CN209007571U - A kind of valve plate detection loading and unloading end effector of robot - Google Patents
A kind of valve plate detection loading and unloading end effector of robot Download PDFInfo
- Publication number
- CN209007571U CN209007571U CN201821551377.6U CN201821551377U CN209007571U CN 209007571 U CN209007571 U CN 209007571U CN 201821551377 U CN201821551377 U CN 201821551377U CN 209007571 U CN209007571 U CN 209007571U
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- template
- valve plate
- handgrip
- robot
- end effector
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Abstract
The utility model relates to a kind of valve plates to detect loading and unloading end effector of robot, have end effector library；Template handgrip, big valve plate handgrip and the small valve plate handgrip stored according to order are mounted with by support frame on the end effector library.The loading and unloading of a variety of valve plate air-leakage test work may be implemented in the utility model, significantly improve the operating condition of worker and improve production efficiency.
Description
Technical field
The utility model relates to a kind of loading and unloading for being mainly used for valve plate air-leakage test, by various valve plates and corresponding mould
Plate clamps, and is put into valve plate detection device by robot, in particular to a kind of valve plate detection loading and unloading robot end executes
Device.
Background technique
Currently, in the loading and unloading of valve plate air-leakage test and the shuttering work of replacement air tightness detection equipment, mainly
By being accomplished manually, man efficiency is low, and valve plate and template be all it is very heavy, manual handling can consume a large amount of physical strength of worker,
There is also some security risks for manual work, and long-term carrying heavy goods will also result in damage to the health of worker.This
Outside, artificial production management is at high cost, and wage for workmen is higher.Based on the above technical background, the loading and unloading of valve plate air-leakage test with
And the template of automatic replacement air tightness detection equipment, need the end effector of robot of a set of automatic loading/unloading.
Summary of the invention
The purpose of the utility model is to overcome defects of the existing technology, provide a kind of for the inspection of current valve plate air-tightness
The status of the shuttering work of the loading and unloading and replacement air tightness detection equipment of survey, cooperates the upgrading of the completion production of enterprise,
Production efficiency is improved, the valve plate detection loading and unloading robot end that worker is freed from severe working environment executes
Device.
Realizing the technical solution of the utility model aim is: a kind of valve plate detection loading and unloading end effector of robot, tool
There is end effector library；The template handgrip according to order storage, big valve are mounted with by support frame on the end effector library
Plate handgrip and small valve plate handgrip.
Big valve plate handgrip and small valve plate handgrip described in above-mentioned technical proposal include quick-change tool disk, valve plate handgrip flange
Disk, clamping cylinder, clamping jaw, positioning pin and guide post；The quick-change tool disk is used to cooperate with the quick change master of robot end,
Quick-change tool disk is installed on the valve plate handgrip ring flange being fixed on clamping cylinder by fastener；The clamping jaw is connected to folder
The left and right ends of tight cylinder；The lower end of the valve plate handgrip ring flange have positioning pin corresponding with the placement location of support frame and
Two guide posts.
Template handgrip described in above-mentioned technical proposal include template quick-change tool disk, template handgrip ring flange, template direction column,
Template Location pin, connecting plate and template tightening mechanism；The template quick-change tool disk is for the quick change master with robot end
Cooperation, and be fixed on the template handgrip ring flange being fixedly installed in template tightening mechanism by connecting plate；The template is grabbed
The lower end of hand ring flange has Template Location pin corresponding with the placement location of support frame and two template direction columns.
Template tightening mechanism described in above-mentioned technical proposal includes tensing cylinder, pull rod, pulling claw bushing, pulling claw and template tightening
Flange；The centre for tensing cylinder and being installed on template tightening flange；The pull rod connection pulling claw and tension cylinder；The pulling claw
Bushing and tension cylinder coaxial setting, and be fixed in the pulling claw hole of template tightening flange；The left and right of the template tightening flange
Both ends are connected with connecting plate.
After adopting the above technical scheme, the utility model have the effect of it is following positive:
(1) loading and unloading of a variety of valve plate air-leakage test work may be implemented in the utility model, significantly improve worker
Operating condition and improve production efficiency.
(2) the big valve plate handgrip and small valve plate handgrip of the utility model, has same structure design, the valve different for size
Plate crawl.
(3) the utility model completes automatic loading/unloading by template tightening mechanism, improves efficiency, eliminates manual work
Existing some security risks reduce artificial production management cost.
Detailed description of the invention
In order to make the content of the utility model be easier to be clearly understood, below according to specific embodiment and combine attached
Figure, is described in further detail the utility model, wherein
Fig. 1 is the end effector of robot of the utility model.
Fig. 2 is that the large and small valve plate handgrip of the utility model is schemed in detail.
Fig. 3 is that the template handgrip of the utility model is schemed in detail.
Fig. 4 is that template tightening mechanism schemes in detail in the template handgrip of the utility model.
Specific embodiment
(embodiment 1)
See Fig. 1 to Fig. 4, the utility model has end effector library 1；Pass through T-shaped support on end effector library 1
Frame is mounted with template handgrip 2, big valve plate handgrip 3 and the small valve plate handgrip 4 stored according to order.The upper end of T-shaped support frame
There is slot corresponding with corresponding positioning pin and guide post with placing groove, and in placing groove.T-shaped support frame is fixedly installed in
" mouth " font rotates clockwise on 90 ° of " Fang " shape connection frame.
Big valve plate handgrip 3 and small valve plate handgrip 4, there is same structure design, the valve plate crawl different for size；Big valve plate
Handgrip 3 and small valve plate handgrip 4 include quick-change tool disk 5, valve plate handgrip ring flange 6, clamping cylinder 7, clamping jaw 8,9 and of positioning pin
Guide post 10；Quick-change tool disk 5 is used to cooperate with the quick change master of robot end, and quick change master and quick-change tool disk 5 can be with
It automatically disengages and combines, quick-change tool disk 5 is installed on the valve plate handgrip ring flange 6 being fixed on clamping cylinder 7 by fastener
On；Clamping jaw 8 is connected to the left and right ends of clamping cylinder 7；The lower end of valve plate handgrip ring flange 6 has the placement location with support frame
Corresponding positioning pin 9 and two guide posts 10.
Template handgrip 2 includes template quick-change tool disk 11, template handgrip ring flange 12, template direction column 13, Template Location
Pin 14, connecting plate 15 and template tightening mechanism 16；Template quick-change tool disk 11 is used to cooperate with the quick change master of robot end,
Quick change master can be automatically disengaged and be combined with template quick-change tool disk 11, and be fixed on and be fixedly installed in mould by connecting plate 15
On template handgrip ring flange 12 on plate tensioning mechanism 16；The lower end of template handgrip ring flange 12 has the placement position with support frame
Set corresponding Template Location pin 14 and two template direction columns 13.
Template tightening mechanism 16 includes tensing cylinder 17, pull rod 18, pulling claw bushing 19, pulling claw 20 and template tightening flange
21；Tense the centre that cylinder 17 is installed on template tightening flange 21；Pull rod 18 connects pulling claw 20 and tenses cylinder 17；Pulling claw bushing
19 are coaxially disposed with cylinder 17 is tensed, and are fixed in the pulling claw hole of template tightening flange 21；The left and right of template tightening flange 21
Both ends are connected with connecting plate 15.
The working principle of the utility model are as follows: when robot starts automatic loading/unloading, robot is firstly moved to end and holds
The position that template handgrip 2 is stored in row device library 1, by the quick change master of robot end and template quick-change tool disk 11 to connecting simultaneously
Step up.Then robot is moved in the material library of storage template with template handgrip 2, and reaches corresponding template storage position
It sets, adjustment robot pose is directed at the blind rivet hole on template handgrip 2 with the blind rivet being installed in template, draws at this point, opening
Tight cylinder 17 pulls the pulling claw 20 in template tightening mechanism 16, and pulling claw 20 clamps the blind rivet in template, so that template and mould
Plate handgrip 2 is fixed together.Robot is put into valve plate detection device with template, and robot unclamps after in place tenses cylinder
17, pulling claw 20 is released, pulling claw 20 unclamps the blind rivet in template, and robot band moving template handgrip 2 moves backward, so that template
It is detached from template handgrip 2.This process completes the automatic charging of template, and the automatic blanking of template is then completed in process operation on the contrary.
After the feeding for completing template, robot reaches the position that template handgrip 2 is stored in end effector library 1, by template
Handgrip 2 unclamps, and then moves to corresponding valve plate handgrip position, adjustment robot pose make robot end's quick change master with
Quick-change tool disk 5 on valve plate handgrip is correctly to connecting and clamp.Then robot reaches valve plate crawl with valve plate handgrip
Position opens clamping cylinder 7 and clamps valve plate.Robot is moved in the detection device equipped with template with the valve plate of clamping,
Robot in place after, unclamp clamping cylinder 7, valve plate is unclamped, robot is moved to origin position, and detection device starts to detect
The air-tightness of valve plate.After the completion of detection, the valve plate that robot will test completion is picked up, and is put into corresponding position according to testing result
It sets, this process completes the automatic loading/unloading of valve plate.
Particular embodiments described above has carried out into one the purpose of this utility model, technical scheme and beneficial effects
Step is described in detail, it should be understood that being not limited to this foregoing is merely specific embodiment of the utility model
Utility model, within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done should all wrap
Containing being within the protection scope of the utility model.
Claims (4)
1. a kind of valve plate detects loading and unloading end effector of robot, it is characterised in that: have end effector library (1)；It is described
The template handgrip (2) according to order storage, big valve plate handgrip (3) and small are mounted with by support frame on end effector library (1)
Valve plate handgrip (4).
2. valve plate according to claim 1 detects loading and unloading end effector of robot, it is characterised in that: the big valve plate
Handgrip (3) and small valve plate handgrip (4) include quick-change tool disk (5), valve plate handgrip ring flange (6), clamping cylinder (7), clamping jaw
(8), positioning pin (9) and guide post (10)；The quick-change tool disk (5) is used to cooperate with the quick change master of robot end, fastly
Tool shelf (5) is changed to be installed on by fastener on the valve plate handgrip ring flange (6) being fixed on clamping cylinder (7)；The clamping jaw
(8) left and right ends of clamping cylinder (7) are connected to；The lower end of the valve plate handgrip ring flange (6) has the placement with support frame
Position corresponding positioning pin (9) He Lianggen guide post (10).
3. valve plate according to claim 1 detects loading and unloading end effector of robot, it is characterised in that: the template is grabbed
Hand (2) include template quick-change tool disk (11), template handgrip ring flange (12), template direction column (13), Template Location pin (14),
Connecting plate (15) and template tightening mechanism (16)；The template quick-change tool disk (11) is for the quick change master with robot end
Cooperation, and it is fixed on the template handgrip ring flange (12) being fixedly installed on template tightening mechanism (16) by connecting plate (15)
On；The lower end of the template handgrip ring flange (12) has Template Location pin (14) corresponding with the placement location of support frame and two
Root template direction column (13).
4. valve plate according to claim 3 detects loading and unloading end effector of robot, it is characterised in that: the template is drawn
Tight mechanism (16) includes tensing cylinder (17), pull rod (18), pulling claw bushing (19), pulling claw (20) and template tightening flange (21)；
The centre for tensing cylinder (17) and being installed on template tightening flange (21)；Pull rod (18) connection pulling claw (20) and tension gas
Cylinder (17)；The pulling claw bushing (19) and tension cylinder (17) coaxial arrangement, and it is fixed on the pulling claw of template tightening flange (21)
In hole；The left and right ends of the template tightening flange (21) are connected with connecting plate (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821551377.6U CN209007571U (en) | 2018-09-21 | 2018-09-21 | A kind of valve plate detection loading and unloading end effector of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821551377.6U CN209007571U (en) | 2018-09-21 | 2018-09-21 | A kind of valve plate detection loading and unloading end effector of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209007571U true CN209007571U (en) | 2019-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821551377.6U Active CN209007571U (en) | 2018-09-21 | 2018-09-21 | A kind of valve plate detection loading and unloading end effector of robot |
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| CN (1) | CN209007571U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942990A (en) * | 2018-09-21 | 2018-12-07 | 华中科技大学无锡研究院 | Valve plate detects loading and unloading end effector of robot |
-
2018
- 2018-09-21 CN CN201821551377.6U patent/CN209007571U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942990A (en) * | 2018-09-21 | 2018-12-07 | 华中科技大学无锡研究院 | Valve plate detects loading and unloading end effector of robot |
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