CN205799565U - A kind of robot general end effector of brake block carrying - Google Patents
A kind of robot general end effector of brake block carrying Download PDFInfo
- Publication number
- CN205799565U CN205799565U CN201620693765.2U CN201620693765U CN205799565U CN 205799565 U CN205799565 U CN 205799565U CN 201620693765 U CN201620693765 U CN 201620693765U CN 205799565 U CN205799565 U CN 205799565U
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- China
- Prior art keywords
- picking
- brake block
- robot
- installing plate
- cylinder
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Abstract
This utility model discloses the general end effector of robot of a kind of brake block carrying, including executor's main body, and is arranged on the mechanism for picking in executor's main body from left to right.Wherein, mechanism for picking is designed with electric magnet for adsorbing brake block.The spacing simultaneously designing adjacent mechanism for picking is adjustable by air cylinder driven Component driver, it is achieved the absorption to the brake block of different size.Advantage of the present utility model is: be effectively improved pickup success rate, and production efficiency, is suitable for wide, success rate height, the advantage of low cost.
Description
Technical field
This utility model belongs to automatization's workpiece handling field, relates to the application of industrial robot, is specifically related to one and stops
The general end effector of robot of car sheet carrying.
Background technology
Along with the industrial robot extensive application in automated handling operation, the production process of brake block starts introduce
Industrial robot.The feature that brake block small lot, multiple types produce requires the end effector of industrial robot pickup brake block
There is high suitability, high pickup success rate and high pickup efficiency.
The end effector apparatus being currently used for robot transport brake block operation generally has three kinds:
1, pneumatic gripping device is used.This kind of method success rate is high, but it is few disposably to capture quantity, it is impossible to meet brake block
Production requirement.Additionally this kind of method cost in three kinds of methods is the highest.
2, vacuum cup is used.This kind of method success rate is minimum, because there is Local Convex on the inhaled surface of a part of brake block
Rise or depression, and working environment has bigger dust, is unfavorable for the adsorption entails of sucker.
3, electric magnet is used.This kind of method success rate is high, reliable, and single pickup quantity meets the production of brake block and wants
Ask.It addition, the cost of this kind of method is the most relatively low.However it is necessary that type selecting and the sky improving existing end effector electric magnet
Between layout, in order to improve versatility and pickup success rate.
Utility model content
For the problems referred to above, the utility model proposes the general end effector of robot of brake block carrying, use electromagnetism
Ferrum is main body, to meet multi-assortment production mixes line production as design object, based on to the system of brake block kind on mix flow
Meter and packet, to electric magnet type selecting and space layout in addition appropriate design, and the most certain product extensibility, reach
Arrive and improve pickup success rate, improve the effect of production efficiency, have and be suitable for wide, success rate height, the advantage of low cost.
The general end effector of robot of this utility model brake block carrying, including executor's main body and mechanism for picking.
Described executor's main body is arranged on robot end, has mechanism for picking installing plate.Described mechanism for picking includes electricity
Magnet installing plate and electromagnetic adsorption mechanism.Wherein, electromagnet mounting plate is provided with electromagnetic adsorption mechanism；Electromagnetic adsorption mechanism has
There are electric magnet and connecting shaft；Connecting shaft top passes electromagnet mounting plate, and limits moving downward of connecting shaft；Connecting shaft bottom
Electric magnet is installed；And between electric magnet and electromagnet mounting plate, it is provided with spring.
Above-mentioned mechanism for picking is five, and electric magnet is arranged down, is mounted side by side on from left to right on mechanism for picking installing plate；
Make five mechanism for picking be respectively first～the 5th mechanism for picking from left to right, then the first, the 3rd with the 5th mechanism for picking with pick up
Take between mechanism's installing plate fixing；The second, the 4th mechanism for picking is connected with horizontally slipping between mechanism for picking installing plate, and with in frame
The air cylinder driven assembly installed is connected.
Being provided with inverted U bracing frame on mechanism for picking installing plate, inverted U bracing frame two ends are arranged on mechanism for picking installing plate
Side edge front and back, and be positioned in the middle part of mechanism for picking installing plate；The top of inverted U flange bracing frame is provided with work shape flange seat, work
Shape flange seat end is connected with robot end.
Have through hole on electromagnet mounting plate, oilless bushing is installed in through hole；After connecting shaft top passes oilless bushing,
Positioned by the nut of bolt.
When the general end effector of robot of above-mentioned brake block carrying is applied, make end effector by controlling robot
Move down into specified altitude assignment above take-off location and wait workpiece, until brake block moves to the photoswitch of take-off location with conveyer belt
During place, end effector obtains electric, makes electric magnet produce magnetic absorption (pickup) brake block setting position to end effector.
Having adsorbed rear robot drives end effector to move, and waits that on end effector, next setting position carries out brake block absorption
Work；Control transmission band subsequently and next block brake block is delivered to take-off location, mechanism for picking adsorb.
The utility model has the advantage of:
1, the general end effector of robot of this utility model brake block carrying, on the basis of investigations a large amount of to product
By the layout optimization of electric magnet, make electric magnet much more as far as possible must touch brake block, produce enough absorption affinities, reduce brake block
Impact on pickup in irregular shape；
2, the general end effector of robot of this utility model brake block carrying, fixing mechanism for picking and movable pickup
The space layout of mechanism cooperates, and makes this device can cover the carrying of brake block of more than 90%, improves the suitability；
3, the general end effector of robot of this utility model brake block carrying, installs dust cover additional outside its agent structure,
To better adapt to field working conditions.
Accompanying drawing explanation
Fig. 1 is the robot general end effector structures schematic diagram of this utility model brake block carrying；
Fig. 2 is mechanism for picking structural representation in the general end effector of robot that this utility model brake block is carried；
Fig. 3 is in mechanism for picking, mechanism for picking mounting plates structure schematic diagram；
Fig. 4 is air cylinder driven Component driver position in the general end effector of robot that this utility model brake block is carried
Schematic diagram；
Fig. 5 is that the general end effector of robot of this utility model brake block carrying installs structural representation after dust cover additional
Figure；
Fig. 6 is that the general end effector of robot of this utility model brake block carrying carries out 5 and 3 brake block absorption
Time view；
Fig. 7 is that the general end effector of robot of this utility model brake block carrying carries out shape during 4 brake block absorption
State schematic diagram.
In figure:
1-executor's main body 2-mechanism for picking 3-air cylinder driven assembly
4-slide block 101-work shape flange seat 102-flange bracing frame
103-mechanism for picking installing plate 201-electromagnet mounting plate 202-electromagnetic adsorption mechanism
202a-oilless bushing 202b-connecting shaft 202c-electric magnet
The 202d-spring 202e-thin pad of hexagon socket head cap screw 202f-
202g-annulus pad 202g-slide block 301-single-cylinder dual-action cylinder
302-cylinder push-rod 303-cylinder is cut somebody's hair
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is described in further detail.
The general end effector of robot of this utility model brake block carrying, including executor's main body 1 and mechanism for picking
2, as shown in Figure 1.
Described executor's main body 1 includes work shape flange seat 101, flange bracing frame 102 and mechanism for picking installing plate 103.Its
In, flange bracing frame 102 is the inverted U bracing frame being made up of top board and biside plate, and biside plate bottom is fixedly installed in rectangle knot
Side edge before and after the mechanism for picking installing plate 103 of structure, and being positioned in the middle part of mechanism for picking installing plate 103, makes the bracing frame 102 will not be with
Interfere between the mechanism for picking 2 installed on mechanism for picking installing plate 103.The fixing end of work shape flange seat 101 is arranged on down U
On the top board of type flange bracing frame 102, the other end is to connect end for the connection with the machine human world.
Described mechanism for picking 2 includes electromagnet mounting plate 201 and electromagnetic adsorption mechanism 202, as in figure 2 it is shown, wherein, electromagnetism
Ferrum installing plate 201 is rectangular configuration, and it offers 9 through holes, as it is shown on figure 3,9 arrays of openings modes are the arrangement of through hole
Mode is: hole centered by a through hole, is opened in electromagnet mounting plate 201 center；Other 8 through holes 4 are one group,
Totally two groups, being opened in electromagnet mounting plate 201 front portion and rear portion respectively, often 4 through holes of group are with two row two row arrangements, and i.e. 4 lead to
The hole line of centres is a square, and these foursquare 4 limits are respectively parallel to fixedly mount four sides of plate；And above-mentioned two groups
Through hole is relative to centre bore centrosymmetry.Above-mentioned each through hole is used for installing a set of electromagnetic absorption device 202, mounting means phase
With.By above-mentioned arrangement mode, mechanism for picking 2 is made to be applicable to the absorption of multiple brake block.
Described electromagnetic absorption device 202 includes oilless bushing 202a, connecting shaft 202b, electric magnet 202c and spring 202d.
Wherein, oilless bushing 202a is coaxially installed in through hole in an interference fit, by top shoulder and electromagnet mounting plate
201 end faces coordinate location；Meanwhile, after passing, by jackscrew, the fixing hole offered on electric magnet fixed plate 201 side, by oil-free axle
Set 202a holds out against fixing.Connecting shaft 202b is coaxially disposed in oilless bushing 202a, can move up and down along oilless bushing 202a, logical
Cross oilless bushing 202a to be greatly reduced connecting shaft 202b and move up and down caused abrasion.Connecting shaft 202b bottom is coaxially installed with
Column electric magnet 202c, and by the perforate mode of through hole on above-mentioned electromagnet mounting plate 201, make in electromagnetic absorption device 202
Electric magnet 202c also according to through hole arrangement mode arrange.Connecting shaft top with penetrated by oilless bushing 202a top in six
Corner bolt 202e is connected, by the nut portion of hexagon socket head cap screw 202e realize that connecting shaft 202b moves down spacing.Connecting shaft
It is precision-fit between 202b and oilless bushing 202a, therefore ensures that the verticality of connecting shaft 202b, and then ensure that connecting shaft
The horizontality of the electric magnet 202c bottom surface (adsorption plane) that 202b bottom is installed.Spring 202d, spring also it is cased with in connecting shaft 202b
The upper and lower two ends of 202d respectively with oilless bushing 202a bottom and electric magnet 202c tip contact.When adsorbing brake block, electric magnet
The adsorption plane of 202c produces magnetic absorption brake block, when can realize brake block absorption by spring 202e is produced electric magnet 202c
The buffering of raw impact.Thin pad 202f it is provided with between nut portion and the connecting shaft 202b top of above-mentioned hexagon socket head cap screw 202e,
The adsorption plane making electric magnet 202c is smooth, highly consistent；In connecting shaft 202b, also it is cased with annulus pad 202g, annulus pad simultaneously
202g, between spring 202e upper end and oilless bushing 202a bottom, makes spring 202e upper end contact with annulus pad 202g, enters
And making in brake block adsorption process, the spring 202e compression distance in each electromagnetic absorption device 202 is identical, it is ensured that its elastic force phase
With.
Owing to brake block is mixes line production technique, need to adapt to the size and dimension of different product, therefore this utility model
Five mechanism for picking 2 of middle employing, are respectively arranged on mechanism for picking installing plate 103 at five loading positions from left to right；Neck
Five loading positions are respectively one～No. five from left to right and carry positions, wherein No. one, No. three with No. five lift-launch positions at pickups
Mechanism 2, as fixing mechanism for picking, is relatively fixed installation with mechanism for picking installing plate 103；No. two with No. four carry at positions pick up
Taking mechanism 2 is movable mechanism for picking, is connected without fixing with between mechanism for picking installing plate 103, but uses the mode of being slidably connected to pacify
Dress, and driven by air cylinder driven assembly 3 respectively, can move up in mechanism for picking installing plate 103 right and left.
Mounting means between above-mentioned fixing mechanism for picking and mechanism for picking installing plate 103 is particularly as follows: install at mechanism for picking
Offer installing port A on plate, electromagnetic adsorption mechanisms 202 whole in fixing mechanism for picking are passed over peace by mechanism for picking installing plate
Dress mouth A, makes electromagnet mounting plate 202a lower surface and mechanism for picking installing plate 103 upper surface overlap joint location, passes through bolt subsequently
Both are fixed, and then realizes fixing fixing between mechanism for picking and mechanism for picking installing plate 103.
Above-mentioned movable mechanism for picking set-up mode on mechanism for picking installing plate 103 is: on mechanism for picking installing plate
Offering installing port B, installing port about B width design is the electromagnet mounting plate width more than movable mechanism for picking, picks up for activity
Take mechanism and move left and right headspace.In movable mechanism for picking all electromagnetic adsorption mechanisms 202 by mechanism for picking installing plate above
Through installing port B, electromagnet mounting plate 202a lower surface overlaps with mechanism for picking installing plate 103 upper surface；Meanwhile, at pickup machine
Before and after structure installing plate 103, side edge is provided with slide block 202h, as best shown in figs. 1 and 4, slide block 202h has chute, respectively
It is slidably installed with side before and after mechanism for picking installing plate 103.
Above-mentioned air cylinder driven assembly 3 includes that single-cylinder dual-action cylinder 301, cylinder push-rod 302 and cylinder cut somebody's hair 303, such as Fig. 1
Shown in Fig. 4.Wherein, single-cylinder dual-action cylinder 301 is two, is fixedly installed in mechanism for picking installing plate by support respectively
On the side of 103, and making the piston rod of single-cylinder dual-action cylinder 301 be parallel to mechanism for picking installing plate 103, outfan is towards it
The movable mechanism for picking driven.The piston rod outfan coaxial threaded fixed installation cylinder of two single-cylinder dual-action cylinders 301
Push rod 302；The outfan of two cylinder push-rods 302 is screwed and is provided with cylinder and cuts somebody's hair 303.Two cylinders are cut somebody's hair and 303 are passed through
Screw is fixedly installed in movable mechanism for picking before and after electromagnet mounting plate 201 upper surface at two ends respectively.Two single cylinders are double
It is also equipped with in opposite direction two magnetic switch 8 on active cylinder 301, with detection single-cylinder dual-action cylinder 301 whether to be used for
Normal operation.
The general end effector of robot of this utility model brake block carrying, outside is packaged by dust cover, such as Fig. 5
Shown in, mechanism for picking 2 and air cylinder driven assembly 3 are protected.It is fixedly installed in robot by work shape flange seat 101
End；End effector is made to move down into specified altitude assignment wait workpiece above take-off location by controlling robot, until brake block
When moving at the photoswitch of take-off location with conveyer belt, end effector obtains electric, makes electric magnet produce magnetic absorption and (picks up
Taking) brake block is to the setting position on end effector.Having adsorbed rear robot drives end effector to move, and waits end
Executor next setting position upper carries out brake block absorption work；Control transmission band subsequently and next block brake block is delivered to pickup
Position, is adsorbed by end effector.
This utility model uses by two movable pick devices and three fixing mechanism for picking 5 mechanism for picking totally, can expire
The different Production requirement of foot, it is achieved three kinds of brake block carrying schemes, is respectively as follows:
Make five mechanism for picking, the most respectively first～the 5th mechanism for picking, then:
Scheme 1: five pieces of brake blocks disposably carried by the general end effector of robot carried by brake block；Such as Fig. 6
Shown in, now single-cylinder dual-action cylinder 301 is contraction state, and now, between five mechanism for picking, centre distance is equal is 60mm.
Thus, the general end effector of robot of brake block under this kind of state carrying obtain electric after, make the electricity in five pick devices
Magnet produces magnetic, and corresponding 5 width dimensions of absorption are 0～52(containing 52) millimeter, and the brake block that shape does not limits.
Scheme 2: four pieces of brake blocks disposably carried by the general end effector of robot carried by brake block；Such as Fig. 7
Shown in, now single-cylinder dual-action cylinder 301 is extended configuration, now, and the second mechanism for picking and the electric magnet of the 4th mechanism for picking
The electromagnet mounting plate laminating of installing plate and the 3rd mechanism for picking；And first mechanism for picking and the second mechanism for picking centre distance,
It is 80mm with the centre-to-centre spacing of the 4th mechanism for picking and the 5th mechanism for picking.Thus, the machine of the carrying of the brake block under this kind of state
The general end effector of device people obtain electric after, make electric magnet in five pick devices produce magnetic, adsorbing 4 width dimensions is 52
～72(contains 72) millimeter, the brake block that shape does not limits.The suction type of 4 brake blocks is: by the electric magnet of the first mechanism for picking
Adsorb 1 brake block.By the electric magnet of the second mechanism for picking, in conjunction with in the 3rd mechanism for picking with the second adjacent side of mechanism for picking
1 brake block of electric magnet co-absorbed.By the 4th mechanism for picking, in conjunction with adjacent with the 4th mechanism for picking in the 3rd mechanism for picking
1 brake block of the electric magnet co-absorbed of side.1 brake block is adsorbed by the electric magnet of the 5th mechanism for picking.
Scheme 3: three pieces of brake blocks disposably carried by the general end effector of robot carried by brake block；Now,
Identical with scheme 1, single-cylinder dual-action cylinder 301 is contraction state, the first mechanism for picking and the 3rd mechanism for picking centre distance, with
The centre-to-centre spacing of the 5th mechanism for picking and the 3rd mechanism for picking is 120mm.Thus, the machine of the carrying of the brake block under this kind of state
The general end effector of people obtain electric after, make the first, the 3rd and the 5th mechanism for picking 2 in five pick devices electric magnet produce magnetic
Property, adsorbing 3 width dimensions is 72～112(containing 112) millimeter, the brake block that shape does not limits.The suction type of 3 brake blocks
For: by the electric magnet of the first mechanism for picking, the electric magnet in conjunction with the second mechanism for picking and the adjacent side of the first mechanism for picking is common
Adsorb 1 brake block.By the 3rd electric magnet fixing mechanism for picking, in conjunction with second and the 4th mechanism for picking and the 3rd mechanism for picking
Electric magnet 1 brake block of absorption of adjacent side.By the 5th mechanism for picking, in conjunction with the 4th mechanism for picking and the 5th mechanism for picking phase
1 brake block of electric magnet co-absorbed of adjacent side.
Claims (6)
1. the general end effector of robot of a brake block carrying, it is characterised in that: include executor's main body and pickup machine
Structure；
Described executor's main body is arranged on robot end, has mechanism for picking installing plate；Described mechanism for picking includes electric magnet
Installing plate and electromagnetic adsorption mechanism；Wherein, electromagnet mounting plate is provided with electromagnetic adsorption mechanism；Electromagnetic adsorption mechanism has electricity
Magnet and connecting shaft；Connecting shaft top passes electromagnet mounting plate, and limits moving downward of connecting shaft；Connecting shaft bottom is installed
Electric magnet；And between electric magnet and electromagnet mounting plate, it is provided with spring；
Above-mentioned mechanism for picking is five, and electric magnet is arranged down, is mounted side by side on from left to right on mechanism for picking installing plate；Make five
Individual mechanism for picking is respectively first～the 5th mechanism for picking, then the first, the 3rd and the 5th mechanism for picking and pickup machine from left to right
Fix between structure installing plate；The second, the 4th mechanism for picking is connected with horizontally slipping between mechanism for picking installing plate, and installs in frame
Air cylinder driven assembly be connected.
The general end effector of robot of a kind of brake block the most as claimed in claim 1 carrying, it is characterised in that: mechanism for picking
Being provided with inverted U bracing frame on installing plate, inverted U bracing frame two ends are arranged on side edge before and after mechanism for picking installing plate, and position
In the middle part of mechanism for picking installing plate；The top of inverted U flange bracing frame is provided with work shape flange seat, work shape flange seat end and machine
Device robot end is connected.
The general end effector of robot of a kind of brake block the most as claimed in claim 1 carrying, it is characterised in that: air cylinder driven
Assembly includes that single-cylinder dual-action cylinder, cylinder push-rod are cut somebody's hair with cylinder；Wherein, single-cylinder dual-action cylinder is two, passes through respectively
Support is fixedly installed on the side of mechanism for picking installing plate, and makes the piston rod of single-cylinder dual-action cylinder be parallel to mechanism for picking
Installing plate；The piston rod outfan of two single-cylinder dual-action cylinders coaxially fixedly mounts cylinder push-rod；Two cylinder push-rods defeated
Go out end to be screwed and cylinder is installed cuts somebody's hair；Two cylinders are cut somebody's hair and are fixedly installed in respectively in mechanism for picking on electromagnet mounting plate
Two ends before and after surface.
The general end effector of robot of a kind of brake block the most as claimed in claim 1 carrying, it is characterised in that: electric magnet is pacified
Have through hole on dress plate, oilless bushing is installed in through hole；After connecting shaft top passes oilless bushing, fixed by the nut of bolt
Position.
The general end effector of robot of a kind of brake block the most as claimed in claim 4 carrying, it is characterised in that: the spiral shell of bolt
Thin pad it is provided with between cap and connecting shaft top.
The general end effector of robot of a kind of brake block the most as claimed in claim 4 carrying, it is characterised in that: in connecting shaft
Also being cased with annulus pad, annulus pad, between spring upper end and oilless bushing bottom, makes spring upper end contact with annulus pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620693765.2U CN205799565U (en) | 2016-07-01 | 2016-07-01 | A kind of robot general end effector of brake block carrying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620693765.2U CN205799565U (en) | 2016-07-01 | 2016-07-01 | A kind of robot general end effector of brake block carrying |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205799565U true CN205799565U (en) | 2016-12-14 |
Family
ID=58139626
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620693765.2U Expired - Fee Related CN205799565U (en) | 2016-07-01 | 2016-07-01 | A kind of robot general end effector of brake block carrying |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205799565U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423431A (en) * | 2018-05-15 | 2018-08-21 | 成都华聚科技有限公司 | Magnetic stripe fetching device |
| CN112320351A (en) * | 2020-09-29 | 2021-02-05 | 安徽红桥金属制造有限公司 | Equipment for conveying workpieces |
-
2016
- 2016-07-01 CN CN201620693765.2U patent/CN205799565U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423431A (en) * | 2018-05-15 | 2018-08-21 | 成都华聚科技有限公司 | Magnetic stripe fetching device |
| CN112320351A (en) * | 2020-09-29 | 2021-02-05 | 安徽红桥金属制造有限公司 | Equipment for conveying workpieces |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161214 Termination date: 20170701 |