302results about How to "Reliable grabbing" patented technology

The invention relates the auto sorting faulty goods method on the high-speed automatic production line and unit. The method comprises the following steps: sorting faulty goods system receiving the sorting signal, starting the freedom degree linked conveying device 3, then positioning the mechanical arm connected with 3 on the faulty goods, the mechanical arm keeping the same speed with conveyer belt, gripping the faulty goods, lifting it and releasing it to appointed position. The unit comprises electrical control and mechanical part. The mechanical part comprises 3 and mechanical arm which comprises arm and hand. In the center of the mechanical hand there is camera, and the electrical control is connected with 3 and mechanical arm. The invention possesses high accuracy, low cost, good versatility, and no environmental pollution.

The invention discloses a lead-acid storage battery grid automatic conveying device which is arranged at the tail end of a grid production line. The automatic conveying device is provided with a main frame body, the main frame body is provided with a three-axis direction guide rail, a manipulator capable of moving in the direction of three axes and rotating in the Z axis direction is arranged through the guide rail, the manipulator is provided with a gripper adaptive to each grid and capable of being opened and closed, the gripper comprises a plurality of claw arms, and the lower end of each claw arm is of an L type. According to the automatic conveying device, the grids are conveyed through the adoption of a grabbing mode, the grids are conveyed away from a conveying table and then are stacked up in order, the manipulator grabs firmly and is suitable for the special structure and shape of each grid, and whole-course automation and intelligence of conveying can be achieved.

The invention discloses a pneumatic soft finger with tactile force and a shape perception function. The upper portion of the pneumatic soft finger is an actuator, the lower portion of the pneumatic soft finger comprises a silicon substrate layer, a tactile force perception layer, a shape perception layer and an inextensible layer which are arranged sequentially from bottom to top, wherein the tactile force perception layer is internally provided with multiple film pressure sensors adhered to the top face of the silicon substrate layer and distributed in an array, the shape perception layer isinternally and horizontally provided with a slice-type bending sensor adhered to the top face of the tactile force perception layer in the length direction of the finger, the upper portion of the pneumatic soft finger is formed by one-time pouring with a mold, and the lower portion of the pneumatic soft finger is manufactured by layered pouring with the mold. The pneumatic soft finger with the tactile force and the shape perception function has the advantages that the distribution and size of the tactile force and deformation of the soft finger can be measured when the soft finger is in contact with an object, the pneumatic soft finger is used for object identification, sliding detection and the like, thereby achieving that the object is grabbed and operated more reliably.

The invention discloses an intelligent transfer robot, which comprises a base, a rear cover shell, a mechanical arm, a swing arm movement mechanism, a rollover movement mechanism, a vertical movement mechanism, a horizontal movement mechanism, and a rotary movement mechanism. The rotary movement mechanism is connected with a rotary support driven by the rotary movement mechanism to rotate; a radio frequency reader and a mechanical paw are arranged on the rotary support; the radio frequency reader is electrically connected with a PLC (programmable logic controller); the mechanical paw comprises a paw base, a movement plate and a driving device driving the movement plate; teeth are arranged at two sides of the movement plate; the driving device is controlled by the PLC and is arranged on the rotary support; the paw base is connected with the rotary support through a connecting rod; rotary shafts are arranged on the positions, positioning at two sides of the movement plate, of the paw base; the rotary shafts are connected with paws and gears meshed with the teeth on the movement plate. Through adding the radio frequency reader, radio frequency identification tags on workpieces can be effectively identified, so that products can be conveniently classified; the intelligent transfer robot grabs the workpieces by the mechanical paw, so that the cost is low.

The invention provides a robot sucker gripper. The robot sucker gripper comprises an installing framework, a flange cover for connecting a mechanism arm is fixedly arranged above the installing framework, a guide rail is arranged on the installing framework, a plurality of sucker devices for gripping objects are arranged on the guide rail and can move along the guide rail, the plurality of sucker devices are hinged together through a link mechanism, a spacing adjustment device is further arranged on the sucker devices and comprises a screw rod and screw rod nuts, the screw rod is arranged on the installing framework and is parallel to the guide rail, two sides of the screw rod are matched with the screw rod nuts through inner and outer threads, and the screw rod nuts are connected with the sucker devices. According to the robot sucker gripper, intervals among the sucker devices are adjusted, the objects in different sizes can be gripped, and the robot sucker gripper has the advantages of being simple in structure, flexible in operation, and high in production efficiency.

The invention discloses a cup box grabbing mechanism and a cup box grabbing method. The cup box grabbing mechanism comprises a box, a driving component and a grabbing component. The driving component drives the grabbing component to ascend or descend on the side face of the box along the vertical direction, and the grabbing component comprises an arm and fingers fixed on the arm. The cup box grabbing mechanism and the cup box grabbing method are used for realizing automatic conveying of cup boxes. The cup box grabbing method includes that one cup box is grabbed and separated to be conveyed to a specified position. The cup box grabbing mechanism adopts an arm structure, and the mechanical fingers are mounted on two sides of the arm; a reflection optocoupler is mounted on one side of the arm, the reflection optocoupler judges position of the cup box and gives out moving travel when the fingers move downwards, and a rotating plate after touching the edge of the cup box rotates around a shaft; when the fingers are lower than the bottom of the cup box, the rotating plate resets under action of a resetting spring to realize cup box grabbing. The cup box grabbing mechanism is simple in structure, reliable in cup box grabbing and convenient to maintain.

The invention discloses a paper money friction flattening device. The paper money friction flattening device is characterized in that: the paper money friction flattening device comprises a loading mechanism, and a flattening mechanism, a shaping mechanism and a paper money collecting box, which are connected sequentially, wherein the flattening mechanism comprises a rectangular bottom plate which is arranged obliquely in a length direction, so that the paper money can slip long the upper surface of the bottom plate; a friction mechanism is arranged above the bottom plate, one side of the friction mechanism, close to the bottom plate, can move downwards in a length direction of the bottom plate, and a gap between the friction mechanism and the bottom plate is smaller than the total thickness of two paper moneys; a material inlet is formed between the upper end of the bottom plate and the friction mechanism and is arranged under a material outlet end of the loading mechanism. In general, the paper money friction flattening device has the advantages that the device can realize the grabbing, loading, automatic flattening and collection of the paper money, can grab the paper money reliably, has appropriate loading pace, high flattening speed, high efficiency and good reliability, is favor for reducing the labor intensity of workers, and can improve the working efficiency.

The invention relates to a tendon rope transmission coupling self-adaption three-finger differential motion robot hand paw device, and belongs to the technical field of robots. The tendon rope transmission coupling self-adaption three-finger differential motion robot hand paw device comprises a hand paw base, three double tendon rope tandem type coupling self-adaption fingers, a hand paw transmission mechanism, a driver, a single-input three-output differential mechanism and the like. By means of the device, the robot finger coupling quick folding grabbing and self-adaption grabbing functionsand the overall hand paw self-adaption grabbing function are achieved. The device can drive all fingers to achieve quick coupling rotation to achieve self-adaption clamping of objects according to thedifferent shapes and positions of the objects, the remaining fingers/finger can be continuously driven to continuously move when any one or two of the fingers are blocked until the objects are stablyclamped, and the aim of self-adaption wrapping of the objects in different shapes and sizes through all fingers and the overall hand paw is achieved; the grabbing scope is large, and grabbing is stable and reliable; one driver is used for driving the three fingers; and the device has the high adaptability and large grabbing force and is stable and reliable to grab and suitable for various robots.

The invention provides a pair of multifunctional storage battery stacking tongs. The pair of multifunctional storage battery stacking tongs comprises a frame, a tongs device and two paper base plate sucking and laying devices, wherein the tongs device and the two paper base plate sucking and laying devices are arranged through the frame and the two paper base plate sucking and laying devices are arranged on the two sides of the frame symmetrically. According to each paper base plate sucking and laying device, a sucker is driven to swing by a paper base plate sucking and laying air cylinder through a connecting rod. The tongs device comprises a tongs device connecting plate, a storage battery supporting plate mechanism and a storage battery pressing mechanism, wherein the storage battery supporting plate mechanism and the storage battery pressing mechanism are arranged through the tongs device connecting plate, the storage battery supporting plate mechanism lifts and puts down storage batteries in the mode that a supporting plate air cylinder drives a supporting plate frame to move, and according to the storage battery pressing mechanism, a storage battery pressing block is driven by storage battery pressing air cylinders to move to press lifted storage batteries or release the lifted storage batteries. The tongs device connecting plate is connected with the frame in a sliding mode. When the pair of multifunctional storage battery stacking tongs is used in cooperation with a mechanical arm, the problems that manual storage battery stacking and manual paper base plate laying are out-dated are thoroughly solved, a large amount of labor is saved, and the pair of multifunctional storage battery stacking tongs has the advantages that the storage batteries are firmly and reliably grabbed, the appearance of the storage batteries cannot be damaged, and the storage batteries are arranged in order.

The invention relates to a transferring mechanical gripper. The transferring mechanical gripper comprises a driving part and a clamping part, a clamping mechanism comprises a first clamping gripper and a second clamping gripper, tightly clamping parts are arranged at the top ends of the first clamping gripper and the second clamping gripper, the tightly clamping parts comprise shells, sliding rails are arranged on the tops and the bottoms in the shells, sliding grooves are formed in the inner walls of the right sides of the shells, and two sliding blocks are slidably connected into the slidinggrooves; buffering blocks are fixedly arranged on the sliding blocks, and buffering springs are connected between the buffering blocks in an abutting mode; clamping blocks are arranged between the buffering blocks and the sliding rails, two pulleys are arranged at the left ends of the clamping blocks, and the right ends of the clamping parts are slidably connected with the shells; and the drivingpart comprises a vertically arranged hydraulic telescopic rod, a horizontal pushing rod, a first connecting rod, a second connecting rod and a fixing plate. According to the transferring mechanical gripper, the hydraulic rod drives the first clamping gripper and the second clamping gripper to open or close to realize automatic gripping or releasing, and the automatic degree is high; and meanwhile, the clamping blocks are tightly attached to irregular parts of a clamped work piece under the action of the elastic force of the springs, and gripping is firm and reliable.

The invention relates to a self-locking boosting type flexible and smooth tail end gripper for a serial connection loose hinge. The tail end gripper consists of a palm and three flexible fingers, wherein the palm is of two kinds of structures including a rectangular structure and a hexagonal structure, each flexible finger has the same structure and mainly consists of an inner guide air cylinder, a linear guide rail (which can also be a linear bearing) and the serial connection loose hinge, one torque spring is respectively arranged on a hinge mandrel of each serial connection loose hinge, the characteristic parameters and the pre-tightening angle of the torque springs are optimized and designed according to the characteristics of gripped objects, and the gripping force is generated through the driving of the air cylinder. The tail end gripper is applied to the gripping of fragile brittle objects or special-shape objects with variable shapes or sizes, belongs to the technical field of application of robots and mechatronics, is connected with a robot main body, and is particularly applicable to the fields of logistics and production such as gripping, sorting and packaging of food, farm products and light industrial products.

The invention relates to a pneumatic serial-connection flexible hinge multi-finger paw of a compliant mechanism. The multi-finger paw consists of a palm and three flexible fingers, and the palm has a rectangular structure and a hexagonal structure; the structure of each flexible finger is identical, and each flexible finger structure mainly consists of an internal guide air cylinder and a serial-connection flexible hinge; the multi-finger paw is driven by an air cylinder to produce a grasping force, the multi-finger paw is applied to a fragile object or used for grasping a specially-shaped object with a varied shape and varied size; and the flexible finger of the multi-finger paw is a compliant mechanism, and the serial-connection flexible hinge is a deformation element of the compliant mechanism. The pneumatic serial-connection flexible hinge multi-finger paw has the characteristics that: a good flexible degree of freedom and good buffering performance can be realized for an outer load, and the flexible adaptability is good. The pneumatic serial-connection flexible hinge multi-finger paw belongs to the technical field of the robot and mechatronics; and the pneumatic serial-connection flexible hinge multi-finger paw is connected with a robot main body and particularly suitable for the production and logistics field such as the grasping, sorting and packaging of food, agricultural products and light products.

The invention relates to a mechanical arm. The mechanical arm comprises a mechanical arm body and a mechanical claw located at the tail end of the mechanical arm body. The mechanical claw comprises an installing base. The installing base is provided with a mechanical arm clamping claw, a claw driving device used for driving the mechanical arm clamping claw to be closed and opened, and a connecting rod mechanism connected with the mechanical arm clamping claw and the claw driving device. The connecting rod mechanism comprises a sliding block structure driven by the claw driving device to move in a guiding manner in the front and back directions. The sliding block structure is connected with the output end of the claw driving device through a connecting arm. The connecting arm comprises a first connecting section fixedly connected with the output end of the claw driving device and a second connecting section fixedly connected with the sliding block structure. The second connecting section extends in the guiding moving direction of the sliding block structure, and the end, deviating from the first connecting section, of the second connecting section is located on the side, close to the claw driving device, of the first connecting section. The mechanical arm can be used for solving the technical problem that due to the fact that the size of a mechanical claw in the prior art is large, the structural balance of a whole mechanical arm is affected.

The invention discloses a manipulator used for griping high-temperature workpieces. The manipulator comprises a first grip pawl and a second grip pawl which are opposite to each other and hinged through a rotating pin; the manipulator further comprises a manipulator mounting plate and a power cylinder, the rotating pin and the power cylinder are arranged on the manipulator mounting plate, and a driving block used for driving same ends of the first grip pawl and the second grip pawl to move oppositely is arranged on a piston rod of the power cylinder, and a cooling hole is arranged in the rotating pin. Only one rotating hinged point is arranged on the griping manipulator, so that the manipulator is simple in structure and low in cost, a manipulator joint is less prone to being jammed or loosened, the power cylinder is away from the front half section in distance, service life of the cylinder is prolonged, and the high-temperature workpieces can be gripped stably and reliably.

The invention discloses a tire grabbing device, pertaining to the technical field of design of machinery devices. The tire grabbing device comprises movable chucks, chuck seats, elevating strips, a fixed plate, connecting rods, a telescopic rod and finger-shaped protrusions. The fixed plate is a circular thin plate. The chuck seats are fixed on the bottom surface of the fixed plate. The movable chucks are connected with the chuck seats through rotary pairs. One end of each connecting rod and each movable chuck form a rotary pair. The other end of each connecting rod and the bottom end of the telescopic rod form a rotary pair. The telescopic rod is fixed in the middle of the bottom surface of the fixed plate. The length of the telescopic rod can be increased or decreased according to needs. When the movable chucks move to an inner cavity of a tire, the telescopic rod shortens and the connecting rods and connecting ends thereof are pulled to move upwards. The other end of each connecting rod is expanded by each movable chuck such that the tire can be clamped tightly from the inside to the outside. Grabbing operation is achieved. The tire grabbing device has following beneficial effects: the overall device is agile in motion; and clamp force among the movable chucks and the tire is enough great so that the tire can be grabbed reliably and does not fall down.

The invention provides a connection rod belt wheel linear flat clamping sensing self-adaptive robot finger device and belongs to the technical field of robot hands. The device comprises a base, two finger sections, two joint shafts, two drivers, multiple connection rods, multiple stages of belt wheel transmission mechanisms, a protruding block driving plate, multiple sensors and a control module with a built-in control program. By means of the device, the linear parallel clamping and self-adaptive grasping functions of a robot finger are achieved, and particularly, sheet parts on a worktable can be well clamped. A four-bar mechanism is adopted so that the far joint shaft can move linearly, and the second finger section can horizontal move due to cooperation of belt wheels and the four-bar mechanism. The self-adaptive grasping function can be achieve by means of the sensors, the control module and the built-in control program, and the finger device can adapt to grasping of objects in different shapes and sizes. The grasping range is large, and grasping is stable and reliable. Two joints are driven by the two drivers. The finger device is simple in structure, small in size, low in weight and low in machining, assembly and maintenance cost.

The invention discloses a robot for assembling and disassembling an automobile wheel on a braced chain coating line. A movable seat and a member on the upper part of the movable seat are driven to move through a ball screw assembly along the movement direction of a braced chain; the movable seat and the member on the upper part of the movable seat can be kept travelling at the same speed as the braced chain to suspend the automobile wheel; a waist part is rotated relative to the movable seat; a lower arm is swung relative to the waist part; an upper arm is swung relative to the lower arm; a wrist part is rotated and swung relative to the upper arm so as to ensure the spatial position of the automobile wheel; a wheel clamp holder on the wrist part is used for grasping or releasing the automobile wheel pneumatically; and an industrial camera is fixed on a camera bracket and is used for searching the position of a valve hole of the automobile wheel to position the automobile wheel. By the robot for assembling and disassembling the automobile wheel on the braced chain coating line, the automobile wheel can be quickly grasped, the position of the valve hole of the automobile wheel can be found by rotating the wrist part, the automobile wheel is suspended on a braced chain suspension rod, and the valve hole of the automobile wheel can be positioned on the suspended top; and the equipment makes the grasp reliable, the assembly and disassembly quick and the position accurate.