CN211440044U - Six-axis robot end effector expanding and shrinking device - Google Patents
Six-axis robot end effector expanding and shrinking device Download PDFInfo
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- CN211440044U CN211440044U CN201921888304.0U CN201921888304U CN211440044U CN 211440044 U CN211440044 U CN 211440044U CN 201921888304 U CN201921888304 U CN 201921888304U CN 211440044 U CN211440044 U CN 211440044U
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Abstract
The utility model discloses a six axis robot end effector expands and contracts ware device, including the main tributary supporting beam, first mechanism that contracts that expands, the second expands mechanism that contracts, first cylinder, the second cylinder, first end effector sucking disc mechanism and second end effector sucking disc mechanism, first mechanism and the second that contracts of expanding expands the mechanism cartridge respectively and at the symmetrical both sides limit of each other of main tributary supporting beam, first end effector sucking disc mechanism sliding connection is in first mechanism that contracts that expands, second end effector sucking disc mechanism sliding connection is in second mechanism that contracts that expands, first cylinder and second cylinder are all installed at the main tributary supporting beam, the output of first cylinder is fixed in first end effector sucking disc mechanism, the output of second cylinder is fixed in second end effector sucking disc mechanism. The utility model discloses beneficial effect: the utility model discloses be provided with first cylinder, second cylinder, first cylinder and second cylinder are used for adjusting the end that first end effector sucking disc mechanism and second end effector sucking disc mechanism respectively and pick up the span, can adjust the span of adaptation according to the work piece size.
Description
Technical Field
The utility model belongs to the technical field of car sheet metal component stamping equipment technique and specifically relates to a six robot end effector expands and contracts ware device.
Background
With the advancement of times, the labor production cost of the traditional manufacturing industry is gradually increased, and the popularization of the automatic production of the manufacturing industry is more and more urgent; in this situation, automated equipment such as robots, manipulators, etc. has been unprecedentedly developed in the manufacturing field due to its many advantages and rapidly spread. In the automobile sheet metal stamping industry, due to the severe production environment, the phenomenon that manual production is changed into robot automatic production is more obvious. Gradually, the overall level of automation of stamping production and automation of the automobile manufacturing industry has been rapidly developed. In the whole production process of stamping automation, besides the role of playing a great role of a robot, a part is also important, namely an end effector; the end picking device is used for grabbing and putting down the sheet metal part and is used as a connecting link between the robot and the stamping part; the function of the robot is different from that of the robot, the robot replaces two hands for grabbing parts, and the robot assists in carrying the parts in automatic production.
The end pick-up in the prior art is fixed, cannot expand or contract, can only pick up workpieces with a certain size by the fixed end, and cannot pick up larger or smaller workpieces, so that the use efficiency is greatly reduced.
Therefore, it is necessary to provide a six-axis robot end effector expander and reducer apparatus for the above problems.
SUMMERY OF THE UTILITY MODEL
To the deficiencies in the prior art, an object of the present invention is to provide a six-axis robot end effector expander device to solve the above problems.
The utility model provides a six axis robot end effector expands and contracts ware device, includes main tributary supporting beam, first mechanism, the second that expands and contracts expands mechanism, first cylinder, second cylinder, first end effector sucking disc mechanism and second end effector sucking disc mechanism, first mechanism and the second that expands and contracts expand and contract the mechanism cartridge respectively and be in the mutual symmetry both sides limit of main tributary supporting beam, first end effector sucking disc mechanism sliding connection in first mechanism that expands contracts, second end effector sucking disc mechanism sliding connection in the second mechanism that expands contracts, first cylinder and second cylinder are all installed the main tributary supporting beam, the output of first cylinder is fixed in first end effector sucking disc mechanism, the output of second cylinder is fixed in second end effector sucking disc mechanism.
Preferably, the first end effector suction cup mechanism is provided with a plurality of first suction cup bars and a first suction cup.
Preferably, the second end effector suction cup mechanism is provided with a plurality of second suction cup bars and second suction cups.
The beneficial effects of the preferable technical scheme are as follows: multiple suction cups can increase the suction load.
Preferably, the first expansion and contraction mechanism and the second expansion and contraction mechanism are both provided with linear guide rails.
Preferably, the linear guide rail adopts a THK wide double rail.
The beneficial effects of the preferable technical scheme are as follows: the first cylinder and the second cylinder are CKD ultra-light cylinders, the service life of the cylinder is 5000KM, the linear guide rail is a THK wide double rail, and circulating chain type balls are arranged inside the linear guide rail, so that the cylinder is free from maintenance.
Preferably, a first clamping plug is arranged at the joint of the first expansion and contraction mechanism and the main support beam.
Preferably, a second clamping plug is arranged at the joint of the second expansion and contraction mechanism and the main supporting beam.
The beneficial effects of the preferable technical scheme are as follows: the first clamping plug and the second clamping plug are convenient for the first expansion and contraction mechanism and the second expansion and contraction mechanism to be mounted on the main supporting beam.
Preferably, the main supporting beam, the first expansion and contraction mechanism, the second expansion and contraction mechanism, the first end effector sucker mechanism and the second end effector sucker mechanism are all made of 7075 aviation aluminum materials.
The beneficial effects of the preferable technical scheme are as follows: 7075 the aviation aluminum material has high strength and light weight; the total weight is only 15KG, 1 person can easily carry the product without a crane; the strength is extremely high, repeated bending actions of a robot are resisted, and the maximum internal stress under a load state is only 73MPA which is far lower than the yield strength of 7075 alloy.
Compared with the prior art, the utility model discloses beneficial effect: the utility model discloses be provided with first cylinder, second cylinder, first cylinder and second cylinder are used for adjusting the end that first end effector sucking disc mechanism and second end effector sucking disc mechanism respectively and pick up the span, can use adaptability wide according to the span of work piece size regulation adaptation.
Drawings
Fig. 1 is a structural diagram of a six-axis robot end effector expander and reducer device provided by the utility model;
fig. 2 is a top view of the present invention;
fig. 3 is a bottom view of the present invention.
Reference numbers in the figures: 1. a main support beam; 2. a first expansion and contraction mechanism; 3. a second expansion and contraction mechanism; 4. a first end effector suction cup mechanism; 5. a second end effector suction cup mechanism; 6. a first cylinder; 7. a second cylinder; 8. a first clamping plug; 9. a second clamping plug; 10. a first sucker rod; 11. a first suction cup; 12. a second sucker rod; 13. and a second suction cup.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
As shown in fig. 1 and fig. 2 to 3, a six-axis robot end effector expander-reducer device comprises a main supporting beam 1, a first expander-reducer mechanism 2, a second expander-reducer mechanism 3, a first cylinder 6, a second cylinder 7, a first end effector sucker mechanism 4 and a second end effector sucker mechanism 5, the first expansion and contraction mechanism 2 and the second expansion and contraction mechanism 3 are respectively inserted on two symmetrical side edges of the main supporting beam 1, the first end effector sucker mechanism 4 is connected with the first expansion and contraction mechanism 2 in a sliding way, the second end effector sucker mechanism 5 is connected with the second expansion and contraction mechanism 3 in a sliding way, first cylinder 6 and second cylinder 7 are all installed the main tributary supporting beam, the output of first cylinder 6 is fixed in first end effector sucking disc mechanism 4, the output of second cylinder 7 is fixed in second end effector sucking disc mechanism 5.
Further, the first end effector suction cup mechanism 4 is provided with a plurality of first suction cup bars 10 and a first suction cup 11.
Further, the second end effector suction cup mechanism 5 is provided with a plurality of second suction cup bars 11 and second suction cups 12.
The beneficial effects of the further technical scheme are that: multiple suction cups can increase the suction load.
Further, the first expansion and contraction mechanism 2 and the second expansion and contraction mechanism 3 are both provided with linear guide rails.
Furthermore, the linear guide rail adopts a THK wide double rail.
The beneficial effects of the further technical scheme are that: the first cylinder 6 and the second cylinder 7 are CKD ultra-light cylinders, the service life is 5000KM, the linear guide rail is a THK wide double rail, and circulating chain type balls are arranged inside the linear guide rail, so that the maintenance is avoided.
Further, a first clamping plug 8 is arranged at the joint of the first expansion and contraction mechanism 2 and the main support beam 1.
Further, a second clamping plug 9 is arranged at the joint of the second expansion and contraction mechanism 3 and the main support beam 1.
The beneficial effects of the further technical scheme are that: the first and second clamping plugs 8, 9 facilitate the mounting of the first and second expansion and contraction mechanisms 2, 3 onto the main support beam 1.
Further, the main support beam 1, the first expansion and contraction mechanism 2, the second expansion and contraction mechanism 3, the first end effector sucker mechanism 4 and the second end effector sucker mechanism 5 are all made of 7075 aviation aluminum materials.
The beneficial effects of the further technical scheme are that: 7075 the aviation aluminum material has high strength and light weight; the total weight is only 15KG, 1 person can easily carry the product without a crane; the strength is extremely high, repeated bending actions of a robot are resisted, and the maximum internal stress under a load state is only 73MPA which is far lower than the yield strength of 7075 alloy.
Compared with the prior art, the utility model discloses beneficial effect: the utility model discloses be provided with first cylinder 6, second cylinder 7, first cylinder 6 and second cylinder 7 are used for adjusting the end that first end effector sucking disc mechanism 4 and second end effector sucking disc mechanism 5 respectively and pick up the span, can adjust the span of adaptation according to the work piece size, use adaptability wide.
The working principle is as follows: the first expansion and contraction mechanism 2 and the second expansion and contraction mechanism 3 are respectively inserted on two symmetrical side edges of the main support beam 1, the first end effector sucker mechanism 4 is in sliding connection with the first expansion and contraction mechanism 2, the second end effector sucker mechanism 5 is in sliding connection with the second expansion and contraction mechanism 3, the first air cylinder 6 and the second air cylinder 7 are both installed on the main support beam 1, the first end effector sucker mechanism 4 is fixed at the output end of the first air cylinder 6, the second end effector sucker mechanism 5 is fixed at the output end of the second air cylinder 7, the main support beam 1 is installed on a robot extension arm, the first air cylinder 6 and the second air cylinder 7 work to adjust the end picking span of the first end effector sucker mechanism 4 and the second end effector sucker mechanism 5 during use, and suckers adsorb workpieces.
The above only is the preferred embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent flow changes made by the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the same way in the protection scope of the present invention.
Claims (8)
1. The utility model provides a six axis robot end effector expands and contracts ware device which characterized in that: comprises a main supporting beam (1), a first expanding and contracting mechanism (2), a second expanding and contracting mechanism (3), a first cylinder (6), a second cylinder (7), a first end effector sucker mechanism (4) and a second end effector sucker mechanism (5), the first expansion and contraction mechanism (2) and the second expansion and contraction mechanism (3) are respectively inserted at two symmetrical side edges of the main supporting beam (1), the first end effector sucker mechanism (4) is connected with the first expansion and contraction mechanism (2) in a sliding way, the second end effector sucker mechanism (5) is connected with the second expansion and contraction mechanism (3) in a sliding way, the first cylinder (6) and the second cylinder (7) are both arranged on the main supporting beam (1), the output end of the first air cylinder (6) is fixed on the first end effector sucker mechanism (4), the output end of the second air cylinder (7) is fixed on the second end effector sucker mechanism (5).
2. The six-axis robotic end effector expander and reducer apparatus of claim 1, wherein: the first end effector sucker mechanism (4) is provided with a plurality of first sucker rods (10) and first suckers (11).
3. The six-axis robotic end effector expander and reducer apparatus of claim 2, wherein: the second end effector sucker mechanism (5) is provided with a plurality of second sucker rods (12) and second suckers (13).
4. A six-axis robotic end effector expander and reducer apparatus according to claim 3, wherein: the first expansion and contraction mechanism (2) and the second expansion and contraction mechanism (3) are both provided with linear guide rails.
5. The six-axis robotic end effector expander and reducer apparatus of claim 4, wherein: and a first clamping plug (8) is arranged at the joint of the first expansion and contraction mechanism (2) and the main supporting beam (1).
6. The six-axis robotic end effector expander and reducer apparatus of claim 5, wherein: and a second clamping plug (9) is arranged at the joint of the second expansion and contraction mechanism (3) and the main supporting beam (1).
7. The six-axis robotic end effector expander and reducer apparatus of claim 6, wherein: the main supporting beam (1), the first expansion and contraction mechanism (2), the second expansion and contraction mechanism (3), the first end effector sucker mechanism (4) and the second end effector sucker mechanism (5) are all made of 7075 aviation aluminum materials.
8. The six-axis robotic end effector expander and reducer apparatus of claim 7, wherein: the linear guide rail adopts a THK wide double rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921888304.0U CN211440044U (en) | 2019-11-04 | 2019-11-04 | Six-axis robot end effector expanding and shrinking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921888304.0U CN211440044U (en) | 2019-11-04 | 2019-11-04 | Six-axis robot end effector expanding and shrinking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211440044U true CN211440044U (en) | 2020-09-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921888304.0U Active CN211440044U (en) | 2019-11-04 | 2019-11-04 | Six-axis robot end effector expanding and shrinking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211440044U (en) |
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2019
- 2019-11-04 CN CN201921888304.0U patent/CN211440044U/en active Active
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