CN211768783U - Backing plate tongs of material collection and distribution system for equipment assembly - Google Patents
Backing plate tongs of material collection and distribution system for equipment assembly Download PDFInfo
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- CN211768783U CN211768783U CN201922269601.3U CN201922269601U CN211768783U CN 211768783 U CN211768783 U CN 211768783U CN 201922269601 U CN201922269601 U CN 201922269601U CN 211768783 U CN211768783 U CN 211768783U
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Abstract
The utility model discloses a backing plate tongs of system is joined in marriage to material collection for equipment assembly, the technical problem of solution be spare part in the batching process, mismatch, many joins in marriage or join in marriage less easily, greatly reduced assembly efficiency. The utility model comprises a quick-change female head II and a clamping plate II, wherein the quick-change female head II is arranged on the clamping plate II, a finger parallel cylinder is arranged below the clamping plate II, and a clamping plate is arranged on the inner side of the finger II of the finger parallel cylinder; the intermediate position in splint outside be equipped with the limiting plate, the limiting plate joint is under finger II. The utility model discloses set up the tongs of three difference, be used for snatching of work piece, backing plate and empty material frame respectively at the end of robot arm, the work piece outfit process of being go on in order. Make things convenient for the assembly operation in later stage, improve assembly efficiency.
Description
Technical Field
The utility model relates to the field of machinary, concretely relates to workshop is with backing plate tongs of material collection distribution system for various equipment assemblies.
Background
In each production workshop, particularly in an assembly workshop, such as an automobile assembly workshop, due to the fact that the related parts are numerous, the parts of one automobile are required to be accurately assembled, the parts need to be manually and repeatedly confirmed and compared, the finally confirmed parts are put into a material frame and conveyed to an assembly station, and then the parts are manually assembled; in the process of batching the parts, certain parts have certain similarity, unskilled workers are difficult to distinguish, once mismatching, excessive matching or insufficient matching occurs in the batching process, great trouble is brought to later assembly, the mismatching and replacement of the parts are repeatedly confirmed, and the assembly efficiency is greatly reduced.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is that spare part is in the batching process, appears the mismatch easily, joins in marriage more or join in marriage less, and greatly reduced assembly efficiency provides the equipment assembly that changes automatically height, be difficult to make mistakes and join in marriage the backing plate tongs of system with material collection.
In order to solve the technical problem, the utility model adopts the following technical scheme: a backing plate gripper of a material distribution system for equipment assembly comprises a quick-change female head II and a clamping plate II, wherein the quick-change female head II is arranged on the clamping plate II, a finger parallel cylinder is arranged below the clamping plate II, and a clamping plate is arranged on the inner side of the finger II of the finger parallel cylinder; the middle position in the splint outside be equipped with the limiting plate, the limiting plate joint is in finger II lower part.
The width of the lower end of the clamping plate is gradually narrowed from top to bottom.
And the lower part of the clamping plate II is provided with a convex plate II.
The utility model changes the process of manually preparing the workpiece into automatic parts of the robot, greatly reduces the error rate, realizes the automatic supply of the workpiece and the quick recovery of the empty material frame through the arrangement of the product storage rack, and greatly increases the working efficiency; the utility model discloses set up the tongs of three difference, be used for snatching of work piece, backing plate and empty material frame respectively at the terminal of robot arm, the work piece outfit process of being go on in order. Make things convenient for the assembly operation in later stage, improve assembly efficiency.
Drawings
Fig. 1 is a schematic view of the overhead structure of the material distribution system of the present invention;
FIG. 2 is a schematic top view of the product storage rack of the present invention;
fig. 3 is a schematic view of the end structure of the robot arm of the present invention;
FIG. 4 is a schematic view of the supporting frame of the present invention;
FIG. 5 is a schematic view of the workpiece gripper of the present invention;
FIG. 6 is a schematic view of the pad plate gripper of the present invention;
FIG. 7 is a schematic view of the structure of the material frame gripper of the present invention;
FIG. 8 is a schematic view of the product storage rack of the present invention;
FIG. 9 is a schematic view of the structure of the joint between the fixed slide rail and the movable slide rail of the present invention;
fig. 10 is a schematic structural view of the inclined cylinder and the rack of the present invention;
fig. 11 is a schematic view of the structure of the right material frame of the product storage rack of the present invention in an extended state.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without any creative effort belong to the protection scope of the present invention.
As shown in fig. 1 to 11, the backing plate gripper of the material distribution system for equipment assembly includes a quick-change female head II441 and a clamping plate II442, the quick-change female head II441 is disposed on the clamping plate II442, a finger parallel cylinder 443 is disposed below the clamping plate II442, and a clamping plate 446 is disposed on the inner side of the finger II445 of the finger parallel cylinder 443; a limiting plate 448 is arranged in the middle of the outer side of the clamping plate 446, and the limiting plate 448 is clamped at the lower part of the finger II 445. The provision of the limit plate 448 facilitates the fixation of the splint 446 on the finger.
The width of the lower end of the clamping plate 446 gradually narrows from top to bottom.
The lower part of the clamping plate II442 is provided with a convex plate II 447. The utility model discloses during the use, cardboard II442 card is on backup pad 461, and protruding board II447 card is in draw-in groove 462, and protruding board II447 below is connected with hollow rod 433, and cardboard II442 plays the effect of being connected to backing plate tongs 44 and backup pad 461.
The utility model discloses on each work piece placed the backing plate earlier, be equipped with on the backing plate with work piece matched with recess, then place the backing plate one deck that will have the work piece in the material frame, backing plate tongs 44 is used for snatching the backing plate between the adjacent layer work piece, because there is the work piece recess on the backing plate, the utility model discloses a back in splint 446 lower extreme stretches into adjacent recess respectively, through cliping the backing plate arch between the adjacent recess and then grab the backing plate.
The utility model discloses the air inlet and the gas vent of finger parallel cylinder II443 are linked together through the inside gas passage of pipeline and quick change female head II441 respectively, be equipped with gas passage in the public head 411 of quick change and the quick change female head II441, gas passage carries out opening and shutting that the finger was realized to finger parallel cylinder II443 gas feed through gas passage, and then realize opening and shutting of splint 446, the realization snatchs and puts down the backing plate, after one deck work piece had snatched through work piece tongs 43, it shifts to suitable position through the arm to launch backing plate tongs 44, it snatchs down one deck work piece to launch work piece tongs 43 again.
The utility model is used for material collection joined in marriage system for equipment assembly, material collection joined in marriage system includes robot 1, and robot 1 one side is equipped with product storage frame 3, the opposite side is equipped with skip 2, and robot 1's the terminal 11 of arm is equipped with quick change fixture 4. The robot body 1 of the utility model is an ABB _ IRB2600_20_165 robot. The utility model discloses still include vision system module and computer module, communication is connected through the ethernet to 1 three big modules of vision system module, computer module and robot.
The quick-change fixture 4 comprises a connecting end 41 and a quick-change gripper 42, the connecting end 41 comprises a quick-change male head 411, and the quick-change male head 411 is connected with the tail end 11 of the robot arm through a connecting rod 412; the quick-change gripper 42 comprises a workpiece gripper 43, a backing plate gripper 44 and a material frame gripper 45, and the workpiece gripper 43, the backing plate gripper 44 and the material frame gripper 45 are all arranged on a support frame 46; the supporting frame 46 is provided with a supporting plate 461, and a clamping groove 462 is arranged in the supporting plate 461. The quick-change male head 411 is provided with a gas path connector, and the quick-change male head 411 is connected with an air exhaust pipeline through the gas path connector. The utility model discloses a public head 411 of quick change and each quick change female head purchase zheng zhou navigation robot limited, and the model is LH-RTC-0010.
The workpiece gripper 43 comprises a quick-change female head I431 and a clamping plate I432, the quick-change female head I431 is arranged on the clamping plate I432, a hollow rod 433 is arranged below the clamping plate I432, an air channel inlet 435 is arranged at the upper end of the hollow rod 433, a sucking disc 436 is arranged at the lower end of the hollow rod 433, and an air channel outlet 434 of the quick-change female head I431 is communicated with the air channel inlet 435 through a pipeline; the workpiece gripper 43 of the utility model is used for sucking the workpiece with uneven surface and realizing the gripping of the workpiece by suction; gas channels are arranged in the quick-change male head 411 and the quick-change female head I431, the gas pipeline inflates or evacuates the hollow rod 433 through the gas channels, negative pressure is formed in the hollow rod 433 during evacuation, the workpiece is sucked up through the sucking disc 436, the workpiece is transferred to the skip 2 through the mechanical arm, the hollow pipe is evacuated, the workpiece falls onto the skip, and grabbing and transferring of the workpiece are completed.
The lower part of the clamping plate I432 is provided with a convex plate I437. The utility model discloses during the use, cardboard I432 card is on backup pad 461, and flange I437 card is in draw-in groove 462, and flange I437 below is connected with hollow rod 433, and cardboard I432 plays the effect of being connected to work piece tongs 43 and backup pad 461.
The material frame gripper 45 comprises a quick-change female head III451 and a clamping plate III452, the quick-change female head III451 is arranged on the clamping plate III452, a finger parallel cylinder III453 is arranged below the clamping plate III452, and an L-shaped plate 456 is arranged on the inner side of the finger III455 of the finger parallel cylinder III 453; an inner plate 458 is arranged on the inner side of the L-shaped plate 446, and the upper part of the inner plate 458 is connected with a finger III 455; the utility model is provided with an L-shaped plate 456 and a finger III455, and an inner plate 458 is arranged at the inner side of the L-shaped plate 446, and the L-shaped plate 456 and the inner plate 458 have certain width, so as to be convenient for grabbing the material frame; the utility model discloses a parallel cylinder III453 of finger is two parallel cylinders, and the distance between two inner panels 458 is greater than the distance between two fingers for finger III455 is more reliable at the clamping process, prevents that two finger centre grippings from tightly leading to the material frame to drop.
The lower part of the clamping plate III452 is provided with a convex plate III 457. The utility model discloses during the use, cardboard III452 card is on backup pad 461, and protruding board III457 card is in draw-in groove 462, and protruding board III457 below is connected with hollow pole 433, and cardboard III452 plays the effect of being connected to backing plate tongs 44 and backup pad 461. The utility model discloses a cardboard I432, cardboard II442 and cardboard III452 structure are the same.
The utility model discloses on each work piece placed the backing plate earlier, be equipped with on the backing plate with work piece matched with recess, then will have the backing plate one deck of work piece and place in material frame 8, material frame tongs 45 are used for snatching empty material frame, the utility model discloses an inner panel 458 centre gripping is in the both sides of material frame lateral wall on one side, and the finger closure through finger parallel cylinder III453 snatchs the material frame.
The utility model discloses the air inlet and the gas vent of finger parallel cylinder III453 are linked together through the inside gas passage of the female first III451 of pipeline and quick change respectively, be equipped with gas passage in the female first III451 of quick change 411 and quick change, gas passage passes through gas passage and realizes opening and shutting of finger to finger parallel cylinder III453, and then realize opening and shutting of inner panel 458, realize snatching and putting down material frame 8, snatch the back when the frame work piece, launch material frame tongs 45 and shift the material frame to suitable position through the arm, it snatchs the next floor work piece to launch work piece tongs 43 again.
The connecting rod 412 is provided with a camera. The camera be ProS high accuracy camera, ProS high accuracy camera links to each other with the vision system module. The grabbed workpieces are photographed through the camera, the camera uploads the pictures to the visual system module, whether the grabbed workpieces are correct or not is judged through the visual system module, and if the grabbed workpieces are incorrect, the mechanical arm discards the workpieces and then grabs the workpieces again.
The product storage rack 3 comprises a rack 31, a material frame recovery layer 32 is arranged at the lower part of the rack 31, and a material supply layer 33 is arranged at the upper part of the rack 31; the material frame recovery layer 32 comprises a material frame sliding rail 321, and the material frame sliding rail 321 gradually inclines downwards from right to left; the feeding layer 33 comprises a fixed slide rail 332 and a movable slide rail 333, and the fixed slide rail 332 is gradually inclined downwards from left to right; a lifting baffle 335 is arranged between the fixed slide rail 332 and the movable slide rail 333, the lifting baffle 335 is connected with a piston rod of a lifting cylinder 336, and a telescopic cylinder 334 is arranged in cooperation with the movable slide rail 333;
the movable slide rail 333 is arranged on the supporting plate 331, a slide bar 3311 is arranged at the lower part of the supporting plate 331, a chute 339 is arranged on the material supply layer 33, the slide bar 3311 is matched with the chute 339, and a piston rod of the telescopic cylinder 334 is connected with the left side wall 3312 of the supporting plate 331; the movable slide rail of the utility model extends out rightwards and is used for pushing the material frame containing the workpiece to be taken to the right side of the material rack, so that the material frame containing the workpiece protrudes out of the material rack, and the workpiece gripper 43 at the tail end of the robot arm can grasp the workpiece conveniently; the telescopic cylinder 334 acts to push out and pull back the supporting plate 331.
An inclined cylinder 337 is arranged on the left side of the lifting cylinder 336, and an inclined baffle 338 is arranged on a piston rod of the inclined cylinder 337. The base of slope cylinder 337 fix on work or material rest 31, slope cylinder 337 inclines on work or material rest 31 to set up, inclined baffle 338 plays to stop limiting displacement to the material frame.
The material frame slide rail 321 and the feeding slide rail 331 are both provided with arc-shaped protrusions 34; the friction reducing function is realized on the material frame sliding from the upper side.
The right end of the material frame slide rail 321 extends out of the material frame 31. When the material frame grabbing device is used, the material frame grabbing hand 45 at the tail end 11 of the mechanical arm grabs an empty material frame to the right end of the material frame sliding rail 321 and then puts down the empty material frame, and due to the inclined arrangement of the material frame sliding rail 321, the empty material frame slides from the right end to the left end of the material frame sliding rail 321, so that a worker can take the empty material frame conveniently.
An operation method of a material distribution system for equipment assembly comprises the following steps: firstly, placing a material frame containing workpieces on a fixed slide rail 332 and a movable slide rail 333 of a material supply layer from the left side, extending a piston rod of a lifting baffle 335, and blocking the material frame containing the workpieces on the rightmost side of the fixed slide rail 332 by the lifting baffle 335 to prevent the material frame from sliding downwards; the inclined baffle 338 on the inclined cylinder 337 blocks the last material frame containing the workpiece on the fixed slide rail 332 to prevent the material frame from sliding downwards;
secondly, when any workpiece needs to be taken, a piston rod of the telescopic cylinder 334 extends out to push out a material frame containing the corresponding workpiece;
thirdly, after the workpiece in one material frame is completely grabbed, the empty material frame is taken away by the material frame grabber and transferred to the material frame sliding rail 321 of the material frame recovery layer 32;
fourthly, when the material frame gripper takes away the empty material frame, the telescopic cylinder 334 pulls the supporting plate back to the left to be in butt joint with the fixed sliding rail 332, the lifting baffle 335 is driven by the lifting cylinder 336 to fall downwards, and the next material frame containing the workpiece to be taken downwards slides to the supporting plate;
fifthly, after the next material frame containing the workpiece to be taken slides downwards to the supporting plate, the piston rod of the lifting cylinder 336 extends out to lift the lifting baffle plate 335, at the moment, the piston rod of the inclined cylinder 337 retracts, and the next material frame slides from the upper part to the lifting baffle plate 335 out, so that the material is replenished. The whole process is automatically completed through a program set by the control system, the speed is high, the efficiency is high, and errors are not easy to occur.
The utility model discloses a system hardware component becomes: three modules are as follows: a robot module, a vision system module and a computer module. The three large modules communicate through an ethernet connection.
The robot module mainly comprises a robot body, and the model is ABB _ IRB2600_20_ 165.
The vision system module mainly comprises a ProS high-precision camera and a power line.
The computer module mainly comprises an industrial personal computer and a display.
Claims (3)
1. The utility model provides a backing plate tongs of material collection distribution system for equipment assembly which characterized in that: the quick-change tool comprises a quick-change female head II (441) and a clamping plate II (442), wherein the quick-change female head II (441) is arranged on the clamping plate II (442), a finger parallel cylinder (443) is arranged below the clamping plate II (442), and a clamping plate (446) is arranged on the inner side of the finger II (445) of the finger parallel cylinder (443); a limiting plate (448) is arranged in the middle of the outer side of the clamping plate (446), and the limiting plate (448) is clamped at the lower part of the finger II (445).
2. The backing plate gripper of the material distribution system for equipment assembly according to claim 1, characterized in that: the width of the lower end of the clamping plate (446) is gradually narrowed from top to bottom.
3. The backing plate gripper of the material distribution system for equipment assembly according to claim 1, characterized in that: and a convex plate II (447) is arranged at the lower part of the clamping plate II (442).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922269601.3U CN211768783U (en) | 2019-12-17 | 2019-12-17 | Backing plate tongs of material collection and distribution system for equipment assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922269601.3U CN211768783U (en) | 2019-12-17 | 2019-12-17 | Backing plate tongs of material collection and distribution system for equipment assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211768783U true CN211768783U (en) | 2020-10-27 |
Family
ID=72981122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922269601.3U Active CN211768783U (en) | 2019-12-17 | 2019-12-17 | Backing plate tongs of material collection and distribution system for equipment assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211768783U (en) |
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2019
- 2019-12-17 CN CN201922269601.3U patent/CN211768783U/en active Active
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