CN111300466A - Robot and triaxial both arms manipulator end effector sharing structure and sharing end effector - Google Patents
Robot and triaxial both arms manipulator end effector sharing structure and sharing end effector Download PDFInfo
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- CN111300466A CN111300466A CN202010267864.5A CN202010267864A CN111300466A CN 111300466 A CN111300466 A CN 111300466A CN 202010267864 A CN202010267864 A CN 202010267864A CN 111300466 A CN111300466 A CN 111300466A
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- end effector
- robot
- shaped plate
- manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to a shared structure of a robot and a three-axis double-arm manipulator end effector, which comprises a conversion plate and robot end effector quick-change connectors arranged on the conversion plate, wherein the lower parts of two ends of the conversion plate are respectively connected with the two manipulator end effector quick-change connectors; the end effector is shared by the multi-station robot and the three-axis double-arm manipulator and comprises the end effector sharing structure, two clamping blocks are respectively provided with a connecting main rod, and the main rods are provided with clamps; when the same product is used for different thermal forming production lines, only one set of tooling is needed, which is beneficial to lean management, not only reduces the input cost, but also reduces the stock of spare parts; and the line changing time when the product is transferred to a production line is reduced.
Description
Technical Field
The invention relates to a shared structure of a robot and a three-axis double-arm manipulator end effector and a shared end effector.
Background
In the field of thermoforming at present, feeding and discharging mainly have two forms: when the mechanical arm is used for feeding and discharging, the change of the spatial position can be realized by moving along each shaft perpendicular to the axis, the moving distance of each shaft can be directly read on the coordinate axis, the intuition is strong, the position and the posture can be easily programmed and calculated, the movement is simple, the position precision is high, the control is free of coupling, and the requirements of quick and accurate feeding and discharging of hot stamping can be well met; when the robot is adopted for feeding and discharging, the flexibility is high, the obstacle avoidance performance is good, the cost is low, the robot can control the end picking device to realize actions in various forms, and the complex working condition of a thermal forming production line can be well dealt with.
The development of the hot forming technology is rapidly advanced, more and more products are produced, and a manipulator and an end effector are often required to be matched for production in order to deal with various products. The three-axis double-arm manipulator needs to be matched with two pairs of end picking devices, the multi-station robot needs to be matched with one pair of end picking devices, the two end picking devices cannot be shared due to different forms, the same product needs to be provided with two types of tools, and the cost is high.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a structure shared by a multi-station robot and a three-axis double-arm mechanical end effector, so that two sets of tools are avoided, and the cost is reduced.
The technical scheme for solving the technical problems is as follows: the utility model provides a multistation robot and triaxial both arms manipulator end effector sharing structure, includes the change-over plate and locates robot end effector quick change coupler on the change-over plate, the both ends lower part of change-over plate is connected with two manipulator end effector quick change couplers respectively, robot end effector quick change coupler and robot can realize fast loading and unloading. The structure of the quick-change connector of the robot end effector is the same as that of the quick-change connector of the end effector used by a multi-station robot in the prior art.
Further, manipulator end effector quick change coupler includes and presss from both sides tight piece, locates the L template on pressing from both sides tight piece and locates the first T template on the L template, be equipped with the gas pocket on the first T template, be equipped with the air flue on the L template.
Furthermore, the lower parts of the two ends of the conversion plate are respectively connected with the L-shaped plate through a second T-shaped plate.
Further, the L-shaped plate and the second T-shaped plate are detachably connected.
The invention also relates to an end effector shared by the multi-station robot and the three-axis double-arm manipulator, which comprises the end effector shared structure, wherein the two clamping blocks are respectively provided with a connecting main rod, and the main rods are provided with clamps.
The beneficial effect of sharing the end effector is:
1) when the same product is used for different thermal forming production lines, only one set of tooling is needed, which is beneficial to lean management, not only reduces the input cost, but also reduces the stock of spare parts; and the line changing time when the product is transferred to a production line is reduced;
2) the same structure can be used for the conversion of different feeding and discharging modes of various products, and has simple structure and convenient operation;
3) the tool exchange between the robot and the three-axis double-arm manipulator can be realized, and the tool utilization efficiency is improved.
Drawings
FIG. 1 is a schematic view of a common end effector of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is an enlarged view of a portion of FIG. 1 at B;
FIG. 4 is a schematic diagram of a prior art robot end effector;
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example 1
As shown in fig. 2-3, a structure shared by a multi-station robot and a three-axis dual-arm manipulator end effector comprises a conversion plate 2 and a robot end effector quick-change connector 1 arranged on the conversion plate 2, wherein the lower parts of two ends of the conversion plate 2 are respectively connected with the two manipulator end effector quick-change connectors, and the robot end effector quick-change connector and the robot can realize quick loading and unloading. The structure of the quick-change connector 2 of the robot end effector is the same as that of the quick-change connector of the end effector used by a multi-station robot in the prior art.
The quick-change connector of the manipulator end effector comprises a clamping block 5, an L-shaped plate 4 arranged on the clamping block 5 and a first T-shaped plate 8 arranged on the L-shaped plate 4, wherein an air hole 8-1 is formed in the first T-shaped plate 8, and an air passage is formed in the L-shaped plate 4.
Install robot end effector quick change coupler 1 on conversion plate 2 earlier, when being used for the robot, on two manipulator end effector quick change couplers directly install have robot end effector quick change coupler 1 conversion plate 2 can, also be directly install conversion plate 2 on two first T templates 8.
Example 2
The difference from example 1 is that: the lower parts of two ends of the conversion plate 2 are respectively connected with the L-shaped plate through a second T-shaped plate 3, the second T-shaped plate 3 is not provided with air holes, and the first T-shaped plate 8 is always arranged on an arm of the manipulator. The L-shaped plate 4 and the second T-shaped plate 3 are detachably connected. When being used for the robot, unpack L template 4 and first T template 8 apart from the manipulator, be connected L template 4 and second T template 3 again can.
An end effector adopted by the existing manipulator is shown in fig. 4, and comprises a manipulator end effector quick-change connector, a main rod 6 and a clamp 7 sleeved on the main rod 6. In this embodiment, the second T-shaped plate 3 is not provided with air holes, so that the processing is simpler and the cost is saved. In addition, with embodiment 1, the first T-shaped plate 8 with the air holes needs to be frequently detached, and due to the positions of the air holes, the first T-shaped plate 8 and the conversion plate 2 are not convenient to mount, and when used in a robot, the air holes are not needed.
The invention also relates to a shared end picking device of a robot and a three-axis double-arm manipulator with the shared end picking device structure, which comprises the shared end picking device structure as shown in figure 3, wherein two clamping blocks 5 are respectively provided with a connecting main rod 6, and the main rods are provided with clamps 7.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. The utility model provides a multistation robot and triaxial both arms manipulator end effector sharing structure which characterized in that, includes the change-over plate and locates robot end effector quick change coupler on the change-over plate, the both ends lower part of change-over plate is connected with two manipulator end effector quick change couplers respectively.
2. The multi-station robot and three-axis dual-arm manipulator end effector sharing structure according to claim 1, wherein the manipulator end effector quick-change connector comprises a clamping block, an L-shaped plate arranged on the clamping block, and a first T-shaped plate arranged on the L-shaped plate, the first T-shaped plate is provided with air holes, and the L-shaped plate is provided with air passages.
3. The multi-station robot and three-axis double-arm manipulator end effector sharing structure according to claim 2, wherein lower portions of both ends of the transfer plate are connected to the L-shaped plate through a second T-shaped plate, respectively.
4. The multi-station robot and three-axis dual-arm robot end-effector common structure of claim 3, wherein said L-shaped plate and said second T-shaped plate are detachably connected.
5. An end effector shared by a multi-station robot and a three-axis double-arm manipulator, characterized by comprising the end effector shared structure as claimed in any one of claims 1 to 4, wherein two clamping blocks are respectively provided with a connecting main rod, and the main rods are provided with clamps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010267864.5A CN111300466A (en) | 2020-04-08 | 2020-04-08 | Robot and triaxial both arms manipulator end effector sharing structure and sharing end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010267864.5A CN111300466A (en) | 2020-04-08 | 2020-04-08 | Robot and triaxial both arms manipulator end effector sharing structure and sharing end effector |
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| Publication Number | Publication Date |
|---|---|
| CN111300466A true CN111300466A (en) | 2020-06-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010267864.5A Pending CN111300466A (en) | 2020-04-08 | 2020-04-08 | Robot and triaxial both arms manipulator end effector sharing structure and sharing end effector |
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| CN (1) | CN111300466A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115556126A (en) * | 2022-09-28 | 2023-01-03 | 安徽纳赫智能科技有限公司 | Multi-shaft feeding and discharging end effector structure |
-
2020
- 2020-04-08 CN CN202010267864.5A patent/CN111300466A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115556126A (en) * | 2022-09-28 | 2023-01-03 | 安徽纳赫智能科技有限公司 | Multi-shaft feeding and discharging end effector structure |
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