CN205766162U - One follows the tracks of mechanical hand automatically - Google Patents
One follows the tracks of mechanical hand automatically Download PDFInfo
- Publication number
- CN205766162U CN205766162U CN201620291032.6U CN201620291032U CN205766162U CN 205766162 U CN205766162 U CN 205766162U CN 201620291032 U CN201620291032 U CN 201620291032U CN 205766162 U CN205766162 U CN 205766162U
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- China
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- gripping tool
- tentacle
- cursor
- controller
- mechanical hand
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Abstract
This utility model provides one automatically to follow the tracks of mechanical hand, the rotating mechanism including frame, be located in frame, for the drive mechanism driving described rotating mechanism to rotate, the gripping tool be located on rotating mechanism and the detection components that puts in place, proximity switch and controller；Described proximity switch is used for whether detecting object near described gripping tool, and transmission objectives thing near signal to controller, controller controls the operation of described drive mechanism according to object near signal, and described rotating mechanism can turn to make the gripping tool be located on rotating mechanism close to the position of described object under the driving of drive mechanism；The described detection components that puts in place is for detecting whether object is positioned at the crawl station of gripping tool and transmits signal to controller, according to the signal of the detection components transmission that puts in place, controller judges whether object is in the crawl station of gripping tool and controls the action of described gripping tool.This follows the tracks of the feature that mechanical hand has wide adaptability, positioning precision is high automatically.
Description
Technical field
This utility model relates to a kind of robot device.
Background technology
In production activity, conventional machinery hands carries out capturing or placing workpiece, thus saves manpower, improves efficiency.At present should
Mechanical hand the most to be further improved at aspects such as positioning precisions.It addition, the mechanical hand of the most often application is according to solid mostly
Determining program capture or place workpiece, its running orbit runs according to the program set, and is typically only capable to (produce fixing point or workpiece
Product) it is that the workpiece (product) moved by fixation locus and constant speed is placed or captured, it is change, fortune for movement velocity
Dynamic track be random workpiece (product) be to realize synchronized tracking and placement or crawl, thus its adaptability is also by certain
Limit.
Utility model content
In order to overcome above-mentioned deficiency, the purpose of this utility model be to provide a kind of wide adaptability, positioning precision high from motion tracking
Mechanical hand.
This utility model is for reaching its purpose, and the technical scheme of employing is as follows: one follows the tracks of mechanical hand automatically, including frame, sets
Rotating mechanism in frame, for driving the drive mechanism that described rotating mechanism rotates, the gripping tool being located on rotating mechanism
With the detection components that puts in place, proximity switch and controller；Whether described proximity switch is used for detecting object near described gripping tool,
And transmission objectives thing is near signal to controller, controller controls the operation of described drive mechanism, institute according to object near signal
State gripping tool that rotating mechanism can turn to make be located on rotating mechanism under the driving of the drive mechanism position close to described object
Put；The described detection components that puts in place for detecting whether object is positioned at the crawl station of gripping tool and transmits signal to controller,
Controller according to put in place detection components transmission signal judge object whether be in gripping tool crawl station and control described in grab
Take the action of instrument.
Described rotating mechanism includes the first cursor being located in frame, the second cursor being located on the first cursor, described in drive
Motivation structure includes that the first driving motor and second being respectively used to drive the first cursor and the second cursor drives motor；Described
One cursor can the most described gantry rotation under driving motor to drive first；Described second cursor drives motor to drive second
Can rotate relative to described first cursor under Dong.
The second cursor is located at by gripping tool.
The detection components that puts in place includes being installed on the first photoelectric probe of the second cursor, the second photoelectric probe and being touched by object
Produced External Force Acting and the first tentacle and the second tentacle, the first tentacle and the second tentacle that can swing are positioned under gripping tool
Side, the first photoelectric probe and the second photoelectric probe are respectively used to detect the first tentacle and the oscillator arc of the second tentacle and be respectively transmitted
Signal is to controller, according to the signal that the first photoelectric probe and the second photoelectric probe export, controller judges whether object is in and grabs
Take the crawl station of instrument, if object is in the crawl station of gripping tool, controls gripping tool and implement grasping movement.
If according to the signal that the first photoelectric probe and the second photoelectric probe export, described controller judges that object is not yet in capturing work
The crawl station of tool, then control the first driving motor and second and drive the operation of motor to adjust the crawl work being located at the second cursor
The relative position captured between station and object of tool.
First tentacle and the second tentacle are hingedly connected to the second cursor, and the first tentacle, the second tentacle respectively with the second cursor
Between connect have make generation swing the first tentacle, second tentacle reset torsion spring.
Described gripping tool is vacuum absorption device.
The setting substantially symmetrical about its central axis of the sucker of described first tentacle and the second tentacle relative vacuum adsorbent equipment.
Described first drives motor and second to drive motor to be servo drive motor.
Described gripping tool is vacuum absorption device.
The technical scheme that this utility model provides has the advantages that
What this utility model provided follows the tracks of mechanical hand automatically, has wide adaptability, a feature that positioning precision is high.This automatic tracing machine
Tool hands can also be to movement velocity change, movement locus be random object (workpiece or product etc.) be tracked location,
And then place or grabbing workpiece, speed followed the tracks of is fast, positioning precision is high, wide adaptability for it.
Accompanying drawing explanation
Fig. 1 is automatically to follow the tracks of the schematic diagram that mechanical hand coordinates with the device for conveying work pieces；
Fig. 2 is the schematic top plan view of Fig. 1；
Fig. 3 is the enlarged diagram of detection components of putting in place.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is described in further detail.
This utility model provides one automatically to follow the tracks of mechanical hand, sees Fig. 1-3.Including frame 1, the rotating machine be located in frame 1
Structure 101, for driving the drive mechanism that described rotating mechanism 101 rotates, gripping tool 5 and being located on rotating mechanism 101
The detection components that puts in place 6, proximity switch 4 and controller.Wherein, proximity switch 4 is used for detecting object (workpiece or be used for putting
Put the fixture of workpiece) whether near gripping tool 5, and transmission objectives thing is near signal to controller, controller is according to object
Control the operation of drive mechanism near signal, under drive mechanism drives, rotating mechanism 101 rotates, and can turn to make
The gripping tool 5 must being located on rotating mechanism 101 is close to the position of object.The detection components that puts in place 6 for detecting object is
The no crawl station being positioned at gripping tool 5 also transmits signal to controller, and controller is then according to the letter of detection components 6 transmission that puts in place
Number judging whether object is in the crawl station of gripping tool 5, if judging, object is in the crawl station of gripping tool 5,
Then control gripping tool 5 and implement grasping movement.If it is further preferred that controller judges that object is not yet in gripping tool 5
Crawl station, controller also can control the operation of drive mechanism further, by drive mechanism drive rotating mechanism rotate adjust
Relative position between whole gripping tool 5 and the object being located on rotating mechanism 101, specifically, is to adjust gripping tool
The relative position captured between station and object of 5.
As a kind of detailed description of the invention, rotating mechanism 101 includes first cursor the 2, second cursor 3 being located in frame.
First cursor 2 is installed in frame 1, and the second cursor 3 is installed on the first cursor 2, concrete, this second rotation
Arm 3 one end is rotating to be installed on the first cursor 2, and the other end is free end.Drive mechanism includes being respectively used to drive
The first driving motor and second of one cursor 2 and the second cursor 3 drives motor, and the first cursor 2 drives motor first
Can rotate relative to frame 1 under Qu Donging, the second cursor 3 can relative first cursor 2 turns under driving motor to drive second
Dynamic.First drives motor, the second driving motor the most all can use servo drive motor.
Gripping tool 5 is arranged on the second cursor 3, is particularly located at the free end of the second cursor 3, can be used for capturing or releasing
Knock off part.The existing conventional gripping tool in this area selected by this gripping tool 5, can specifically use existing in the present embodiment
Vacuum absorption device, adsorb workpiece by the sucker of vacuum absorption device.
The detection components that puts in place 6 is arranged on the second cursor 3, is particularly located at the free end of the second cursor 3.The most concrete
, this detection components 6 that puts in place includes first tentacle the 61, first photoelectric probe the 63, second tentacle being arranged on the second cursor 3
62 and second photoelectric probe 64.First tentacle 61 and the second tentacle 62 are positioned at the lower section of gripping tool 5.Wherein the first tentacle
61 and second tentacle 62 after touching with object, swing can be produced by the object produced External Force Acting of touching.First
Tentacle the 61, second tentacle 62 is specifically so installed: the first tentacle 61 and the second tentacle 62 are hingedly connected to the second rotation
Arm 3, all connects between first tentacle the 61, second tentacle 62 respectively and the second cursor 3 and has a torsion spring, when the first tentacle 61
Or second tentacle 62 after touching with object, swing can be produced by the object produced External Force Acting of touching；And in external force
After elimination, owing to the effect of torsion spring can reset again.Seeing Fig. 3, torsion spring is specifically arranged on the torsion spring mounting groove 65 of the second cursor
In.
First photoelectric probe 63 and the second photoelectric probe 64 are respectively used to detect the first tentacle 61 and arc of oscillation of the second tentacle 62
Degree, and export corresponding signal (specifically exporting corresponding voltage signal) respectively to controller, controller is according to the first photoelectricity
The signal of probe and the output of the second photoelectric probe judges whether object is in the crawl station of gripping tool.Specifically controller
Compare by the signal that the first photoelectric probe and the second photoelectric probe are exported and preset value and then judge whether object is in and grab
Take the crawl station of instrument.Specifically, the first photoelectric probe due to the swing of the first tentacle caused the first photoelectric probe light lead to
Amount change and export corresponding voltage signal (voltage amplitude continually varying waveshape signal) give controller, the second photoelectric probe
Then owing to the swing of the second tentacle is caused the change of the second photoelectric probe luminous flux and exports corresponding voltage signal to controller,
The specific works principle of photoelectric probe is prior art, is no longer described in detail.Controller is according to the first photoelectric probe and the second photoelectricity
The signal of probe output, by comparing with preset value, if judging, object is in the crawl station of gripping tool 5, then control
Grasping movement (this grasping movement is to capture the action of object or to the action of object release workpiece) implemented by gripping tool 5.Enter
One step, if controller judges that object is not yet in the crawl station of gripping tool, controller then control the first driving motor and
Second drive motor run with adjust the gripping tool 5 of being located at the second cursor 3 capture between station and object relative
Position.In a specific embodiment, central shaft and the gripping tool 5 of predeterminable object is used for the parts of grabbing workpiece (such as
The sucker of vacuum absorption device) central shaft capture station for arriving when coinciding；When reality is applied, preset by debugging,
Specifically can so operate: rotate the first cursor 2 and the second cursor 3, make gripping tool 5 for the parts (example of grabbing workpiece
Sucker such as vacuum absorption device) central shaft and object central shaft overlap, now the first tentacle 61 and the second tentacle 62
Owing to the effect (pressure produced during touching) of object all has an oscillator arc, the first photoelectric probe 63 and the second photoelectricity
Probe 64 separately detects the first tentacle now and the oscillator arc of the second tentacle, and (voltage is believed to export corresponding signal respectively
Number) to controller, the signal of the first photoelectric probe obtained by now controller and the output of the second photoelectric probe is set to preset value,
I.e. object arrive grabbing workpiece capture station time signal.For the ease of describing, when object is arrived crawl station, the
The oscillator arc of one tentacle is referred to as the first control point, and the oscillator arc of the second tentacle is referred to as the second control point.
Fig. 1 is automatic tracking mechanical hand 100 of the present utility model and a kind of example of the device connected applications for conveying work pieces.
In this example, its preset value specifically preset by controller is 2.5 volts, the i.e. first photoelectric probe and the electricity of the second photoelectric probe output
Pressure output valve is 2.5 volts, and the most only one example can be preset according to practical situation in concrete operations.This figure is used
Device in conveying work pieces is a rotating disk 7, and this rotating disk 7 can rotate clockwise, and this rotating disk 7 is provided with multiple for placing workpiece
Fixture 8.Below the work process of automatic tracking mechanical hand of the present utility model is described in detail.At this specific embodiment
In, proximity switch 4 is installed on the table top 9 being provided with rotating disk 7, and this proximity switch 4 is particularly located near rotating disk 7 cylindrical
Position is also in the lower section of the detection components 6 that puts in place.During work, rotating disk 7 rotates clockwise, the fixture 8 being arranged on rotating disk 7
(i.e. object) is also with rotation；When fixture 8 (or being placed in the workpiece on fixture 8) (is originally embodied as near gripping tool 5
Mode is vacuum absorption device) time, proximity switch 4 exports object near signal to controller, and controller is according to this signal
Control the first driving motor, the operation of the second driving motor so that first drives motor to drive the first cursor 2 to do turns counterclockwise
Dynamic, second drives motor to drive the second cursor 3 to rotate clockwise, so that the crawl work being located on the second cursor 3
Tool 5 is close to fixture 8.The detection components that puts in place 6 rotates along with the second cursor 3 and moves, the first tentacle 61 and the second tentacle 62
Due to the touching with object, the oscillator arc of the two is also in being continually changing, in the process, and the first photoelectric probe 63 and
Two photoelectric probe 64 constantly output signal to controller.For the signal of the first photoelectric probe 63 output, if being less than 2.5
Volt, controller will control the second cursor 3 and rotate clockwise, and makes the first tentacle 61 close to object (fixture)；If
Being equal to 2.5 volts, controller will control the second cursor 3 and stop operating；If being greater than 2.5 volts, controller will control
Two cursors 3 rotate counterclockwise, and make the first tentacle 61 leave to object (fixture).And for the second photoelectric probe 64
For the signal of output, if being less than 2.5 volts, controller then controls the first cursor 2 and rotates counterclockwise, and makes the second tentacle
62 is close to object (fixture)；If being equal to 2.5 volts, controller then controls the first cursor 2 and stops operating；If it is big
In 2.5 volts, controller then controls the first cursor 2 and rotates clockwise, and makes the second tentacle 62 leave to object (fixture).
This specific embodiment judging, whether object is in the condition capturing station of gripping tool and is: the first photoelectric probe 63 and second
The voltage output value of photoelectric probe 64 is 2.5 volts, and (the most at this moment gripping tool 5 is for the parts (vacuum of grabbing workpiece
The sucker of adsorbent equipment) central shaft overlap with the central shaft of object (fixture)).Controller is according to the first photoelectric probe and
Signal and its preset value of two photoelectric probe outputs compare, if coincideing, judging that object is in crawl station, thus controlling vacuum
Adsorbent equipment 5 (particular by the operation of the vacuum generator controlling vacuum absorption device) makes absorption workpiece on its sucker
Place to fixture (or from fixture, drawing workpiece to its sucker).In this specific embodiment, automatically follow the tracks of mechanical hand and complete to follow the tracks of
Time-consuming less than 0.15 second, tracking accuracy is in the quiescent state less than ± 0.02mm, in a dynamic state less than ± 0.05mm.
What this utility model provided follows the tracks of mechanical hand automatically, has the advantages that positioning precision is high.Be possible not only to fixing or according to
The object of fixation locus and constant speed movement is tracked and places or capture, by its prioritization scheme, it is also possible to motion
Speed be change, movement locus be that random object (for workpiece, product or fixture etc.) from motion tracking and placement or is grabbed
Taking, and tracking velocity is fast, positioning precision is high, wide adaptability.
Technical scheme in this utility model is to improve on the basis of existing technology and obtain, and wherein illustrates
Part is common knowledge that those of ordinary skill in the art grasp according to it or prior art can be appreciated by or knows.This practicality
Novel used gripping tool uses existing instrument, and those skilled in the art can carry out specifically chosen as required, such as, can have
Body selects existing vacuum absorption device to pass through sucker suction workpiece as this gripping tool, vacuum absorption device.Controller used thereby
Specifically use Programmable Logic Controller (chip).
This utility model is not limited to above-mentioned embodiment, every to various changes of the present utility model or modification without departing from this reality
By novel spirit and scope, if these are changed within the scope of belonging to claim of the present utility model and equivalent technologies with modification,
Then this utility model also implies that comprising these changes and modification.
Claims (10)
1. an automatic tracking mechanical hand, it is characterised in that include frame, the rotating mechanism being located in frame, turn described in driving
Drive mechanism, the gripping tool being located on rotating mechanism and the detection components that puts in place, proximity switch and the controller that motivation structure rotates；
Whether described proximity switch is used for detecting object near described gripping tool, and transmission objectives thing near signal to controller,
Controller controls the operation of described drive mechanism according to object near signal, and described rotating mechanism can under the driving of drive mechanism
Turn to make the gripping tool be located on rotating mechanism close to the position of described object；
The described detection components that puts in place for detecting whether object is positioned at the crawl station of gripping tool and transmits signal to controller,
Controller according to put in place detection components transmission signal judge object whether be in gripping tool crawl station and control described in grab
Take the action of instrument.
Automatic tracking mechanical hand the most according to claim 1, it is characterised in that described rotating mechanism includes be located in frame
One cursor, the second cursor being located on the first cursor, described drive mechanism include being respectively used to driving the first cursor and
First driving motor of the second cursor and second drives motor；Described first cursor can phase under driving motor to drive first
To described gantry rotation；Described second cursor drives motor can rotate relative to described first cursor under driving second.
Automatic tracking mechanical hand the most according to claim 2, it is characterised in that the second cursor is located at by gripping tool.
Automatic tracking mechanical hand the most according to claim 3, it is characterised in that the detection components that puts in place includes being installed on the second rotation
First photoelectric probe of arm, the second photoelectric probe and first touching of can being swung by the object produced External Force Acting of touching
Hands and the second tentacle, the first tentacle and the second tentacle are positioned at below gripping tool, and the first photoelectric probe and the second photoelectric probe are respectively
For detecting the first tentacle and the oscillator arc of the second tentacle and being respectively transmitted signal to controller, controller is according to the first smooth electrical resistivity survey
The signal of head and the output of the second photoelectric probe judges whether object is in the crawl station of gripping tool, if object is in crawl
The crawl station of instrument then controls gripping tool and implements grasping movement.
Automatic tracking mechanical hand the most according to claim 4, it is characterised in that described controller is according to the first photoelectric probe and
If the signal of two photoelectric probe outputs judges that object is not yet in the crawl station of gripping tool, then control the first driving motor with
The second phase para-position run between crawl station and the object to adjust the gripping tool being located at the second cursor driving motor
Put.
Automatic tracking mechanical hand the most according to claim 4, it is characterised in that the first tentacle and the second tentacle are hingedly connected to
Connect between two cursors, and the first tentacle, the second tentacle respectively and the second cursor have make generation swing the first tentacle, the
The torsion spring that two tentacles reset.
Automatic tracking mechanical hand the most according to claim 4, it is characterised in that described gripping tool is vacuum absorption device.
Automatic tracking mechanical hand the most according to claim 7, it is characterised in that described first tentacle and the second tentacle relative vacuum
The setting substantially symmetrical about its central axis of the sucker of adsorbent equipment.
Automatic tracking mechanical hand the most according to claim 2, it is characterised in that described first drives motor and second to drive motor
It is servo drive motor.
Automatic tracking mechanical hand the most according to claim 1, it is characterised in that described gripping tool is vacuum absorption device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620291032.6U CN205766162U (en) | 2016-04-08 | 2016-04-08 | One follows the tracks of mechanical hand automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620291032.6U CN205766162U (en) | 2016-04-08 | 2016-04-08 | One follows the tracks of mechanical hand automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205766162U true CN205766162U (en) | 2016-12-07 |
Family
ID=57414408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620291032.6U Withdrawn - After Issue CN205766162U (en) | 2016-04-08 | 2016-04-08 | One follows the tracks of mechanical hand automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205766162U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263462A (en) * | 2016-04-08 | 2017-10-20 | 广州双鱼体育用品集团有限公司 | A kind of automatic tracking manipulator |
-
2016
- 2016-04-08 CN CN201620291032.6U patent/CN205766162U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263462A (en) * | 2016-04-08 | 2017-10-20 | 广州双鱼体育用品集团有限公司 | A kind of automatic tracking manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161207 Effective date of abandoning: 20230627 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20161207 Effective date of abandoning: 20230627 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |