CN211940969U - Clamping type end effector capable of automatically adjusting material taking height - Google Patents
Clamping type end effector capable of automatically adjusting material taking height Download PDFInfo
- Publication number
- CN211940969U CN211940969U CN202020220720.XU CN202020220720U CN211940969U CN 211940969 U CN211940969 U CN 211940969U CN 202020220720 U CN202020220720 U CN 202020220720U CN 211940969 U CN211940969 U CN 211940969U
- Authority
- CN
- China
- Prior art keywords
- clamping
- groups
- material clamping
- clamping cylinder
- arm body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a clamping type end effector capable of automatically adjusting material taking height, which comprises a mounting rack; the mounting frame is provided with two groups of material taking units which are transversely distributed; the material taking unit comprises two groups of clamping arms which are matched with and used for clamping the circuit board, a material clamping cylinder which controls the two groups of clamping arms to open or clamp, and a longitudinal moving assembly which drives the material clamping cylinder to move longitudinally; the longitudinal moving component is arranged on the mounting rack; the material clamping cylinder is a parallel clamping cylinder; the clamping arm comprises a connecting arm body and a plurality of groups of material clamping arm bodies which extend longitudinally; one end of the connecting arm body is fixed with the movable finger of the material clamping cylinder, and the other end of the connecting arm body is fixed with the upper end of the material clamping arm body; the arrangement direction of the multiple groups of material clamping arm bodies is vertical to the movement direction of the movable fingers on the material clamping cylinder; one side of the clamping arm body for clamping materials is provided with a containing groove for containing the circuit board. This centre gripping formula end effector possesses following advantage: firstly, can adjust by oneself and get the material height, secondly get the material mode nimble, the suitability is better.
Description
Technical Field
The utility model relates to an end effector technical field, more specifically say, relate to a centre gripping formula end effector of material height is got in self-interacting.
Background
With the gradual increase of the automobile holding capacity per capita, the automobile industry is changing day by day. Among them, an ecu (electronic Control unit) is an important electronic Control unit in an automobile, which is also called a driving computer or a vehicle-mounted computer. When the ECU is produced, the needle seat is firstly inserted into the circuit board, and then the circuit board loaded with the needle seat is moved into a welding station through the industrial robot. Most of the existing end effectors only play the role of clamping jaws and do not have the function of adjusting the height of a clamping material, so that an industrial robot with higher flexibility is required to be equipped, the production cost is high, and certain limitations are realized.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model lies in, to the above-mentioned defect of prior art, a centre gripping formula end effector of material height is got in self-interacting is provided.
The utility model provides a technical scheme that its technical problem adopted is:
constructing a clamping type end effector capable of automatically adjusting the material taking height, wherein the clamping type end effector comprises a mounting frame; the mounting frame is provided with two groups of material taking units which are transversely distributed; the material taking unit comprises two groups of clamping arms which are matched with a clamping circuit board, a material clamping cylinder which controls the two groups of clamping arms to open or clamp, and a longitudinal moving assembly which drives the material clamping cylinder to move longitudinally; the longitudinal movement assembly is arranged on the mounting rack; the material clamping cylinder is a parallel clamping cylinder; the clamping arm comprises a connecting arm body and a plurality of groups of material clamping arm bodies which extend longitudinally; one end of the connecting arm body is fixed with the movable finger of the material clamping cylinder, and the other end of the connecting arm body is fixed with the upper end of the material clamping arm body; the arrangement direction of the multiple groups of material clamping arm bodies is vertical to the movement direction of the movable fingers on the material clamping cylinder; one side of the clamping arm body for clamping materials is provided with a containing groove for containing a circuit board.
Preferably, the clamping type end effector capable of automatically adjusting the material taking height further comprises a controller, and an in-place detection assembly and a material detection assembly which correspond to the two groups of material taking units respectively; the in-place detection assembly comprises an induction sheet fixed with any one connecting arm body and a first proximity switch corresponding to the induction sheet; the first proximity switch is fixed with the material clamping cylinder; the material detection assembly comprises a second proximity switch for detecting a circuit board on the material clamping arm body; the second proximity switch is fixed with the material clamping cylinder; the two groups of material clamping cylinders, the two groups of longitudinal moving assemblies, the first proximity switch and the second proximity switch are electrically connected with and controlled by the controller.
Preferably, the clamping type end effector capable of automatically adjusting the material taking height further comprises two groups of mounting seats corresponding to the two groups of material taking units respectively; the mounting seat is used for mounting the material clamping cylinder and the longitudinal moving assembly; the self-adjusting material take-up height clamp-on end effector further comprises a mounting tab for mounting the first proximity switch; the mounting piece is fixed with the mounting base through a first bolt and is provided with an adjusting groove corresponding to the first bolt; the adjusting groove is waist-shaped, and the length direction is parallel to the moving direction of the clamping arm.
Preferably, the mounting frame comprises a transverse bottom plate, a locking sleeve fixed to the middle of the upper surface of the bottom plate, and a connector adaptive to the locking sleeve; the connector is fixed with industrial robot end through a plurality of second bolts, and is provided with a plurality of screw hole of second bolt one-to-one.
Preferably, the longitudinal moving assembly comprises a longitudinal cylinder fixed with the mounting frame; the movable end of the longitudinal cylinder is fixed with the material clamping cylinder.
The beneficial effects of the utility model reside in that: firstly, can adjust by oneself and get the material height. Specifically, before use, the mounting frame is arranged on the tail end of the industrial robot; then the industrial robot drives the end effector to reach the upper part of the circuit board; the longitudinal moving assembly drives the clamping cylinder to move downwards, and the clamping cylinder drives the two groups of clamping arms to open; the circuit board is supported while the circuit board is clamped by the two groups of clamping arms, so that the circuit board is prevented from being damaged by clamping; and then industrial robot drives this end effector and removes appointed welding station. Therefore, compared with the prior art, the material moving requirement can be met by adopting the four-axis robot, and the overall cost is lower. Secondly, the material taking mode is flexible, and the applicability is better. On one hand, a plurality of groups of material clamping arms on the same connecting arm body can independently bear the circuit board, and avoid collision with the desktop through the space reserved between the adjacent material clamping arms, and can also bear the same circuit board in a matching way; on the other hand, two sets of indulge and move the subassembly and can descend the same height and get the material simultaneously in same height, also can descend different heights and get the material simultaneously in two heights.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described below with reference to the accompanying drawings and embodiments, wherein the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained without inventive work according to the drawings:
fig. 1 is a schematic diagram of a self-adjusting pick-up height clamping end effector according to a preferred embodiment of the present invention;
fig. 2 is a schematic diagram of a self-adjusting pick-up height clamping end effector according to a preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, a clear and complete description will be given below with reference to the technical solutions of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
The self-adjusting pick height clamping end effector of the preferred embodiment of the present invention is shown in fig. 1-2 and includes a mounting bracket 10; the mounting rack 10 is provided with two groups of material taking units 11 which are transversely distributed; the material taking unit 11 comprises two groups of clamping arms 12 which are matched with each other to clamp the circuit board 2, a material clamping cylinder 13 which controls the two groups of clamping arms 12 to open or clamp, and a longitudinal moving assembly 14 which drives the material clamping cylinder 13 to move longitudinally; the longitudinal movement assembly 14 is arranged on the mounting frame 10; the material clamping cylinder 13 is a parallel clamping cylinder; the clamping arm 12 comprises a connecting arm body 15 and a plurality of groups of material clamping arm bodies 16 which extend longitudinally; one end of the connecting arm body 15 is fixed with the movable finger of the material clamping cylinder 13, and the other end is fixed with the upper end of the material clamping arm body 16; the arrangement direction of the multiple groups of material clamping arm bodies 16 is vertical to the movement direction of the movable fingers on the material clamping cylinder 13; the material clamping arm 16 is provided with a holding groove 180 for holding the circuit board 2 at the material clamping side. This centre gripping formula end effector possesses following advantage:
firstly, can adjust by oneself and get the material height. Specifically, before use, the mounting frame 10 is mounted on the end of the industrial robot 3; then the industrial robot 3 drives the end effector to reach the upper part of the circuit board 2; the longitudinal moving assembly 14 drives the material clamping cylinder 13 to move downwards, and the material clamping cylinder 13 drives the two groups of clamping arms 12 to open; the circuit board 2 is supported while the circuit board 2 is clamped by the two groups of clamping arms 12, so that the circuit board 2 is prevented from being damaged by clamping; and then industrial robot drives this end effector and removes appointed welding station. Therefore, compared with the prior art, the material moving requirement can be met by adopting the four-axis robot, and the overall cost is lower.
Secondly, the material taking mode is flexible, and the applicability is better. On one hand, a plurality of groups of material clamping arm bodies 16 on the same connecting arm body 15 can independently bear the circuit board 2, and can avoid collision with a table top (as shown in fig. 2) through the space reserved between the adjacent material clamping arm bodies 16, and can also be matched with the same circuit board to bear the same circuit board; on the other hand, the two sets of vertical moving assemblies 14 can be lowered to the same height to take material at the same time at the same height, and can be lowered to different heights to take material at the same time at the two heights.
As shown in fig. 1, the self-adjusting pick-up level clamping end effector further includes a controller (not shown), and an in-position detection assembly 17 and a material detection assembly corresponding to the two sets of pick-up units 11, respectively;
the in-place detection assembly 17 comprises a sensing piece 18 fixed with any connecting arm body 15 and a first proximity switch 19 corresponding to the sensing piece 18; the first proximity switch 19 is fixed with the material clamping cylinder 13;
the material detection assembly comprises a second proximity switch 110 for detecting the circuit board 2 on the material clamping arm body 16; the second proximity switch 110 is fixed with the material clamping cylinder 13;
the two groups of material clamping cylinders 13, the two groups of longitudinal moving assemblies 14, the first proximity switch 19 and the second proximity switch 110 are electrically connected with and controlled by a controller (not shown in the figure). This scheme possesses gets material more high-efficient and controllable advantage. Specifically, when the first proximity switch 19 senses the sensing piece 18, it indicates that the material clamping arm 16 is already opened in place, and the material clamping cylinder 13 can be controlled to stop working, so as to avoid over-stroke movement or excessive useless stroke; when the second proximity switch 110 senses the circuit board 2, it indicates that the circuit board 2 is on the material clamping arm 16, and the longitudinal moving assembly 14 is controlled to be reset upwards.
Further, as shown in fig. 1, the clamping end effector with self-adjusting material-taking height further includes two sets of mounting seats 111 corresponding to the two sets of material-taking units 11, respectively; the mounting seat 111 is used for mounting the material clamping cylinder 13 and the longitudinal moving assembly 14;
the self-adjusting take-up height clamp-on end effector further includes a mounting tab 112 for mounting the first proximity switch 19; the mounting piece 112 is fixed to the mounting base 111 by a first bolt (not shown), and is provided with an adjusting groove 181 corresponding to the first bolt (not shown); the adjusting slot 181 is waist-shaped, and the length direction is parallel to the moving direction of the clamping arm 12. This scheme possesses the convenient and good advantage of flexibility of use. Specifically, when circuit boards with different board widths need to be clamped, the detection position can be changed by adjusting the locking positions of the mounting piece 112 and the first bolt (not shown in the figure).
As shown in fig. 1 and 2, the mounting frame 10 includes a transverse bottom plate 113, a locking sleeve 114 fixed to a middle portion of an upper surface of the bottom plate 113, and a connector 115 adapted to the locking sleeve 114; the connector 115 is fixed to the end of the industrial robot 3 by a plurality of second bolts, and is provided with a plurality of threaded holes corresponding to the plurality of second bolts one to one. This scheme possesses the advantage that overhauls the convenience and can change locally. Specifically, when the connector 115 is fixed to the end of the industrial robot 3 in use, and the material taking unit 11 needs to be repaired or replaced, the second bolt 116 is only required to be loosened, and then a new material taking unit 11 is mounted on the connector 115.
As shown in fig. 1, the longitudinal moving assembly 14 includes a longitudinal cylinder fixed to the mounting frame 10; the movable end of the longitudinal cylinder is fixed with the material clamping cylinder 13.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are considered to be within the scope of the invention as defined by the following claims.
Claims (5)
1. A clamping type end effector capable of automatically adjusting the material taking height comprises a mounting frame; the mounting frame is provided with two groups of material taking units which are transversely distributed; the material taking unit is characterized by comprising two groups of clamping arms which are matched with a clamping circuit board, a material clamping cylinder which controls the two groups of clamping arms to open or clamp, and a longitudinal moving assembly which drives the material clamping cylinder to move longitudinally; the longitudinal movement assembly is arranged on the mounting rack; the material clamping cylinder is a parallel clamping cylinder; the clamping arm comprises a connecting arm body and a plurality of groups of material clamping arm bodies which extend longitudinally; one end of the connecting arm body is fixed with the movable finger of the material clamping cylinder, and the other end of the connecting arm body is fixed with the upper end of the material clamping arm body; the arrangement direction of the multiple groups of material clamping arm bodies is vertical to the movement direction of the movable fingers on the material clamping cylinder; one side of the clamping arm body for clamping materials is provided with a containing groove for containing a circuit board.
2. The self-adjusting take advantage of claim 1, wherein the self-adjusting take advantage of a clamp-on end effector further comprises a controller, and an in-position and material detection assembly corresponding to two of the take-out units, respectively;
the in-place detection assembly comprises an induction sheet fixed with any one connecting arm body and a first proximity switch corresponding to the induction sheet; the first proximity switch is fixed with the material clamping cylinder;
the material detection assembly comprises a second proximity switch for detecting a circuit board on the material clamping arm body; the second proximity switch is fixed with the material clamping cylinder;
the two groups of material clamping cylinders, the two groups of longitudinal moving assemblies, the first proximity switch and the second proximity switch are electrically connected with and controlled by the controller.
3. The self-adjusting take out height clamp-on end effector of claim 2, further comprising two sets of mounts corresponding to two sets of take out units, respectively; the mounting seat is used for mounting the material clamping cylinder and the longitudinal moving assembly;
the self-adjusting material take-up height clamp-on end effector further comprises a mounting tab for mounting the first proximity switch; the mounting piece is fixed with the mounting base through a first bolt and is provided with an adjusting groove corresponding to the first bolt; the adjusting groove is waist-shaped, and the length direction is parallel to the moving direction of the clamping arm.
4. The self-adjusting level picking end effector of claim 1, wherein the mounting bracket includes a transverse floor, a locking collar fixed to a central portion of an upper surface of the floor, and a connector fitting into the locking collar; the connector is fixed with industrial robot end through a plurality of second bolts, and is provided with a plurality of screw hole of second bolt one-to-one.
5. The self-adjusting pick up height clamp-on end effector as claimed in claim 1, wherein said longitudinal movement assembly includes a longitudinal cylinder secured to said mounting bracket; the movable end of the longitudinal cylinder is fixed with the material clamping cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020220720.XU CN211940969U (en) | 2020-02-27 | 2020-02-27 | Clamping type end effector capable of automatically adjusting material taking height |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020220720.XU CN211940969U (en) | 2020-02-27 | 2020-02-27 | Clamping type end effector capable of automatically adjusting material taking height |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211940969U true CN211940969U (en) | 2020-11-17 |
Family
ID=73194800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020220720.XU Active CN211940969U (en) | 2020-02-27 | 2020-02-27 | Clamping type end effector capable of automatically adjusting material taking height |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211940969U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112919122A (en) * | 2021-03-09 | 2021-06-08 | 苏州威达智电子科技有限公司 | Move and carry mechanism suitable for touch pad clamping tool |
| CN113843818A (en) * | 2021-12-01 | 2021-12-28 | 季华实验室 | Mechanical clamping jaw for grabbing circuit board |
-
2020
- 2020-02-27 CN CN202020220720.XU patent/CN211940969U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112919122A (en) * | 2021-03-09 | 2021-06-08 | 苏州威达智电子科技有限公司 | Move and carry mechanism suitable for touch pad clamping tool |
| CN113843818A (en) * | 2021-12-01 | 2021-12-28 | 季华实验室 | Mechanical clamping jaw for grabbing circuit board |
| CN113843818B (en) * | 2021-12-01 | 2022-03-08 | 季华实验室 | Mechanical clamping jaw for grabbing circuit board |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211940969U (en) | Clamping type end effector capable of automatically adjusting material taking height | |
| CN109018951B (en) | Tray conveying and switching system on automatic production line | |
| CN205237440U (en) | Automatic feeding device | |
| CN111761570B (en) | A manipulator for industry intelligent manufacturing | |
| CN110146502B (en) | Appearance detection equipment for automobile communication module | |
| CN111573163A (en) | Lifting mechanism of transfer robot | |
| CN114735456B (en) | Battery formation/capacity division system | |
| KR101606938B1 (en) | Auto workpiece loading device of the vertical turning center | |
| CN108555955B (en) | Clamp and robot with same | |
| CN117352449B (en) | Automatic assembly device for IGBT module outer frames | |
| CN113511507A (en) | Capacitor feeder | |
| CN210878502U (en) | Tool to lock casing kludge | |
| CN210465490U (en) | Adsorption fixing device and detection system | |
| CN111546524A (en) | Full-automatic feeding and discharging intelligent CNC machining equipment | |
| CN210763098U (en) | Multi-position intelligent grabbing equipment | |
| CN214826916U (en) | Material turning device | |
| CN113894429A (en) | Turnover mechanism and full-automatic marking machine | |
| CN211788829U (en) | Spin riveting machine for ceramic cover | |
| CN219296579U (en) | Battery capacity-dividing clamping assembly, battery capacity-dividing discharging mechanism and battery assembly production line | |
| CN219258842U (en) | Multifunctional clamp for palletizing robot | |
| CN111348436A (en) | Wire guide plate feeding mechanism | |
| CN111924471A (en) | Product conveying line | |
| CN215880516U (en) | Carriage welding and splicing mechanism | |
| CN111468432A (en) | Lamp detection system | |
| CN218984066U (en) | Multi-product continuous processing device in plastic part machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |