CN110143435B - Turnover end picking device - Google Patents
Turnover end picking device Download PDFInfo
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- CN110143435B CN110143435B CN201910431216.6A CN201910431216A CN110143435B CN 110143435 B CN110143435 B CN 110143435B CN 201910431216 A CN201910431216 A CN 201910431216A CN 110143435 B CN110143435 B CN 110143435B
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- 230000007306 turnover Effects 0.000 title claims description 28
- 239000012636 effector Substances 0.000 claims abstract description 67
- 230000005540 biological transmission Effects 0.000 claims description 19
- 230000009471 action Effects 0.000 claims description 9
- 239000000126 substance Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 230000007704 transition Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 230000033001 locomotion Effects 0.000 description 6
- 125000006850 spacer group Chemical group 0.000 description 3
- 230000009466 transformation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
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Abstract
The present invention provides a flip end effector comprising: rotary device (1), drive arrangement (2) and grabbing device (3), rotary device (1) includes: the end effector comprises an end effector main rod (11), a turning rod (12), a first mounting plate (13) and a second mounting plate (14); the first end of the end effector main rod (11) is connected with the second mounting plate (14), and the second end of the end effector main rod (11) is connected with the first mounting plate (13); the turning rod (12) and the picking device main rod (11) are arranged on the first mounting plate (13) and the second mounting plate (14) in parallel, and the first end of the turning rod (12) is connected with the driving device (2); the driving device (2) is configured to drive the turning rod (12) to turn around the end pick main rod (11) as an axis during driving; the gripping device (3) is fixed on the side wall of the turning rod (12). In the embodiment of the invention, the grabbing device can overturn the parts, so that the production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of end picking devices, in particular to a turnover end picking device.
Background
With the development of technology, automatic production lines are more and more widely applied to the production of automobile parts, however, in the automatic production lines in the related art, only the parts can be moved along the stream direction of the stamping line and the stream direction vertical to the stamping line, and when the parts in the production process need to be turned over, the parts need to be turned over by manpower.
In the related art, in the production process of parts, an automatic production line cannot directly turn over the parts and needs to be operated by manpower, so that the production efficiency is reduced.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a flip end effector capable of flipping a part. The technical scheme is as follows:
an embodiment of the present invention provides an inverting end effector, including: a rotating device, a driving device and at least one grabbing device, wherein,
the rotating device includes: the end effector comprises an end effector main rod, at least one turnover rod, a first mounting plate and a second mounting plate;
the first end of the end effector main rod is connected with the second mounting plate, and the second end of the end effector main rod is connected with the first mounting plate;
the at least one overturning rod and the picking device main rod are arranged on the first mounting plate and the second mounting plate in parallel, and the first end of the at least one overturning rod penetrates out of the second mounting plate far away from the first mounting plate so as to be connected with the driving device through the first end of the at least one overturning rod;
the driving device is configured to drive the at least one overturning rod to overturn by taking the end picking device main rod as an axis during driving;
the at least one grabbing device is fixed on the side wall of the at least one turnover rod, so that the at least one turnover rod drives the at least one grabbing device to turn over.
Optionally, the driving device includes: a driving device mounting seat, a transmission device, an upper driving cylinder and a lower driving cylinder, wherein,
the first end of the end effector main rod is connected with the driving device mounting seat;
the first end of the upper driving cylinder and the first end of the lower driving cylinder are connected with the driving device mounting seat, the axis of the upper driving cylinder and the axis of the lower driving cylinder are both perpendicular to the axis of the end effector main rod, and a connecting line between the first end of the upper driving cylinder and the first end of the lower driving cylinder is perpendicular to the axial direction of the end effector main rod;
the second end of the upper driving cylinder and the second end of the lower driving cylinder are respectively connected with the transmission device;
the transmission device is connected with the first end of the at least one turnover rod;
the transmission device is configured to drive the at least one overturning rod to overturn by taking the end effector main rod as an axis under the driving action of the upper driving cylinder and the lower driving cylinder.
Optionally, the driving device mounting seat includes: a driving device base, a first fixing plate and a second fixing plate, wherein,
the first end of the first fixing plate and the first end of the second fixing plate are arranged on two sides of the driving device base in parallel, and the first fixing plate and the second fixing plate are connected through a connecting piece.
Optionally, the transmission comprises: an interlocking device and a switching device, wherein,
the linkage device is respectively connected with the second end of the first fixing plate and the second end of the second fixing plate;
the linkage device is connected with the first end of the switching device, and the second end of the switching device is connected with the first end of the at least one turnover rod.
Optionally, the switching device includes: a switching rod, a switching mounting seat and a switching fixing piece, wherein,
the first end of the switching rod is connected with the side wall of the switching fixing piece, and the second end of the switching rod is connected with the switching mounting seat;
the switching fixing piece is sleeved on the first end of the at least one turning rod, so that the axial direction of the switching rod is perpendicular to the axial direction of the at least one turning rod;
the side wall of the switching mounting seat is connected with the linkage device.
Optionally, the linkage device includes: the first linkage piece, the second linkage piece, the third linkage piece and the fourth linkage piece; wherein the content of the first and second substances,
the first end of the first linkage piece is connected with the first position of the second end of the first fixed plate and the second position of the second end of the second fixed plate, the second end of the first linkage piece is connected with the first end of the second linkage piece, the second end of the second linkage piece is connected with the first end of the third linkage piece, the second end of the third linkage part is connected with the first end of the fourth linkage part, the second end of the fourth linkage part is connected with the third position of the second end of the first fixed plate and the fourth position of the second end of the second fixed plate, a line between a first position of the second end of the first fixing plate and a second position of the second end of the second fixing plate is parallel to a line between a third position of the second end of the first fixing plate and a fourth position of the second end of the second fixing plate and is parallel to an axis of the end effector main rod.
Optionally, the second end of the upper driving cylinder is disposed at a connection between the second end of the first linking member and the first end of the second linking member, and the second end of the lower driving cylinder is disposed at a connection between the second end of the third linking member and the first end of the fourth linking member.
Optionally, the switching mounting seat is connected to a connection position where the second end of the second linkage member is connected to the first end of the third linkage member.
Optionally, the rotating device further includes: and the rotating bearings are respectively sleeved at two ends of the end effector main rod.
Optionally, the at least one gripping device is a suction cup with a connecting rod.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
the present invention provides a flip end effector, comprising: rotary device, drive arrangement and at least one grabbing device, wherein, a upset end effector, its characterized in that, upset end effector includes: rotating means, drive means and at least one gripping means, the rotating means comprising: the end effector comprises an end effector main rod, at least one turnover rod, a first mounting plate and a second mounting plate; the first end of the end effector main rod is connected with the second mounting plate, and the second end of the end effector main rod is connected with the first mounting plate; the at least one overturning rod and the picking device main rod are arranged on the first mounting plate and the second mounting plate in parallel, and the first end of the at least one overturning rod penetrates out of the second mounting plate far away from the first mounting plate so as to be connected with the driving device through the first end of the at least one overturning rod; the driving device is configured to drive the at least one overturning rod to overturn by taking the end effector main rod as an axis under the driving action; the at least one grabbing device is fixed on the side wall of the at least one turnover rod, so that the at least one turnover rod drives the at least one grabbing device to turn over. In the implementation of the invention, the driving device can drive the at least one turnover rod to turn over by taking the end effector main rod as an axis under the driving action, and the at least one gripping device arranged on the side wall of the at least one turnover rod can also turn over along with the at least one turnover rod, so that parts on a production line can be turned over by the gripping device without manually turning over the parts, and the production efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural view of a flip end effector according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a flip end effector according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a disassembled structure of a rotational bearing of a flip end effector according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a rotary bearing of a flip end effector according to an embodiment of the present invention.
The reference numerals denote:
1-a rotating device, wherein the rotating device is arranged on the frame,
11-the main rod of the end pick-up,
12-a turning-over rod for turning over the clothes,
13-the first mounting plate, and the second mounting plate,
14-a second mounting plate, which is,
15-a rotating bearing is arranged on the rotating shaft,
151-rotating the base, the rotating base,
152-a rotating shim, which is,
153-the first bearing,
154-the second bearing, the first bearing,
2-a driving device for driving the motor,
21-a mounting seat of a driving device,
211-a base of the driving device,
212-a first fixing plate, the first fixing plate,
213-a second fixed plate, the second fixed plate,
214-the connecting piece is provided with a plurality of connecting pieces,
22-a transmission device for the transmission of the power,
221-a linkage device which is connected with the motor,
2211-a first linkage member,
2212-a second linkage piece,
2213-a third linking piece,
2214-a fourth linking piece,
222-a means for transferring the material to a storage device,
2221-a transfer lever, which is,
2222-the through-connection mounting base,
2223-the fixing member is adapted,
23-an upper driving air cylinder is arranged,
24-a lower driving cylinder is arranged on the lower part of the cylinder,
3-a gripping device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The present invention provides an inverting end effector, as shown in fig. 1, comprising: a rotating device 1, a driving device 2 and at least one gripping device 3, wherein,
the rotating apparatus 1 includes: an end-effector main bar 11, at least one turn bar 12, a first mounting plate 13 and a second mounting plate 14.
The first end of the end effector main rod 11 is connected with the second mounting plate 14, and the second end of the end effector main rod 11 is connected with the first mounting plate 13.
In some embodiments of the present invention, the first mounting plate 13 and the second mounting plate 14 are provided with corresponding central through holes, and two ends of the end-effector main bar 11 respectively penetrate through the corresponding central through holes to be connected with the first mounting plate 13 and the second mounting plate 14.
At least one turning bar 12 is arranged on the first mounting plate 13 and the second mounting plate 14 in parallel with the end effector main bar 11, and a first end of the at least one turning bar 12 protrudes outside the second mounting plate 14 away from the first mounting plate 13 so as to be connected to the driving device 2 through the first end of the at least one turning bar 12.
In some embodiments of the present invention, the number of flipping bars 12 is at least one, for example the number of flipping bars 12 may be one, two, and greater than two. For example, when the number of the turning bars 12 is one, the turning bars 12 are disposed on the first mounting plate 13 and the second mounting plate 14 in parallel with the end effector main bar 11, and the first ends of the turning bars 12 are passed out to the outside of the second mounting plate, so that the driving means is connected to the first ends of the turning bars 12; and as shown in fig. 1 and 2, when the number of the turning bars 12 is 2, two turning bars 12 are disposed in parallel on both sides of the main picking-up bar 11 and are connected to the first mounting plate 13 and the second mounting plate 14, respectively.
The connection of the turning bar 12 to the first mounting plate 13 and the second mounting plate 14 can be varied, and in some embodiments of the present invention, corresponding connection through holes are formed in the first mounting plate 13 and the second mounting plate 14, and two ends of the turning bar 12 respectively pass through the corresponding connection through holes formed in the first mounting plate 13 and the second mounting plate 14.
It should be noted that, when the number of the turning rods 12 is greater than or equal to two, the first end of one turning rod 12 only needs to penetrate out of the second mounting plate 14 far away from the first mounting plate 13, and the driving device 2 can connect the rotating device 1 with the driving device 2 through the turning rod 12.
The driving device 2 is configured to drive at least one turning lever 12 to turn around the end-effector main lever 11 as an axis when driven.
It should be noted that, under the driving action of the driving device 2, the driving device 2 drives the turning rod 12 connected to the driving device 2 to rotate, and under the rotation of the turning rod 12, the first mounting plate 13 and the second mounting plate 14 connected to the turning rod 12 are driven to rotate, so as to drive the other turning rods 12, which are arranged on the first mounting plate 13 and the second mounting plate 14 and are except the turning rod 12 connected to the driving device 2, to turn.
At least one gripping device 3 is fixed on the side wall of at least one turning bar 12, so that at least one turning bar 12 drives at least one gripping device 3 to turn.
In some embodiments of the invention, at least one gripping device 3 may be fixed to one turning bar 12, for example: the number of gripping means 3 fixed to one turning bar 12 may be one, two, three, etc.
The following description is given of the working principle and effects of the flip end effector provided by the embodiment of the present invention:
the turnover end effector provided by the embodiment of the invention can turn parts on a production line. The one end that closes on first mounting panel 13 with the end effector mobile jib 11 of upset end effector and the manipulator fixed connection on the automation line have realized the installation of this upset end effector.
When the turnover end picking device is applied, the horizontal and vertical movements of the turnover end picking device are realized through the horizontal and vertical movements of the mechanical arm. When the part that needs on to the automation line overturns, under drive arrangement 2's actuating action, drive arrangement 2 can drive the upset pole 12 that is connected rather than rotating, under the rotation of upset pole 12, can drive first mounting panel 13 and the second mounting panel 14 that are connected with upset pole 12 and rotate, thereby drive other upset poles 12 that set up on first mounting panel 13 and the second mounting panel 14 except that the upset pole 12 that is connected with drive arrangement 2 overturn, realized fixed grabbing device 3's the upset of snatching the part on upset pole 12.
In some embodiments of the invention, the drive means 2 comprise: a drive mount 21, a transmission 22, an upper drive cylinder 23 and a lower drive cylinder 24, wherein,
the first end of the end effector main rod 11 is connected with the driving device mounting seat 21; the first end of the upper driving cylinder 23 and the first end of the lower driving cylinder 24 are connected with the driving device mounting seat 21, the axial line of the upper driving cylinder 23 and the axial line of the lower driving cylinder 24 are both vertical to the axial line of the end effector main rod 11, and the connecting line between the first end of the upper driving cylinder 23 and the first end of the lower driving cylinder 24 is vertical to the axial direction of the end effector main rod 11; the second end of the upper driving cylinder 23 and the second end of the lower driving cylinder 24 are respectively connected with the transmission device 22; the transmission device 22 is connected with the first end of at least one turnover rod 12; the transmission device 22 is configured to drive the at least one turning bar 12 to turn around the end effector main bar 11 under the driving action of the upper driving cylinder 23 and the lower driving cylinder 24.
It should be noted that, during operation, the upper driving cylinder 23 and the lower driving cylinder 24 respectively perform telescopic movement along respective axial directions, and the movement directions of the upper driving cylinder 23 and the lower driving cylinder 24 are opposite, and under the driving action of the upper driving cylinder 23 and the lower driving cylinder 24, the transmission device 22 is driven to move, so that the transmission device 22 drives at least one turning rod 12 to turn over with the end effector main rod 11 as an axis.
In some embodiments of the present invention, the upper driving cylinder 23 and the lower driving cylinder 24 may be double-acting cylinders, the upper driving cylinder 23 and the lower driving cylinder 24 are respectively connected to a gas pipeline, the telescopic motion of the upper driving cylinder 23 and the lower driving cylinder 24 is controlled by a solenoid valve, and when the solenoid valve is opened, the gas pipeline is controlled to inflate the upper driving cylinder 23 and the lower driving cylinder 24 to drive the upper driving cylinder 23 and the lower driving cylinder 24 to work.
The upper driving cylinder 23 and the lower driving cylinder 24 are connected to two gas lines, respectively. For example: when the solenoid valve controls the gas pipeline to inflate into the through hole on the side wall of the upward driving cylinder 23 adjacent to the first end and the solenoid valve controls the gas pipeline to inflate into the through hole on the side wall of the upward driving cylinder 23 adjacent to the second end, the upward driving cylinder 23 is driven to extend, and when the solenoid valve controls the gas pipeline to inflate into the through hole on the side wall of the upward driving cylinder 23 adjacent to the second end, the solenoid valve controls the gas pipeline to inflate into the through hole on the side wall of the upward driving cylinder 23 adjacent to the first end, the upper driving cylinder 23 is driven to contract.
The principle of controlling the operation of the upper driving cylinder 23 and the lower driving cylinder 24 is the same, and will not be described in detail.
In some embodiments of the present invention, the driving device mount 21 includes: a driving device base 211, a first fixing plate 212, and a second fixing plate 213, wherein,
the first end of the first fixing plate 212 and the first end of the second fixing plate 213 are disposed at two sides of the driving device base 211 in parallel, and the first fixing plate 212 and the second fixing plate 213 are connected by a connecting member 214.
It should be noted that the first end and the second end of the first fixing plate 212 and both sides of the first fixing plate 212 located at the middle position between the first end and the second end are provided with connecting through holes, and the first end and the second end of the second fixing plate 213 and both sides of the second fixing plate 213 located at the middle position between the first end and the second end are provided with connecting through holes corresponding to the connecting through holes on the first fixing plate 212.
The driving device base 211 is provided with a second groove, the side walls of the two ends of the second groove are provided with through holes corresponding to the connecting through hole of the first end of the first fixing plate 212 and the connecting through hole of the first end of the second fixing plate 213, the connecting rod sequentially passes through the connecting through hole of the first fixing plate 212, the through hole of the driving device base 211 and the connecting through hole of the second fixing plate 213 to be connected, and the two ends of the connecting rod are locked by fixing pieces.
In some embodiments of the present invention, the connection 214 comprises: connecting rod, mounting, connecting rod sleeve pipe, wear into the corresponding connect the through-hole on first fixed plate 212 and the second fixed plate 213 with the both ends of connecting rod, the mounting suit is at the both ends of connecting rod, and the connecting rod sleeve pipe suit is on the connecting rod between first fixed plate 212 and second fixed plate 213 to fix first fixed plate 212 and second fixed plate 213.
In some embodiments of the present invention, the transmission 22 includes: a linkage device 221 and an adapter device 222, wherein the linkage device 221 is connected to the second end of the first fixing plate 212 and the second end of the second fixing plate 213 respectively; the linkage device 221 is connected to a first end of the switching device 222, and a second end of the switching device 222 is connected to a first end of at least one turning rod 12.
It should be noted that the linkage device 221 may be directly connected to the first end of the adapter device 222, and the linkage device 221 may be connected to the first end of the adapter device 222 through a connecting rod.
In some embodiments of the present invention, the transition device 222 comprises: the adapter 2221, the adapter mounting seat 2222 and the adapter fixing piece 2223, wherein a first end of the adapter 2221 is connected with a side wall of the adapter fixing piece 2223, and a second end of the adapter 2221 is connected with the adapter mounting seat 2222; the adaptor fixing part 2223 is sleeved on the first end of the at least one turning rod 12, so that the axial direction of the adaptor rod 2221 is perpendicular to the axial direction of the at least one turning rod 12; the side wall of the adaptor mounting seat 2222 is connected to the linkage device 221.
As shown in fig. 2, the interlocking device 221 includes: a first linkage piece 2211, a second linkage piece 2212, a third linkage piece 2213 and a fourth linkage piece 2214; wherein the content of the first and second substances,
the first end of the first linkage 2211 is connected to the first position of the second end of the first fixing plate 212 and the second position of the second end of the second fixing plate 213, the second end of the first linkage 2211 is connected to the first end of the second linkage 2212, the second end of the second linkage 2212 is connected to the first end of the third linkage 2213, the second end of the third linkage 2213 is connected to the first end of the fourth linkage 2214, the second end of the fourth linkage 2214 is connected to the third position of the second end of the first fixing plate 212 and the fourth position of the second end of the second fixing plate 213, a line between a first position of the second end of the first fixing plate 212 and a second position of the second end of the second fixing plate 213 is parallel to a line between a third position of the second end of the first fixing plate 212 and a fourth position of the second end of the second fixing plate 213 and is parallel to the axis of the end effector main lever 11.
In some embodiments of the present invention, the second end of the upper driving cylinder 23 is disposed at a connection point where the second end of the first linking member 2211 is connected to the first end of the second linking member 2212, and the second end of the lower driving cylinder 24 is disposed at a connection point where the second end of the third linking member 2213 is connected to the first end of the fourth linking member 2214.
It should be noted that the upper driving cylinder 23 drives the first linking member 2211 and the second linking member 2213 to move during the telescopic transformation, and the lower driving cylinder 24 drives the third linking member 2213 and the fourth linking member 2214 to move during the telescopic transformation.
When the upper driving cylinder 23 extends and the lower driving cylinder 24 shortens, the joint between the second end of the second linkage 2212 and the first end of the third linkage 2213 moves to the second end of the fourth linkage 2214, and the joint between the second end of the second linkage 2212 and the first end of the third linkage 2213 abuts against the second end of the fourth linkage 2214, so that the clockwise rotation of the components is completed. When the upper driving cylinder 23 is shortened and the lower driving cylinder 24 is extended, the joint between the second end of the second linkage 2212 and the first end of the third linkage 2213 moves toward the first end of the first linkage 2211, and the joint between the second end of the second linkage 2212 and the first end of the third linkage 2213 abuts against the first end of the first linkage 2211, so as to complete the counterclockwise rotation of the components.
In some embodiments of the present invention, the adaptor mounting 2222 is connected to a connection point where the second end of the second linkage 2212 is connected to the first end of the third linkage 2213.
The adapting mounting seat 2222 is connected to a connection point where the second end of the second linkage 2212 is connected to the first end of the third linkage 2213 through a connection rod.
It should be noted that, when the second linkage 2212 and the third linkage 2213 move under the driving action of the upper driving cylinder 23 and the lower driving cylinder 24, the second linkage 2212 and the third linkage 2213 also drive the adaptor mounting 2222 to move, and the movement trends of the second linkage 2212, the third linkage 2213 and the adaptor mounting 2222 are kept consistent.
In some embodiments of the invention, the rotating device 1 further comprises: and the rotary bearings 15 are respectively sleeved at two ends of the end effector main rod 11, and the rotary bearings 15 are respectively sleeved at two ends of the end effector main rod 11.
As shown in fig. 3 and 4, the rotary bearing 15 includes: rotating base 151, rotating spacer 152, first bearing 153 and second bearing 154, rotating base 151 is the hollow column structure of step form, rotating base 151 is equipped with rotating spacer 152, first bearing 153 and second bearing 154 by the first end of rotating base 151 to the second end of rotating base 151 suit in proper order, rotating spacer 152 suit is in rotating base 151's step face department, the diameter of rotating base 151's first end is greater than the diameter of rotating base 151's second end.
In some embodiments of the present invention, the at least one gripping device 3 is a suction cup with a connecting rod, which can grip a part on the automatic production line, and when the suction cup with the connecting rod is turned, the suction cup with the connecting rod can drive the part to turn.
The above description is only for facilitating the understanding of the technical solutions of the present invention by those skilled in the art, and is not intended to limit the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A flip end effector, comprising: a rotating device (1), a drive device (2) and at least one gripping device (3), wherein,
the rotating device (1) comprises: the end effector comprises an end effector main rod (11), at least one turning rod (12), a first mounting plate (13) and a second mounting plate (14);
the first end of the end effector main rod (11) is connected with the second mounting plate (14), and the second end of the end effector main rod (11) is connected with the first mounting plate (13); the at least one overturning rod (12) and the end effector main rod (11) are arranged on the first mounting plate (13) and the second mounting plate (14) in parallel, and the first end of the at least one overturning rod (12) penetrates out of the second mounting plate (14) far away from the first mounting plate (13) so as to be connected with the driving device (2) through the first end of the at least one overturning rod (12);
the driving device (2) is configured to drive at least one overturning rod (12) to overturn by taking the end picking main rod (11) as an axis when being driven;
at least one gripping device (3) is fixed on the side wall of at least one turnover rod (12), so that the at least one turnover rod (12) drives the at least one gripping device (3) to turn over;
the drive device (2) comprises: a driving device mounting seat (21), a transmission device (22), an upper driving air cylinder (23) and a lower driving air cylinder (24), wherein,
the first end of the end effector main rod (11) is connected with the driving device mounting seat (21);
the first end of the upper driving cylinder (23) and the first end of the lower driving cylinder (24) are connected with the driving device mounting seat (21), the axis of the upper driving cylinder (23) and the axis of the lower driving cylinder (24) are both perpendicular to the axis of the end effector main rod (11), and the connecting line between the first end of the upper driving cylinder (23) and the first end of the lower driving cylinder (24) is perpendicular to the axial direction of the end effector main rod (11);
the second end of the upper driving air cylinder (23) and the second end of the lower driving air cylinder (24) are respectively connected with the transmission device (22);
the transmission device (22) is connected with the first end of at least one turnover rod (12);
the transmission device (22) is configured to drive at least one overturning rod (12) to overturn by taking the end effector main rod (11) as an axis under the driving action of the upper driving air cylinder (23) and the lower driving air cylinder (24);
the drive device mount (21) includes: a drive unit base (211), a first fixing plate (212) and a second fixing plate (213), wherein,
the first end of the first fixing plate (212) and the first end of the second fixing plate (213) are arranged on two sides of the driving device base (211) in parallel, and the first fixing plate (212) and the second fixing plate (213) are connected through a connecting piece (214);
the transmission (22) comprises: a linkage device (221) and a switching device (222), wherein,
the linkage device (221) is respectively connected with the second end of the first fixing plate (212) and the second end of the second fixing plate (213);
the linkage device (221) is connected with a first end of the switching device (222), and a second end of the switching device (222) is connected with a first end of at least one turning rod (12);
the interlocking device (221) comprises: a first linkage piece (2211), a second linkage piece (2212), a third linkage piece (2213) and a fourth linkage piece (2214); wherein the content of the first and second substances,
a first end of a first linkage member (2211) is connected with a first position of a second end of the first fixing plate (212) and a second position of a second end of the second fixing plate (213), a second end of the first linkage member (2211) is connected with a first end of a second linkage member (2212), a second end of the second linkage member (2212) is connected with a first end of a third linkage member (2213), a second end of the third linkage member (2213) is connected with a first end of a fourth linkage member (2214), a second end of the fourth linkage member (2214) is connected with a third position of the second end of the first fixing plate (212) and a fourth position of the second end of the second fixing plate (213), and a connecting line between the first position of the second end of the first fixing plate (212) and the second position of the second end of the second fixing plate (213) is parallel to the third position of the second end of the first fixing plate (212) and the second position of the second fixing plate (213) ) Is parallel to the axis of the main rod (11) of the end pick-up.
2. The flipping end-effector of claim 1, wherein the transition device (222) comprises: a switching pole (2221), a switching mounting seat (2222) and a switching fixing piece (2223), wherein,
the first end of the adapting rod (2221) is connected with the side wall of the adapting fixing piece (2223), and the second end of the adapting rod (2221) is connected with the adapting mounting seat (2222);
the switching fixing piece (2223) is sleeved on the first end of at least one turning rod (12) so that the axial direction of the switching rod (2221) is perpendicular to the axial direction of at least one turning rod (12);
the side wall of the adapting installation seat (2222) is connected with the linkage device (221).
3. The flipping end-effector of claim 1, wherein the second end of the upper driving cylinder (23) is disposed at the connection point where the second end of the first linkage member (2211) is connected to the first end of the second linkage member (2212), and the second end of the lower driving cylinder (24) is disposed at the connection point where the second end of the third linkage member (2213) is connected to the first end of the fourth linkage member (2214).
4. The flip end effector of claim 2, wherein the pod (2222) is connected at a connection where the second end of the second linkage (2212) is connected to the first end of the third linkage (2213).
5. The flipping end-effector according to claim 1, wherein the rotating device (1) further comprises: and the rotating bearings (15) are respectively sleeved at two ends of the end effector main rod (11).
6. The flipping end-effector according to claim 1, wherein at least one of said gripping means (3) is a suction cup with a connecting rod.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910431216.6A CN110143435B (en) | 2019-05-22 | 2019-05-22 | Turnover end picking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910431216.6A CN110143435B (en) | 2019-05-22 | 2019-05-22 | Turnover end picking device |
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| CN110143435A CN110143435A (en) | 2019-08-20 |
| CN110143435B true CN110143435B (en) | 2020-10-02 |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11300441A (en) * | 1998-04-22 | 1999-11-02 | Amada Co Ltd | Loader and unloader device having shift function |
| CN100458799C (en) * | 2005-12-22 | 2009-02-04 | 同济大学 | Automatic optimizing desing method for end pick up |
| CN204620896U (en) * | 2015-04-07 | 2015-09-09 | 上汽通用五菱汽车股份有限公司 | A kind of stamping mechanical arm plate Handling device |
| CN205414204U (en) * | 2016-03-14 | 2016-08-03 | 伟本机电（上海）有限公司 | End effector plate turning device |
| CN205739266U (en) * | 2016-05-13 | 2016-11-30 | 广西柳州市莱恩自动化设备有限公司 | A kind of band Mantidis arm and automatic mechanism remove brick machine |
| CN206084551U (en) * | 2016-10-21 | 2017-04-12 | 东风天汽模（武汉）金属材料成型有限公司 | Upset end effector |
| CN207256236U (en) * | 2017-08-31 | 2018-04-20 | 深圳市创世纪机械有限公司 | Cantilevered manipulator |
| CN108528496A (en) * | 2018-06-28 | 2018-09-14 | 新昌县营道科技有限公司 | A kind of adjustable station operating bassinet structure and folding and method of deploying |
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