CN206825426U - Automatic material taking equipment - Google Patents
Automatic material taking equipment Download PDFInfo
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- CN206825426U CN206825426U CN201720331644.8U CN201720331644U CN206825426U CN 206825426 U CN206825426 U CN 206825426U CN 201720331644 U CN201720331644 U CN 201720331644U CN 206825426 U CN206825426 U CN 206825426U
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- material taking
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- taking equipment
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Abstract
A kind of automatic material taking equipment is provided, for pick up it is a variety of there are parts of different shapes, including：Pedestal, on the manipulator of robot；First pick device, on the pedestal, including two the first relative clamping devices, two first clamping devices are configured to point-blank to move back and forth relative to each other, to clamp the first parts；And second pick device, on the pedestal.Second pick device includes：Two the second relative clamping devices, second clamping device is configured to pivotly move back and forth relative to each other, to clamp the second parts；And rotating mechanism, it is configured to drive second clamping device to rotate relative to the pedestal, to change the posture of clamped second parts.Different method of clamping can be taken to pick up the parts with different shape and size.
Description
Technical field
Embodiment of the present utility model is related to a kind of automatic material taking equipment, more particularly to a kind of for collecting different zero
The automatic material taking equipment of part.
Background technology
Usually, such as the electronic equipment of electric connector, the joints of optical fibre, relay etc includes many parts, example
Such as, housing, conducting terminal, spring, bolt, collets etc..When producing this electronic equipment, it is necessary to which these are had into not similar shape
Shape, the parts of difference in functionality are prepared in advance, then using artificial or robot manipulation mode according to set in advance
These parts of procedure selection, and these parts are assembled into electronic equipment on operating desk.
Utility model content
Embodiment of the present utility model provides a kind of automatic material taking equipment, and different method of clamping can be taken, which to pick up, to be had
The parts of different shape and size.
According to one side of the present utility model, there is provided a kind of automatic material taking equipment, it is a variety of with not similar shape for picking up
The parts of shape, including：Pedestal, on the manipulator of robot；First pick device, on the pedestal, bag
Two the first relative clamping devices are included, two first clamping devices are configured to point-blank reciprocal relative to each other to move
It is dynamic, to clamp the first parts；And second pick device, on the pedestal.Second pick device includes：Two phases
To the second clamping device, second clamping device is configured to pivotly move back and forth relative to each other, to clamp
Two parts；And rotating mechanism, it is configured to drive second clamping device to rotate relative to the pedestal, to change quilt
The posture of second parts of clamping.
According to a kind of automatic material taking equipment of embodiment of the present utility model, the pedestal includes：Lower bracing frame, it is arranged on
On the manipulator of the robot；And upper support frame, it is supported in the lower bracing frame, the first pick device installation
On the upper support frame.
According to a kind of automatic material taking equipment of embodiment of the present utility model, first pick device includes：First drives
Dynamic device, between the upper support frame and lower bracing frame.Each first clamping device includes：Movable block, pass through
The upper support frame of the pedestal is connected with the first driving means, with the driving of the first driving means straight line move
It is dynamic；And clamping part, on the movable block, two clamping parts cooperate to clamp the first parts.
According to a kind of automatic material taking equipment of embodiment of the present utility model, the first driving means include：Motor；Spiral shell
Bar, it is connected on the output shaft of the motor, the screw rod extends to the upper support frame and lower support with the movable block
Engaging piece between frame is screwed, so that the motor drives the movable block straight line to move by the screw rod and engaging piece
It is dynamic.
According to a kind of automatic material taking equipment of embodiment of the present utility model, in two first clamping devices at least
One also includes：First drive mechanism, it is arranged on the movable block, and is configured to drive the clamping part in the movement
Moved linearly on block, so that the clamping part clamps first parts.
According to a kind of automatic material taking equipment of embodiment of the present utility model, it is pneumatic that first drive mechanism includes first
Device, moved with clamping part described in the pressure-driven using gas relative to movable block.
According to a kind of automatic material taking equipment of embodiment of the present utility model, second clamping device includes：Installation portion,
On the pedestal；Fixed arm, extend from the installation portion, the end of the fixed arm is provided with the first contact surface；Rotation
Arm, it is pivotably mounted on the fixed arm, the first end of the turning arm is provided with the second contact surface；And second driving dress
Put, on the installation portion, second drive device drives the turning arm to be rotated relative to the fixed arm, so that
First contact surface and the second contact surface cooperation, so as to clamp second parts.
According to a kind of automatic material taking equipment of embodiment of the present utility model, first contact surface and the second contact surface exist
Clamp parallel to each other in the case of second parts.
According to a kind of automatic material taking equipment of embodiment of the present utility model, the turning arm the first end and with institute
State between the second relative end of first end by being pivotally mounted on the fixed arm.Second drive device includes：Second
Drive mechanism, on the installation portion：And pecker, it is configured to insert under the driving of second drive mechanism
Between the fixed arm and the second end of the turning arm, to drive the turning arm to be rotated relative to the fixed arm, so as to
Second contact surface is set to be moved towards first contact surface.
According to a kind of automatic material taking equipment of embodiment of the present utility model, second drive mechanism includes the second gas
Dynamic device, to be moved using pecker described in the pressure-driven of gas.
According to a kind of automatic material taking equipment of embodiment of the present utility model, it is multiple that second clamping device also includes elasticity
Position mechanism, is arranged between the fixed arm and turning arm, the second of the fixed arm and turning arm is exited in the pecker
In the case of between end, the flexible restoring organ flexibly drives second contact surface away from first contact surface.
According to a kind of automatic material taking equipment of embodiment of the present utility model, the rotating mechanism includes：Side supports frame,
Installed in the sidepiece of the pedestal；And the 3rd drive device, on the side supports frame, and it is configured to drive institute
State the installation portion rotation of the second clamping device.
According to a kind of automatic material taking equipment of embodiment of the present utility model, the 3rd drive device includes：Fixed seat,
On the side supports frame；Rotary shaft, it is rotatably installed in the fixed seat, the installation portion is arranged on described
In rotary shaft, to be rotated with the rotary shaft；And the 3rd drive mechanism, it is configured to drive the rotary shaft to rotate.
According to a kind of automatic material taking equipment of embodiment of the present utility model, the rotary shaft is provided with gear.Described
Three drive mechanisms include：Rack, engaged with the gear；And the 3rd pneumatic means, it is configured to drive the rack linear
It is mobile so that gear described in the rack drives rotates.
According to a kind of automatic material taking equipment of embodiment of the present utility model, the fixed seat is removably mounted on described
On side supports frame.
According to a kind of automatic material taking equipment of embodiment of the present utility model, first parts include housing, described
Second parts include connection terminal, and first pick device is further configured to the clamped housing being fixed to
On one erecting bed, second pick device is further configured to the clamped connection terminal being inserted into and fixed
The housing mounting hole in.
According to a kind of automatic material taking equipment of embodiment of the present utility model, the connection terminal includes：Main part；And
Two linking arms, are extended parallel to from the main part, and each linking arm has substantially vertical Part I and second
Part so that the Part I and the main part of two linking arms are defined as a generally U-shaped opening, and described second
The Part II of connection terminal described in gripper mechanism grips.
According to a kind of automatic material taking equipment of embodiment of the present utility model, it is provided with and protrudes in the end of the fixed arm
Portion, the projected direction of the protuberance is substantially vertical with first contact surface, and the protuberance is configured to insert the company
In the opening of the U-shaped of connecting terminal, to promote the connection terminal to insert in the mounting hole of the housing.
Further comprise being arranged on the pedestal according to a kind of automatic material taking equipment of embodiment of the present utility model
At least one source of the gas.
According to the automatic material taking equipment of above-mentioned various embodiments of the present utility model, different method of clamping can be taken to pick up
The parts with different shape and size are taken, add the flexibility of mode of operation.
The description made by below with reference to accompanying drawing to the utility model, other objects and advantages of the present utility model will
It is clear that it can simultaneously help to be fully understood by the utility model.
Brief description of the drawings
Fig. 1 is to show to be arranged on robot according to the automatic material taking equipment of the embodiment of an exemplary of the present utility model
On schematic perspective view；
Fig. 2 is another schematic perspective view for showing the automatic material taking equipment shown in Fig. 1, and the portion of robot is shown in figure
Divide manipulator；
Fig. 3 is another schematic perspective view for showing the automatic material taking equipment shown in Fig. 1；
Fig. 4 is another schematic perspective view for showing the automatic material taking equipment shown in Fig. 1；
Fig. 5-7 is the clamping the 2nd 0 of the second pick device of the automatic material taking equipment for showing embodiment of the present utility model
Operating principle schematic diagram during part；
Fig. 8 is the enlarged diagram for showing part A in Fig. 7；
Fig. 9 is to show the operating principle schematic diagram being attached to connection terminal using the second pick device on housing；And
Figure 10 is to show that another operating principle that connection terminal is attached on housing using the second pick device is illustrated
Figure.
Embodiment
Below by embodiment, and with reference to accompanying drawing, the technical solution of the utility model is described in further detail.
In specification, same or analogous drawing reference numeral indicates same or analogous part.It is following real to the utility model referring to the drawings
The explanation for applying mode is intended to explain overall utility model design of the present utility model, and is not construed as to this practicality
A kind of new limitation.
Conceived according to the utility model generally of various exemplary embodiments of the present utility model, there is provided one kind takes automatically
Expect equipment, for pick up it is a variety of there are parts of different shapes, including：Pedestal, on the manipulator of robot；First
Pick device, on the pedestal, including two the first relative clamping devices, two the first clamping device quilts
It is configured to point-blank to move back and forth relative to each other, to clamp the first parts；And second pick device, installed in described
On pedestal.Second pick device includes：Two the second relative clamping devices, second clamping device are configured to pivotably
Ground moves back and forth relative to each other, to clamp the second parts；And rotating mechanism, it is configured to drive second clamping machine
Structure rotates relative to the pedestal, to change the posture of clamped second parts.
In addition, in the following detailed description, for ease of explaining, many concrete details are elaborated to provide to present disclosure
The comprehensive understanding of embodiment.It should be apparent, however, that one or more embodiments can also in the case of these no details
It is carried out.In other cases, known construction and device is diagrammatically embodied to simplify accompanying drawing.
Fig. 1 is to show to be arranged on robot according to the automatic material taking equipment of the embodiment of an exemplary of the present utility model
On schematic perspective view；Fig. 2 is another schematic perspective view for showing the automatic material taking equipment shown in Fig. 1, and machine is shown in figure
The some mechanical hand of device people；Fig. 3 is another schematic perspective view for showing the automatic material taking equipment shown in Fig. 1；Fig. 4 is display figure
Another schematic perspective view of automatic material taking equipment shown in 1.
It is more for picking up according to a kind of automatic material taking equipment 200 of exemplary embodiment of the present utility model referring to Fig. 1-4
Kind has parts of different shapes.In embodiment of the present utility model, the parts as operation object are applied to rear
The electronic equipment of such as electric connector, the joints of optical fibre, relay etc is assembled into continuous operating process, is included but is not limited to
The housing that mixes, conducting terminal, spring, bolt, collets, wire etc..It is appreciated that these different types of zero
Part has different shapes, size, suppleness and function.In one embodiment, these parts include：With larger outside
First parts 300 of size, such as：The housing of electric connector, plastic body etc.；And the second parts with relatively small thickness
400, such as：The connection terminal of electric connector, wire, bolt etc..
Referring to Fig. 1-4, included according to the automatic material taking equipment 200 of embodiment of the present utility model：Pedestal 1, first picks up
The pick device 3 of device 2 and second.Pedestal 1 is removably mounted on the manipulator 101 of robot 100, and manipulator 101 can be with
The operation such as rotation, rising, decline is performed according to pre-stored program, automatic material taking equipment 200 is transported to operation position.
First pick device 2 is arranged on pedestal 1, including two the first relative clamping devices 21, two first clampings
Mechanism 21 is configured to point-blank to move back and forth relative to each other, to clamp the first parts 300.Second pick device 3 is pacified
On pedestal 1, including two the second relative clamping devices 31, second clamping device 31 are configured to pivotly
Move back and forth relative to each other to clamp the second parts 400.
In a kind of exemplary embodiment, first parts 300 include have large-size (such as several millimeters, very
To more than several centimetres) housing, second parts 400 include the connection end with relatively small thickness (such as less than several millimeters)
Son.Connection terminal can be installed in housing at least in part, to form electric connector.So, the first of relative rectilinear movement
Clamping device 21 can move larger distance, for picking up the first parts 300 with large-size, and rotate against
Second clamping device 31 moves less distance, for picking up the second parts with reduced size.Therefore, the utility model
The automatic material taking equipment of embodiment can take different method of clamping to pick up the parts with different shape and size, increase
The flexibility of mode of operation.It is possible to further adjust the displacement of the first clamping device 21, clamping has different length
Or the first parts of width.
In one embodiment, the second pick device 3 also includes rotating mechanism 32 (referring to Fig. 6, being described more fully below),
It is configured to drive the second clamping device 31 to rotate relative to pedestal 1, to change the posture of the second clamped parts 400,
Such as the second parts 400 are rotated, bent.
In one embodiment, as Figure 1-4, the pedestal 1 includes：Installed in the manipulator of the robot 100
Lower bracing frame 11 on 101；And the upper support frame 12 in the lower bracing frame 11 is supported on by riser 13, described first
Pick device 2 is arranged on upper support frame 12.On the other hand, first pick device 2 includes：Installed in the upper support frame
First driving means between 12 and lower bracing frame 11.Each first clamping device 21 includes：Movable block 211 and clamping part
212, the upper support frame 12 of movable block 211 through pedestal 1 is connected with the first driving means, with the first driving means
Driving under move linearly；Clamping part 212 is arranged on the movable block 211, when movable block moves towards, two folders
Portion 212 is held to cooperate to clamp the first parts 300.
In a kind of exemplary embodiment, first driving means include：Motor 221 and screw rod 222.Screw rod 222 is connected to
On the output shaft of the motor 221, the screw rod 222 extends to the upper support frame 12 and lower branch with the movable block 211
Engaging piece 213 between support 11 is screwed, so that the motor 221 drives institute by the screw rod 222 and engaging piece 213
State movable block 211 to move linearly so that two contact sites are opposite or opposite mobile, so as to open or close the second clamping machine
Structure 21.Usually, engaging piece 213 is provided with the screw thread coordinated with screw rod 222, thus is converted into moving by the rotation of screw rod 222
The rectilinear movement of block 211.Motor 221 can include stepper motor or servomotor.
It is at least one also including the first drive in two first clamping devices 21 in a kind of exemplary embodiment
Motivation structure, the first drive mechanism are arranged on the movable block 211, and are configured to drive the clamping part 212 in the shifting
Moved linearly on motion block 211, so that the clamping part 212 clamps first parts 300.For example, first driving machine
Structure includes the first pneumatic means, is moved with clamping part described in the pressure-driven using gas 212 relative to movable block 212.Typically
Ground, the movable block 211 driven by motor 221 has larger displacement, under the driving of movable block 211, at the beginning of clamping part 212
In the case of step the second parts 300 of contact, motor 221 stops the rotation；Now, first be arranged on movable block 211 is utilized
Pneumatic means driving clamping part 212 moves relative to movable block 211, so can accurately adjust between joint clamping part 212
Distance so that clamping part 212 further clamps the second parts 300 securely.In addition, move clamping part 212 using air pressure
It is dynamic, the flexibility of the first clamping device is improved, the second parts can be avoided to be subject to crushing.Further, in bottom lower bracing frame
11 bottom is provided with least one source of the gas 4 being arranged on the pedestal 1, with to the first pneumatic means compressed gas.
In a kind of alternate embodiment, first driving means can include electromagnetic mechanism or pneumatic means, to drive
Dynamic movable block rectilinear movement.In another alternate embodiment, the first drive mechanism can include stepper motor or watch
Take motor.
Fig. 5-7 is the clamping the 2nd 0 of the second pick device of the automatic material taking equipment for showing embodiment of the present utility model
Operating principle schematic diagram during part；Fig. 8 is the enlarged diagram for showing part A in Fig. 7.
According to a kind of exemplary embodiment of the present utility model, referring to Fig. 2,3,5-8, second clamping device includes：
Installation portion 311, fixed arm 312, the drive device of turning arm 313 and second.Installation portion 311 is arranged on the pedestal 1；Fixed arm
312 extend from the installation portion 311, and the end of the fixed arm 312 is provided with the first contact surface 3121；Turning arm 313 is pivotable
Ground is arranged on the fixed arm 312, and the first end of the turning arm 313 is provided with the second contact surface 3131；Second drive device
On the installation portion 311, second drive device drives the turning arm 313 to be revolved relative to the fixed arm 312
Turn, so that the contact surface 3131 of first contact surface 3121 and second cooperates, so as to clamp second parts 300.One
In kind embodiment, the contact surface 3131 of the first contact surface 3121 and second is in the case where clamping second parts 300
It is parallel to each other, smoothly to clamp the second parts 300.
In one embodiment, the turning arm 313 is in the first end and second end relative with the first end
It is arranged between 3132 by pivot 314 on the fixed arm 312.Second drive device includes：Installed in the installation
The second drive mechanism 315 in portion 311：And pecker 316.Pecker 316 is configured in second drive mechanism 315
Driving under insert between the second end 3132 of the fixed arm 312 and the turning arm 313, to drive the turning arm 313
Rotated relative to the fixed arm 312 so that positioned at turning arm 313 first end second contact surface 3131 towards institute
State the first contact surface 3121 to move, to clamp the second parts 400.Second drive mechanism 315 includes the second pneumatic means,
To be moved using pecker 316 described in the pressure-driven for the gas for coming from source of the gas 4.The of pecker 316 and turning arm 313
Two ends 3132 are provided with ramp structure, in order to pecker 316 be stably inserted into fixed arm 312 and the turning arm 313
Between two ends 3132.
In a kind of alternate embodiment, the second drive mechanism can include electromagnetic mechanism, to drive pecker straight line
It is mobile.In another alternate embodiment, the second drive mechanism can include motor and by motor-driven gear and
Rack.
In a kind of exemplary embodiment, second clamping device 31 also includes being arranged on the fixed arm and turning arm
Between flexible restoring organ, the pecker 316 exit the fixed arm 312 and turning arm 313 the second end 3132 it
Between in the case of, the flexible restoring organ flexibly drives second contact surface 3131 away from first contact surface
3121.So, in the case where that need not clamp the second parts, the flexible restoring organ makes the second contact surface 3131 and first
Contact surface 3121 is maintained at state away from each other, and both, the second clamping device 31 is maintained at open configuration, in case follow-up clamping
Operation.
In a kind of exemplary embodiment, referring to Fig. 2,3,5-7, the rotating mechanism 32 includes：Installed in the pedestal
Sidepiece side supports frame 321；And the 3rd drive device on the side supports frame 321, the 3rd driving dress
The installation portion 311 for being configured to drive second clamping device 31 is put to rotate relative to side wall support frame 321.
Further, the 3rd drive device includes：Fixed seat 322, the drive mechanism of rotary shaft 323 and the 3rd.Fixed seat 322
On the side supports frame 321；Rotary shaft 323 is rotatably installed in the fixed seat 322, second clamping
The installation portion 311 of mechanism 31 is arranged in the rotary shaft 323, to be rotated with the rotary shaft 323, so as to drive installation portion
311 rotate relative to fixed seat 322.3rd drive mechanism is configured to drive the rotary shaft 323 to rotate.
It is appreciated that first, second, and third pneumatic means can include cylinder and the push rod on cylinder.Adopt
Clamping part, turning arm and rotating mechanism are driven with pneumatic mode, when can shorten the response of clamping part, turning arm and rotating mechanism
Between, improve sensitivity.
In a kind of exemplary embodiment, referring to Fig. 5 and 6, the rotary shaft 323 is provided with gear 3231.Described 3rd
Drive mechanism includes：The rack 324 engaged with the gear 3231；And the 3rd pneumatic means.3rd pneumatic means and source of the gas
4 connect and are configured to drive the rack 324 to move linearly so that and the rack 324 drives the gear 3231 to rotate, from
And the rectilinear movement of the 3rd drive device is converted into the rotation of rotary shaft 323.Shunk in the cylinder of the 3rd pneumatic means, tooth
The tandem of bar 324 moves, so as to drive the second clamping device rotating in clockwise and counterclockwise direction.
In a kind of alternate embodiment, the 3rd drive mechanism can include the motor being arranged in installation portion, described
The output shaft direct drive rotary shaft of motor rotates.
In a kind of exemplary embodiment, the fixed seat 322 is removably mounted on the side supports frame 321.
For example, being removably provided with link 3211 using bolt 3212 on side supports frame 321, fixed seat 322, which is arranged on, to be connected
Connect on frame 3211.It should be noted that to be clearly shown the engagement system of rack 324 and gear 3231, it is not shown in Fig. 5
Link 3211.So, can be according to the type for the second parts 400 being picked or the use feelings of the second clamping device 21
Condition, dismounting, maintenance or the second clamping device 21 of replacing and part rotating mechanism.
Fig. 9 is to show the operating principle schematic diagram being attached to connection terminal using the second pick device on housing；Figure 10
It is to show another operating principle schematic diagram being attached to connection terminal using the second pick device on housing.
Referring to Fig. 5-10, first parts 300 include housing 301, and second parts 400 include connection terminal
401.Connection terminal 301 just can also be installed to by housing 401 according to the automatic material taking equipment 200 of the utility model embodiment
On, to be assembled into electric connector.
In one embodiment, first pick device 2 is further configured to consolidate the clamped housing 301
Determine onto an erecting bed (not shown), second pick device 3 is further configured to the connection end that will be clamped
Son 401 is inserted into by the mounting hole 302 of the fixed housing 301.
As shown in FIG. 7 and 8, the connection terminal 401 includes：Main part 402 and two linking arms 403.Two linking arms
403 extend parallel to from the main part 402, and each linking arm 403 has substantially vertical Part I 4031 and the
Two parts 4032 so that the Part I 4031 and the main part 402 of two linking arms 403 are defined as a substantially U
The opening 404 of shape, second clamping device 31 clamp the Part II 4032 of the connection terminal 401.
Further, protuberance 3122, the projected direction of the protuberance 3122 are provided with the end of the fixed arm 312
Substantially vertical with first contact surface 3121, the protuberance 3122 is configured to insert the U-shaped of the connection terminal 401
In opening 404, to promote the connection terminal 401 to insert in the mounting hole 302 of the housing 301.So, the second clamping machine
Structure 31 promotes the insertion force of connection terminal 401 to be applied by protuberance 3122, avoids more soft connection terminal 401 and becomes
Shape.
Referring to accompanying drawing 2-4,9 and 10, the housing 401 as the first parts is deposited from material by the use of the first pick device 2
Put platform (not shown) to clamp, and clamped housing 301 is fixed on erecting bed.
Referring to Fig. 6-8, multiple connection terminals 401 are arranged on storage rack (such as material conveyer belt) 405 in rows in advance,
Second pick device 3 is moved to suitable position by robot 100 first, and makes the first contact surface of the second clamping device 31
3121 and second contact surface 3131 clamp the Part II 4032 of connection terminal 401, and the protrusion of the second clamping device 31
Portion 3122 is inserted into the opening 404 of the U-shaped of connection terminal 401；Then, start the 3rd pneumatic means, revolve rotating mechanism 32
Turn the predetermined angular of the second clamping device 31 so that connection terminal 401 departs from storage rack 405；Then, robot 100 is by connection end
The position that son 401 is moved to where housing 301, moves automatic material taking equipment 200, rotating mechanism 32 rotates, and passes through protrusion
Portion 3122 promotes the main part of connection terminal 401 to be inserted into the mounting hole 302 of housing 301, so as to be assembled into electric connector.
According to a kind of exemplary embodiment of the present utility model, robot 100 includes but is not limited to four axles, six-joint robot
Or other types of multi-freedom robot.These robots can be rotated or up and down according to program prepared in advance
Or left and right translation, so as to which automatic material taking equipment 200 is moved into suitable position and performs associative operation.
It will be understood to those skilled in the art that embodiment described above is all exemplary, and this area
Technical staff can make improvements, the rushing in terms of not recurring structure or principle of the structure described in various embodiments
Independent assortment can be carried out in the case of prominent, so as on the basis of solving technical problem of the present utility model, realize more kinds of
Automatic material taking equipment.
After preferred embodiment of the present utility model is described in detail, those skilled in the art can be clear
Solution, various change can be carried out in the case where not departing from the protection domain of appended claims and spirit with changing, and the utility model is also
It is not only restricted to the embodiment of examples cited embodiment in specification.It should be noted that word " comprising " be not excluded for other elements or
Step, word "a" or "an" are not excluded for multiple.In addition, any element label of claim should not be construed as limiting this reality
With new scope.
Claims (19)
1. a kind of automatic material taking equipment, for pick up it is a variety of there are parts of different shapes, including：
Pedestal, on the manipulator of robot；
First pick device, on the pedestal, including two the first relative clamping devices, two first clampings
Mechanism is configured to point-blank to move back and forth relative to each other, to clamp the first parts；And
Second pick device, on the pedestal, including：
Two the second relative clamping devices, second clamping device are configured to pivotly reciprocal relative to each other move
It is dynamic, to clamp the second parts；And
Rotating mechanism, it is configured to drive second clamping device to rotate relative to the pedestal, to change clamped institute
State the posture of the second parts.
2. automatic material taking equipment according to claim 1, wherein, the pedestal includes：
Lower bracing frame, on the manipulator of the robot；And
Upper support frame, it is supported in the lower bracing frame, first pick device is arranged on the upper support frame.
3. automatic material taking equipment according to claim 2, wherein, first pick device includes：
First driving means, between the upper support frame and lower bracing frame；And each first clamping device bag
Include：
Movable block, the upper support frame through the pedestal is connected with the first driving means, with the first driving means
Driving under move linearly；And
Clamping part, on the movable block, two clamping parts cooperate to clamp the first parts.
4. automatic material taking equipment according to claim 3, wherein, the first driving means include：
Motor；
Screw rod, be connected on the output shaft of the motor, the screw rod and the movable block extend to the upper support frame and
Engaging piece between lower bracing frame is screwed, so that the motor drives the movable block straight by the screw rod and engaging piece
Line moves.
5. automatic material taking equipment according to claim 3, wherein, in two first clamping devices it is at least one also
Including：First drive mechanism, it is arranged on the movable block, and is configured to drive the clamping part straight on the movable block
Line moves, so that the clamping part clamps first parts.
6. automatic material taking equipment according to claim 5, wherein, first drive mechanism includes the first pneumatic means,
Moved with clamping part described in the pressure-driven using gas relative to movable block.
7. the automatic material taking equipment according to any one of claim 1-6, wherein, second clamping device includes：
Installation portion, on the pedestal；
Fixed arm, extend from the installation portion, the end of the fixed arm is provided with the first contact surface；
Turning arm, it is pivotably mounted on the fixed arm, the first end of the turning arm is provided with the second contact surface；And
Second drive device, on the installation portion, second drive device drives the turning arm relative to described
Fixed arm rotates, so that first contact surface and the cooperation of the second contact surface, so as to clamp second parts.
8. automatic material taking equipment according to claim 7, wherein, first contact surface and the second contact surface are in clamping institute
State parallel to each other in the case of the second parts.
9. automatic material taking equipment according to claim 7, wherein, the turning arm is in the first end and with described first
Hold between the second relative end by being pivotally mounted on the fixed arm,
Second drive device includes：
Second drive mechanism, on the installation portion：And
Pecker, it is configured to insert the second of the fixed arm and the turning arm under the driving of second drive mechanism
Between end, to drive the turning arm to be rotated relative to the fixed arm, so that second contact surface is towards described first
Contact surface moves.
10. automatic material taking equipment according to claim 9, wherein, second drive mechanism includes the second pneumatic dress
Put, to be moved using pecker described in the pressure-driven of gas.
11. automatic material taking equipment according to claim 9, wherein, second clamping device includes flexible restoring organ,
It is arranged between the fixed arm and turning arm, between the pecker exits the second end of the fixed arm and turning arm
In the case of, the flexible restoring organ flexibly drives second contact surface away from first contact surface.
12. automatic material taking equipment according to claim 7, wherein, the rotating mechanism includes：
Side supports frame, installed in the sidepiece of the pedestal；And
3rd drive device, on the side supports frame, and it is configured to drive the installation of second clamping device
Portion rotates.
13. automatic material taking equipment according to claim 12, wherein, the 3rd drive device includes：
Fixed seat, on the side supports frame；
Rotary shaft, it is rotatably installed in the fixed seat, the installation portion is arranged in the rotary shaft, with the rotation
Rotating shaft rotates；And
3rd drive mechanism, it is configured to drive the rotary shaft to rotate.
14. automatic material taking equipment according to claim 13, wherein,
The rotary shaft is provided with gear；
3rd drive mechanism includes：
Rack, engaged with the gear；And
3rd pneumatic means, it is configured to drive the rack linear to move so that gear described in the rack drives rotates.
15. the automatic material taking equipment according to claim 13 or 14, wherein, the fixed seat is removably mounted on described
On side supports frame.
16. automatic material taking equipment according to claim 7, wherein, first parts include housing, and the described 2nd 0
Part includes connection terminal,
The housing that first pick device is further configured to will be clamped is fixed on an erecting bed, and described the
Two pick devices are further configured to the clamped connection terminal being inserted into by the mounting hole of the fixed housing
In.
17. automatic material taking equipment according to claim 16, wherein, the connection terminal includes：
Main part；And
Two linking arms, are extended parallel to from the main part, each linking arm have substantially vertical Part I and
Part II so that the Part I and the main part of two linking arms are defined as a generally U-shaped opening, described
The Part II of connection terminal described in second gripper mechanism grips.
18. automatic material taking equipment according to claim 17, wherein, it is provided with protuberance, institute in the end of the fixed arm
State that the projected direction of protuberance is substantially vertical with first contact surface, and the protuberance is configured to insert the connection terminal
U-shaped opening in, to promote the connection terminal to insert in the mounting hole of the housing.
19. automatic material taking equipment according to claim 7, further comprise at least one gas being arranged on the pedestal
Source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720331644.8U CN206825426U (en) | 2017-03-30 | 2017-03-30 | Automatic material taking equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720331644.8U CN206825426U (en) | 2017-03-30 | 2017-03-30 | Automatic material taking equipment |
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| CN206825426U true CN206825426U (en) | 2018-01-02 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393798A (en) * | 2018-03-27 | 2018-08-14 | 武汉理工大学 | A kind of robot polishing end handgrip for automobile support |
| CN108656105A (en) * | 2017-03-30 | 2018-10-16 | 泰科电子(上海)有限公司 | Automatic material taking equipment |
-
2017
- 2017-03-30 CN CN201720331644.8U patent/CN206825426U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656105A (en) * | 2017-03-30 | 2018-10-16 | 泰科电子(上海)有限公司 | Automatic material taking equipment |
| CN108656105B (en) * | 2017-03-30 | 2024-06-25 | 泰科电子(上海)有限公司 | Automatic material taking equipment |
| CN108393798A (en) * | 2018-03-27 | 2018-08-14 | 武汉理工大学 | A kind of robot polishing end handgrip for automobile support |
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