CN205097186U - Take manipulator of guiding orientation device - Google Patents
Take manipulator of guiding orientation device Download PDFInfo
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- CN205097186U CN205097186U CN201520836677.9U CN201520836677U CN205097186U CN 205097186 U CN205097186 U CN 205097186U CN 201520836677 U CN201520836677 U CN 201520836677U CN 205097186 U CN205097186 U CN 205097186U
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Abstract
The utility model discloses a take manipulator of guiding orientation device, including the manipulator platform, the horizontal migration subassembly, the subassembly is got with pressing from both sides to the circumference swing subassembly, the manipulator platform has a circumference reciprocating motion stroke under the drive of circumference swing subassembly, the manipulator platform has a horizontal line movement stroke under the drive of horizontal migration subassembly in circumference reciprocating motion stroke, be equipped with a photoelectric sensor subassembly on the manipulator platform in order to get article in order to press from both sides with manipulator platform positioning in the horizontal line movement stroke, still include the guiding orientation device, the guiding orientation device includes matched with guiding orientation post and guiding orientation seat, the guiding orientation post sets up on the manipulator platform, the guiding orientation seat sets up in the horizontal line movement of manipulator platform stroke, the manipulator platform is when horizontal line movement, the guiding orientation post cooperates so that the manipulator platform is fixed a position with the guiding orientation seat. The utility model has the advantages of simple structure, location be accurate, be convenient for fix a position installation and debugging.
Description
Technical field
The utility model is mainly concerned with the gathering and processing apparatus field of material sample, is specifically related to a kind of manipulator of tape guide positioner.
Background technology
For the sampling of material (as ore, coal) sample, sample preparation, chemical examination work, every country all has pressure standard, and the chemical industry of gathering and processing that must carry out sample in accordance with standard is done.The criterion of the sampling of sample, sample preparation, the chemical examination course of work is under the prerequisite not destroying sample representativeness, the sample granularity collected is reduced gradually, quality also gradually reduces, until meet laboratory assay to the granularity of sample and quality (weight) required precision, then to the assay that satisfactory sample is correlated with.
Turning to example as gathered and processed with the sample of coal, being actually a kind of process of sampling analysis, the object of coal samling and sample preparation, is can represent to obtain its experimental result the experiment coal sample being sampled coal by the gross.Coal is a kind of uneven material (granularity, mass property distribution etc.), be sampled the quality of coal general all larger (tens tons to several ten thousand tons not etc.), taking the process of representative part of coal " sampling " from being sampled coal, having the various ways methods such as mechanical sampling, artificial sample, half mechanical sampling at present.After adopting sample by standard, next process is " sample preparation ", and sample making course generally has the processes such as fragmentation, mixing, division, drying.Namely carry out next step sample " chemical examination " after sample makes, sample is analyzed.No matter be " sampling ", " sample preparation " or " chemical examination ", the loss of sample in this process, can not be had, can not make sample that some physics or chemical change occur, otherwise will final result of the test be impacted.
In the sampling of material (as ore, coal) sample, sample preparation, chemical examination work, manipulator can be used.Manipulator is the crux equipment that sample gathers and processes in chemical industry work, it is for being transported to next station link to carry out the work of next stage by article (as sample or the equipment such as crucible for splendid attire sample) from a station link, in transport process, for the article of gripping different station position, manipulator can relate to straight horizontal motion, horizontal revolving motion, oscilaltion campaign etc., and needs to be positioned at accurately when moving article to be got and sentence the accurate gripping realizing article and transport.Once location is slightly not accurate, likely can occur that manipulator can not the situation of clamping articles smoothly, though even may occur time serious manipulator severed or article by gripping but the situation of trickling down in transport process, dropping, cause sample loss, device damage, had a strong impact on sample and gathered and processed chemical industry work.
Following technical problem is there is in existing manipulator when rotating location:
Photoelectric sensor is taked to locate when existing machinery hand-screw turns location, because photoelectric sensor is Edge-Transmission, namely one will stop to grating through hole edge, according to photoelectric sensor location, then can there is manipulator in the phenomenon turned clockwise be rotated counterclockwise position location and do not overlap.As shown in Figure 1: in Fig. 1, A represents right handed manipulator, when its location stops, by the impact of photoelectric sensor Edge-Transmission, behind its location, the central point of manipulator sample transfer bar is positioned at C place; B represents the manipulator counterclockwise rotated, and when its location stops, by the impact of photoelectric sensor Edge-Transmission, behind its location, the central point of manipulator sample transfer bar is positioned at D place.Between C and D, obvious location is poor, causes occurring that manipulator occurs position deviations after moving back and forth.
For ensureing that manipulator counterclockwise navigates to same point with turning clockwise, some manipulators adopt two sensors to position guarantee two halts respectively and overlap, a sensor localization is adopted when being namely rotated counterclockwise, adopting another one sensor to position when turning clockwise, making by regulating the position of two sensors to overlap with the anchor point be rotated counterclockwise clockwise.For ensureing the positioning precision at manipulator sample transfer bar place, in robot movement process, two photoelectric sensors must have signal to be just judged as at central point simultaneously, but in actual application, because photoelectric sensor is in the marginal portion of grating through hole, and the drive motors moved horizontally in assembly can produce necessarily slight vibration in the running, sensor is made to be easier to occur jitter and the phenomenon reported an error, if decontrol signal Rule of judgment (namely a sensor has signal, judges to be positioned at center), then can reduce again the judgement precision of manipulator (as shown in Figure 1, both of these case will all can judge in center, and actual range falls far short), position deviations is there is after causing manipulator to move back and forth equally.Meanwhile, need by after good for a sensor adjustment during debugging, then with this point for benchmark adjusts another one sensor again, due to instrument internal limited space, inconvenient operation, and whether 2 overlap complete in visually observing, precision is still difficult to ensure.
Utility model content
The technical problem that the utility model solves is: for prior art Problems existing, provides that a kind of structure is simple, accurate positioning, is convenient to the manipulator of the tape guide positioner of location and installation debugging.
For solving the problems of the technologies described above, the utility model by the following technical solutions:
A kind of manipulator of tape guide positioner, comprise manipulator platform, move horizontally assembly, circuit oscillation assembly and gripping assembly, described gripping assembly is located on manipulator platform for clamping articles, described manipulator platform has a circumferential reciprocating stroke under the driving of circuit oscillation assembly, described manipulator platform has a horizontal rectilinear motion stroke in circumferential reciprocating stroke under the driving moving horizontally assembly, described manipulator platform is provided with a photoelectric sensor assembly to be positioned in horizontal rectilinear motion stroke manipulator platform with clamping articles, also comprise guide locating device provided, describedly guide locating device providedly comprise the guide-localization post and guide-localization seat that match, described guide-localization post is arranged on manipulator platform, described guide-localization seat is arranged in the horizontal rectilinear motion stroke of manipulator platform, described manipulator platform is when horizontal rectilinear motion, described guide-localization post coordinates with guide-localization seat manipulator platform is located.
As further improvement of the utility model, described guide-localization seat offers the gathering sill and locating slot that are connected, described manipulator platform is when horizontal rectilinear motion, and described guide-localization post is directed in locating slot through gathering sill to make manipulator platform be located.
As further improvement of the utility model, described gathering sill has horn opening, and one end that its opening is larger is arranged towards guide-localization post, and one end that its opening is less is communicated with locating slot.
As further improvement of the utility model, described guide-localization post is arranged at manipulator platform on one end of article to be got, and described guide-localization seat is fixed on article place to be got by datum plate.
Compared with prior art, the utility model has the advantage of:
(1) manipulator of tape guide positioner of the present utility model, photoelectricity location and machinery location are combined, by arranging photoelectric sensor assembly, initial alignment is carried out to manipulator platform, arrange guide locating device provided in the horizontal rectilinear motion stroke of manipulator platform simultaneously, correction of a final proof is carried out to the position deviation of manipulator platform, no matter make manipulator platform be that clockwise movement stops or counterclockwise movement stops, manipulator platform finally can both be positioned at same point accurately, manipulator platform can clamping articles very accurately, sample can not be caused to trickle down, the situation of device damage, ensure that the precision of chemical industry work gathered and processed by sample, robot device longtime running is stablized.
(2) manipulator of tape guide positioner of the present utility model, only need arrange a photoelectric sensor assembly on manipulator platform carries out initial alignment, reduces use cost.And after only need determining the position of guide-localization seat according to the actual requirements when debugging, again photoelectric sensor assembly anchor point is roughly adjusted to the centre in grating hole, and need not as must first mix up on one side before, and then with mix up while adjust in addition on one side for benchmark, debugging difficulty reduces greatly.
Accompanying drawing explanation
Fig. 1 is the plan structure principle schematic of manipulator in prior art.
Fig. 2 is the manipulator Facad structure principle schematic in an embodiment of the utility model tape guide positioner.
Fig. 3 is the manipulator plan structure principle schematic in an embodiment of the utility model tape guide positioner.
Marginal data:
1, manipulator platform; 11, photoelectric sensor assembly; 2, assembly is moved horizontally; 21, horizontal guide rail; 22, actuator is moved horizontally; 23, mobile foundation; 3, circuit oscillation assembly; 31, rotating shaft; 32, driving wheel; 33, drive motors; 4, gripping assembly; 41, lifting motor; 42, eccentric wheel is elevated; 43, lifting top rod; 5, guide locating device provided; 51, guide-localization post; 52, guide-localization seat; 521, gathering sill; 522, locating slot; 53, datum plate.
Detailed description of the invention
Below in conjunction with specific embodiments and the drawings, the utility model is described in further detail.
As shown in Figures 2 and 3, the utility model provides a kind of manipulator of tape guide positioner, comprises manipulator platform 1, moves horizontally assembly 2, circuit oscillation assembly 3 and gripping assembly 4.As shown in Figure 2, in the present embodiment, move horizontally assembly 2 to comprise horizontal guide rail 21, move horizontally actuator 22 and mobile foundation 23, manipulator platform 1 is located on mobile foundation 23, and manipulator platform 1 can realize moving horizontally along horizontal guide rail 21 under the driving moving horizontally actuator 22.Circuit oscillation assembly 3 comprises rotating shaft 31, driving wheel 32 and drive motors 33, and drive motors 33 makes manipulator platform 1 can move back and forth for fulcrum realizes level circumference with rotating shaft 31 by driving driving wheel 32 motion.Gripping assembly 4 comprises lifting motor 41, lifting eccentric wheel 42 and lifting top rod 43, and lifting motor 41 drives lifting eccentric wheel 42 to make lifting top rod 43 elevating movement for clamping articles.
As shown in Figures 2 and 3, manipulator platform 1 has a circumferential reciprocating stroke under the driving of circuit oscillation assembly 3, that is: manipulator platform 1 realizes circumference reciprocating motion between E point direction and F point direction.Manipulator platform 1 has a horizontal rectilinear motion stroke in circumferential reciprocating stroke under the driving moving horizontally assembly 2, that is: manipulator platform 1 realizes horizontal rectilinear motion between G point direction and H point direction.Manipulator platform 1 is provided with a photoelectric sensor assembly 11 to be positioned in horizontal rectilinear motion stroke manipulator platform 1 with clamping articles, that is: when manipulator platform 1 moves back and forth in circumference, photoelectric sensor assembly 11 can make the manipulator platform 1 in motion stop and being positioned in its horizontal rectilinear motion stroke, to carry out article gripping.Now, although manipulator platform 1 is positioned in horizontal rectilinear motion stroke by photoelectric sensor assembly 11, because Edge-Transmission orientated as by photoelectric sensor, manipulator platform 1 will certainly be made to have certain position deviation.
For solving this technical problem, the utility model also comprises guide locating device provided 5, guide locating device provided 5 comprise the guide-localization post 51 and guide-localization seat 52 that match, guide-localization post 51 is arranged on manipulator platform 1, guide-localization seat 52 is arranged in the horizontal rectilinear motion stroke of manipulator platform 1, guide-localization seat 52 offers the gathering sill 521 and locating slot 522 that are connected.When manipulator platform 1 to be positioned in horizontal rectilinear motion stroke by photoelectric sensor assembly 11 and to carry out horizontal rectilinear motion, guide-localization post 51 first can contact and stretch in gathering sill 521, and then be directed in locating slot 522 by gathering sill 521, there is location fit in locating slot 522 and guide-localization post 51, position correction is carried out to script tool manipulator platform 1 devious, finally make manipulator platform 1 by precise positioning on correct position to carry out article gripping accurately.
Photoelectricity location and machinery location combine by the utility model, initial alignment is carried out by arranging photoelectric sensor assembly 11 pairs of manipulator platforms 1, in the horizontal rectilinear motion stroke of manipulator platform 1, arrange guide locating device provided 5 simultaneously, correction of a final proof is carried out to the position deviation of manipulator platform 1, no matter make manipulator platform 1 be that clockwise movement stops or counterclockwise movement stops, manipulator platform 1 finally can both be positioned at same point accurately, make manipulator platform 1 can clamping articles very accurately, sample can not be caused to trickle down, the situation of device damage, ensure that the precision of chemical industry work gathered and processed by sample, robot device longtime running is stablized.Meanwhile, the utility model only need arrange a photoelectric sensor assembly 11 and carry out initial alignment on manipulator platform 1, reduces use cost.And after only need determining the position of guide-localization seat 52 according to the actual requirements when debugging, again photoelectric sensor assembly 11 anchor point is roughly adjusted to the centre in grating hole, and need not as must first mix up on one side before, and then with mix up while adjust in addition on one side for benchmark, debugging difficulty reduces greatly.
Further, in the preferred embodiment, gathering sill 521 has horn opening, and one end that its opening is larger is arranged towards guide-localization post 51, and one end that its opening is less is communicated with locating slot 522.The gathering sill 521 of horn opening can as far as possible wide region touch the guide-localization post 51 that position deviation occurs, even if the position deviation of guide-localization post 51 is comparatively large, still accurately and fast guide-localization post 51 can be directed in locating slot 522 and carries out precise positioning.
Further, in the preferred embodiment, guide-localization post 51 is arranged at manipulator platform 1 on one end of article to be got, and guide-localization seat 52 is fixed on article place to be got by datum plate 53.Such setting, guide-localization seat 52 is made to be positioned at article place to be got when installing fixing, be convenient to carry out precise positioning to guide-localization seat 52 fix, make to keep uniformity accurately between guide-localization seat 52 and article to be got, to ensure follow-uply to position manipulator platform 1 accurately.Certainly, in other embodiments, other positions in the horizontal rectilinear motion stroke that guide-localization seat 52 also can be arranged on manipulator platform 1, as long as the guide-localization post 51 on itself and manipulator platform 1 can cooperatively interact, carrying out correction positioning instant to manipulator platform 1 can.
Below be only preferred embodiment of the present utility model, protection domain of the present utility model be not only confined to above-described embodiment, all technical schemes belonged under the utility model thinking all belong to protection domain of the present utility model.It should be pointed out that for those skilled in the art, not departing from the some improvements and modifications under the utility model principle prerequisite, protection domain of the present utility model should be considered as.
Claims (4)
1. the manipulator of a tape guide positioner, comprise manipulator platform (1), move horizontally assembly (2), circuit oscillation assembly (3) and gripping assembly (4), described gripping assembly (4) is located on manipulator platform (1) for clamping articles, described manipulator platform (1) has a circumferential reciprocating stroke under the driving of circuit oscillation assembly (3), described manipulator platform (1) has a horizontal rectilinear motion stroke under circumferential reciprocating stroke inherence moves horizontally the driving of assembly (2), described manipulator platform (1) is provided with a photoelectric sensor assembly (11) to be positioned at by manipulator platform (1) in horizontal rectilinear motion stroke with clamping articles, it is characterized in that, also comprise guide locating device provided (5), described guide locating device provided (5) comprise the guide-localization post (51) and guide-localization seat (52) that match, described guide-localization post (51) is arranged on manipulator platform (1), described guide-localization seat (52) is arranged in the horizontal rectilinear motion stroke of manipulator platform (1), described manipulator platform (1) is when horizontal rectilinear motion, described guide-localization post (51) coordinates with guide-localization seat (52) manipulator platform (1) is located.
2. the manipulator of tape guide positioner according to claim 1, it is characterized in that, described guide-localization seat (52) offers the gathering sill (521) be connected and locating slot (522), described manipulator platform (1) is when horizontal rectilinear motion, and described guide-localization post (51) is directed in locating slot (522) through gathering sill (521) to make manipulator platform (1) be located.
3. the manipulator of tape guide positioner according to claim 2, it is characterized in that, described gathering sill (521) has horn opening, and one end that its opening is larger is arranged towards guide-localization post (51), and one end that its opening is less is communicated with locating slot (522).
4. the manipulator of tape guide positioner according to claim 2, it is characterized in that, described guide-localization post (51) is arranged at manipulator platform (1) on one end of article to be got, and described guide-localization seat (52) is fixed on article place to be got by datum plate (53).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520836677.9U CN205097186U (en) | 2015-10-27 | 2015-10-27 | Take manipulator of guiding orientation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520836677.9U CN205097186U (en) | 2015-10-27 | 2015-10-27 | Take manipulator of guiding orientation device |
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| Publication Number | Publication Date |
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| CN205097186U true CN205097186U (en) | 2016-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520836677.9U Active CN205097186U (en) | 2015-10-27 | 2015-10-27 | Take manipulator of guiding orientation device |
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| CN (1) | CN205097186U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108341258A (en) * | 2018-04-28 | 2018-07-31 | 罗博特科智能科技股份有限公司 | A kind of quick capture apparatus of material |
| CN115070930A (en) * | 2022-07-26 | 2022-09-20 | 汤始建华建材（上海）有限公司 | Automatic mold entering equipment |
-
2015
- 2015-10-27 CN CN201520836677.9U patent/CN205097186U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108341258A (en) * | 2018-04-28 | 2018-07-31 | 罗博特科智能科技股份有限公司 | A kind of quick capture apparatus of material |
| CN115070930A (en) * | 2022-07-26 | 2022-09-20 | 汤始建华建材（上海）有限公司 | Automatic mold entering equipment |
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