Four sides of block are mounting plate；The center of the mounting plate is provided with a hollow out, is provided in the hollow out surrounding more
A first mounting hole；
The sucker module is fixed on any mounting plate by locking piece and being coupled for first mounting hole
Outer plate surface；
The vision module is fixed on any mounting plate by locking piece and being coupled for first mounting hole
Outer plate surface.
It preferably, further include data-interface and gas source interface；The data-interface and the gas source interface are fixed at
In the flange transfer block.
Preferably, the sucker module includes inhaling mark sucker module and positioning sucker disk module, the suctions mark sucker module with
The positioning sucker disk module is provided with sucker stand；The sucker stand is L-type structure, and the sucker stand passes through on one side
Locking piece is fixedly connected on first mounting hole；
The suction mark sucker module further includes sucker；The sucker be arranged in the sucker stand on one side on.
Preferably, the positioning sucker disk module further includes positioning sucker disk, and connecting rod is provided on the positioning sucker disk, described
Positioning sucker disk is connect by the connecting rod with the sucker stand.
Preferably, the vision module includes camera bracket and industry camera；
The camera bracket is fixedly connected on first mounting hole by locking piece；The industry camera fixation is set
It sets on the camera bracket, the bottom of the camera bracket is provided with aperture, and the industry camera is facilitated to be imaged.
Preferably, the connecting plate is provided with connection through-hole and the second mounting hole；
Second mounting hole is provided with 8, and is arranged around the connection through-hole.
Preferably, the hollow out is rectangular hollow out.
Preferably, first mounting hole is set in qually spaced in the surrounding of the hollow out.
It preferably, further include self-clamping module；The self-clamping module is pacified by the cooperation of locking piece and first mounting hole
Dress is fixed on the outer plate surface of any mounting plate；
Preferably, the self-clamping module includes cylinder and clamp bracket；
The clamp bracket is fixedly connected by locking piece with the mounting plate；Folder is additionally provided in the clamp bracket
Block, the fixture block can be driven by the cylinder and do stretching motion up and down in the clamp bracket；
The cylinder is provided with speed governing valve, and the cylinder is twin shaft cylinder.
The application protection is that a kind of robot device is mounted in robot, and no replacement is required, and robot device can be real
Existing precise positioning, and can realize absorption function, if operation there are other demands, corresponding function can be also installed on other mounting plates
Module, by the setting of flange transfer block, solving existing machine arm device only has the function of single absorption, positions not accurately
Problem.The requirement fine for part of 3C industry increasingly increases, and the application is by installing the view in the flange transfer block
Feel that module positions robot device, and position is carried out to robot device by the sucker module and is fixed, makes machine
Tool arm device at work can be more accurate, reduces cost caused by error and wastes.
Detailed description of the invention
Fig. 1 is the schematic perspective view of one embodiment of the present of invention.
Fig. 2 is the schematic perspective view of one embodiment of the present of invention.
Fig. 3 is the schematic perspective view of one embodiment of the present of invention flange transfer block.
Fig. 4 is the schematic perspective view that one embodiment of the present of invention inhales mark sucker module.
Fig. 5 is the schematic perspective view of one embodiment of the present of invention clamp bracket.
Wherein: flange transfer block 1, connecting plate 11, connection through-hole 111, the second mounting hole 112, mounting plate 12, hollow out 121,
First mounting hole 122, sucker module 2 inhale mark sucker module 21, sucker 211, positioning sucker disk module 22, positioning sucker disk 221, connect
Extension bar 221a, sucker stand 23, vision module 3, camera bracket 31, industry camera 32, self-clamping module 4, cylinder 41, speed regulation
Valve 411, clamp bracket 42, fixture block 421, data-interface 51, gas source interface 52.
Specific embodiment
Illustrate with reference to the accompanying drawing and passes through specific embodiment to further illustrate the technical scheme of the present invention.
A kind of multistation composite machine hand end equipment applied to automated package as shown in Figure 1 or 2, including flange
Transfer block 1, sucker module 2 and vision module 3；
The flange transfer block 1 is cube structure；The top surface of the flange transfer block 1 is connecting plate 11, the flange
Four sides of transfer block 1 are mounting plate 12；The center of the mounting plate 12 is provided with a hollow out 121, in the hollow out
121 surroundings are provided with multiple first mounting holes 122；
The sucker module 2 is fixed on any peace by locking piece and being coupled for first mounting hole 122
The outer plate surface of loading board 12；
The vision module 3 is fixed on any peace by locking piece and being coupled for first mounting hole 122
The outer plate surface of loading board 12.
A kind of multistation composite machine hand end equipment applied to automated package includes flange transfer block 1, sucker mould
Block 2 and vision module 3, the flange transfer block 1 is cube structure, and the top surface of the flange transfer block 1 is connecting plate 11,
Four sides are mounting plate 12；The mounting plate 12 is a station of the flange transfer block 1 on one side, by being mounted on difference
The mounting plate 12 in direction realizes the multistation installation of machine arm device, by being provided with multiple first peaces on mounting plate 12
Hole 122 is filled, so that different processing modules can be installed on mounting plate 12 in any hole location.The application protection is a kind of machinery
Arm device is mounted in robot, and no replacement is required can be realized the function of precise positioning, is followed by by the vision module 3
The manipulator is quickly positioned on station, and the manipulator is enable fast and accurately to operate to workpiece.Again may be used
Realize that draw function can also install corresponding functional module on other mounting plates 12, pass through flange if operation there are other demands
The setting of transfer block 1, solving existing machine arm device only has the function of single absorption, positions not accurate problem.
The requirement fine for part of 3C industry increasingly increases, and the application is by installing institute in the flange transfer block 1
It states vision module 3 to position robot device, and position is carried out to robot device by the sucker module 2 and is consolidated
It is fixed, make robot device at work can be more accurate, reduces cost caused by error and waste.
It preferably, further include data-interface 51 and gas source interface 52；The data-interface 51 and the gas source interface 52 are solid
It is fixed to be arranged in the flange transfer block 1.
The arm end device further includes data-interface 51 and gas source interface 52, is each configured with the collection of vision module
At USB line and positive pressure negative pressure tracheae, and have corresponding interface switch, it is convenient to carry out self-clamping module, vision module
Access and dismounting, without production is fast changed in skirt line, realization again again.
Preferably, the sucker module 2 includes inhaling mark sucker module 21 and positioning sucker disk module 22, and sucker mould is marked in the suction
Block 21 and the positioning sucker disk module 22 are provided with sucker stand 23；The sucker stand 23 is L-type structure, the sucker branch
Frame 23 is fixedly connected on first mounting hole 122 by locking piece on one side；
The suction mark sucker module 21 further includes sucker 211；One side of the sucker stand 23 is arranged in the sucker 211
On.
The suction mark sucker module 21 can be used for drawing the label that length and width are respectively less than 50mm, can reduce to by the damage on patch surface
Wound, cooperation machine arm device grab label；Different quantity can be arranged in the sucker 211 according to demand, be respectively set
The sucker stand 23 on one side on, the special circumstances that can flexibly occur in processing production process are more convenient and practical.
Preferably, the positioning sucker disk module 22 further includes positioning sucker disk 221, the company of being provided on the positioning sucker disk 221
Extension bar 221a, the positioning sucker disk 221 are connect by the connecting rod 221a with the sucker stand 23.
Manipulator continues to position by the positioning sucker disk module 22, is used in the occasion of difference of height operating condition, passes through
The positioning sucker disk 221 is fixed, and error occurs in sideslip when preventing manipulator from working.
Preferably, the vision module 3 includes camera bracket 31 and industry camera 32；
The camera bracket 31 is fixedly connected on first mounting hole 122 by locking piece；The industry camera
32 are fixed on the camera bracket 31, and the bottom of the camera bracket 31 is provided with aperture, facilitate the industry
Camera 32 is imaged.
The camera bracket 31 is fixedly connected on first mounting hole 122, the camera bracket by locking piece
31 bottoms are provided with aperture；The model MV-2000FC of the industry camera 32, by the aperture carry out imaging and it is right
Robot device positioning.
Preferably, the connecting plate 11 is provided with connection through-hole 111 and the second mounting hole 112；
Second mounting hole 112 is provided with 8, and is arranged around the connection through-hole 111.
As shown in figure 3, the connecting plate 11 is provided with connection through-hole 111 and the second mounting hole 112, the robot clamp
It is positioned with robot by the connection through-hole 111 connection, and fixation is attached by second mounting hole 112.
Preferably, the hollow out 121 is rectangular hollow out.
The hollow out 121 is rectangular hollow out, and rectangular hollow out has biggish space, can make the flange transfer block 1 with
Electrical connection between each module is more convenient, and installation is more quick, also makes robot clamp lighter, reduces weight bearing.
Preferably, first mounting hole 122 is set in qually spaced in the surrounding of the hollow out 121.
By being provided with multiple first mounting holes 122 on mounting plate 12, so that can be in any hole location on mounting plate 12
Different processing modules is installed.The surrounding of the hollow out 121 is arranged in first mounting hole 122 at equal intervals, makes processing mould
Block can be more easily fitted on any position of the mounting plate 12；The hollow out is that rectangular hollow out can be such that the flange turns
It connects and is electrically connected more convenient between block 1 and each module, install more quick, also make robot clamp lighter, reduce negative
Weight.
It preferably, further include self-clamping module 4；The self-clamping module 4 is matched by locking piece and first mounting hole 122
Close the outer plate surface for being mounted on any mounting plate 12.
Robot device further includes self-clamping module 4, and robot device can be worked by the cooperation between each module, also
Corresponding functional module can be installed on other mounting plates 12, by the setting of flange transfer block 1, solve existing robot clamp
Only there is the problem of single clamping function, save replacement module and need the process dismantled, installed etc..
Preferably, the self-clamping module 4 includes cylinder 41 and clamp bracket 42；
The clamp bracket 42 is fixedly connected by locking piece with the mounting plate 12；It is also set up in the clamp bracket 42
There is fixture block 421, the fixture block 421 can be driven by the cylinder 41 and do stretching motion up and down in the clamp bracket 42；
The cylinder 41 is provided with speed governing valve 411, and the cylinder 41 is twin shaft cylinder.
The self-clamping module 4 includes cylinder 41 and clamp bracket 42, is additionally provided with fixture block 421, the gas on the bracket
Cylinder is driven through the clamp bracket 42 and is fixed in the flange transfer block 1, and the fixture block 421 is driven by the cylinder 41
Stretching motion up and down is done in the clamp bracket 42.
The cylinder 41 is twin shaft cylinder, has many advantages, such as that precision is high, facilitates installation, is small in size, is adapted for mount on machine
On people's fixture；The cylinder 41 is additionally provided with speed governing valve 411, and the speed governing valve 411 can load and speed according to the cylinder 41
Air velocity is adjusted in the size of degree, when making the speed of the cylinder 41 tend to stablize, and being avoided that starting, piston rod
It quickly propels suddenly, and hits cylinder cap.
The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention
Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field
Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within
Within protection scope of the present invention.
Claims (10)
1. a kind of multistation composite machine hand end equipment applied to automated package, it is characterised in that: transfer including flange
Block, sucker module and vision module；
The flange transfer block is cube structure；The top surface of the flange transfer block is connecting plate, the flange transfer block
Four sides are mounting plate；The center of the mounting plate is provided with a hollow out, and the hollow out surrounding is provided with multiple
One mounting hole；
The sucker module is fixed on the outer of any mounting plate by locking piece and being coupled for first mounting hole
Plate face；
The vision module is fixed on the outer of any mounting plate by locking piece and being coupled for first mounting hole
Plate face.
2. a kind of multistation applied to automated package according to claim 1 meets arm end device, special
Sign is: further including data-interface and gas source interface；The data-interface and the gas source interface are fixed at the flange
In transfer block.
3. a kind of multistation composite machine hand end equipment applied to automated package according to claim 1, special
Sign is: the sucker module includes inhaling mark sucker module and positioning sucker disk module, the suction mark sucker module and the positioning
Sucker module is provided with sucker stand；The sucker stand is L-type structure, and the sucker stand is consolidated by locking piece on one side
Surely it is connected to first mounting hole；
The suction mark sucker module further includes sucker；The sucker be arranged in the sucker stand on one side on.
4. a kind of multistation composite machine hand end equipment applied to automated package according to claim 2, special
Sign is: the positioning sucker disk module further includes positioning sucker disk, and connecting rod, the positioning sucker disk are provided on the positioning sucker disk
It is connect by the connecting rod with the sucker stand.
5. a kind of multistation composite machine hand end equipment applied to automated package according to claim 1, special
Sign is: the vision module includes camera bracket and industry camera；
The camera bracket is fixedly connected on first mounting hole by locking piece；The industry camera is fixed at
On the camera bracket, the bottom of the camera bracket is provided with aperture, and the industry camera is facilitated to be imaged.
6. a kind of multistation composite machine hand end equipment applied to automated package according to claim 1, special
Sign is: the connecting plate is provided with connection through-hole and the second mounting hole；
Second mounting hole is provided with 8, and is arranged around the connection through-hole.
7. a kind of multistation composite machine hand end equipment applied to automated package according to claim 1, special
Sign is: the hollow out is rectangular hollow out.
8. a kind of multistation composite machine hand end equipment applied to automated package according to claim 1, special
Sign is: first mounting hole is set in qually spaced in the surrounding of the hollow out.
9. a kind of multistation composite machine hand end equipment applied to automated package according to claim 1, special
Sign is: further including self-clamping module；The self-clamping module is fixed on by locking piece with being coupled for the first mounting hole
The outer plate surface of any mounting plate.
10. a kind of multistation composite machine hand end equipment applied to automated package according to claim 8, special
Sign is: the self-clamping module includes cylinder and clamp bracket；
The clamp bracket is fixedly connected by locking piece with the mounting plate；Fixture block, institute are additionally provided in the clamp bracket
Stretching motion up and down can be done by cylinder driving in the clamp bracket by stating fixture block；
The cylinder is provided with speed governing valve, and the cylinder is twin shaft cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811520637.8A CN109531614A (en) | 2018-12-12 | 2018-12-12 | A kind of multistation composite machine hand end equipment applied to automated package |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811520637.8A CN109531614A (en) | 2018-12-12 | 2018-12-12 | A kind of multistation composite machine hand end equipment applied to automated package |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109531614A true CN109531614A (en) | 2019-03-29 |
Family
ID=65854799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811520637.8A Pending CN109531614A (en) | 2018-12-12 | 2018-12-12 | A kind of multistation composite machine hand end equipment applied to automated package |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109531614A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109909786A (en) * | 2019-04-29 | 2019-06-21 | 宇晶机器（长沙）有限公司 | A kind of convertible multistation loading and unloading manipulator |
| CN111268183A (en) * | 2020-03-01 | 2020-06-12 | 中国科学院微小卫星创新研究院 | Space-borne space manipulator |
| CN111923076A (en) * | 2020-08-10 | 2020-11-13 | 青岛职业技术学院 | Assembling method of pneumatic gripper |
| CN114955523A (en) * | 2022-05-17 | 2022-08-30 | 北京大恒图像视觉有限公司 | Mechanical arm feeding system based on visual positioning in penicillin bottle detection industry |
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| US20100135760A1 (en) * | 2007-04-26 | 2010-06-03 | Pace Innovations, L.C. | Vacuum gripping apparatus |
| CN105881569A (en) * | 2016-06-15 | 2016-08-24 | 广东鼎泰机器人科技有限公司 | Cubic four-sided pick-and-place jig |
| CN206277404U (en) * | 2016-11-18 | 2017-06-27 | 大族激光科技产业集团股份有限公司 | The On-line Product positioning and suction means of a kind of manipulator |
| CN107322627A (en) * | 2017-06-29 | 2017-11-07 | 安徽新兴翼凌机电发展有限公司 | A kind of industrial robot sucked type instrument hand positioner |
| CN108127681A (en) * | 2018-01-12 | 2018-06-08 | 上海发那科机器人有限公司 | A kind of robot servo hand claw for carrier vehicle bumper |
| CN209380774U (en) * | 2018-12-12 | 2019-09-13 | 佛山市新鹏机器人技术有限公司 | A kind of multistation composite machine hand end equipment applied to automated package |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20100135760A1 (en) * | 2007-04-26 | 2010-06-03 | Pace Innovations, L.C. | Vacuum gripping apparatus |
| CN105881569A (en) * | 2016-06-15 | 2016-08-24 | 广东鼎泰机器人科技有限公司 | Cubic four-sided pick-and-place jig |
| CN206277404U (en) * | 2016-11-18 | 2017-06-27 | 大族激光科技产业集团股份有限公司 | The On-line Product positioning and suction means of a kind of manipulator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109909786A (en) * | 2019-04-29 | 2019-06-21 | 宇晶机器（长沙）有限公司 | A kind of convertible multistation loading and unloading manipulator |
| CN111268183A (en) * | 2020-03-01 | 2020-06-12 | 中国科学院微小卫星创新研究院 | Space-borne space manipulator |
| CN111923076A (en) * | 2020-08-10 | 2020-11-13 | 青岛职业技术学院 | Assembling method of pneumatic gripper |
| CN114955523A (en) * | 2022-05-17 | 2022-08-30 | 北京大恒图像视觉有限公司 | Mechanical arm feeding system based on visual positioning in penicillin bottle detection industry |
| CN114955523B (en) * | 2022-05-17 | 2024-07-02 | 北京大恒图像视觉有限公司 | Mechanical feeding system based on visual positioning in penicillin bottle detection industry |
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| CB02 | Change of applicant information |
Address after: 528225 A1 Factory Building, No. 40 Boai Middle Road, Shishan Town, Nanhai District, Foshan City, Guangdong Province (Residence Declaration) Applicant after: Guangdong Huibo Robot Technology Co., Ltd. Address before: 528225 Room A208 and A209, Research Building A, Nefo High-tech Think Tank Center, Nanhai Software Science Park, Shishan Town, Foshan City, Guangdong Province Applicant before: Xin Peng Robotics Technology Co., Ltd. of Foshan City |
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