CN212170460U

CN212170460U - Grabbing and sucking dual-purpose end effector

Info

Publication number: CN212170460U
Application number: CN202020440402.4U
Authority: CN
Inventors: 马迟; 赵青
Original assignee: Seizet Technology Shenzhen Co Ltd
Current assignee: Seizet Technology Shenzhen Co Ltd
Priority date: 2020-03-31
Filing date: 2020-03-31
Publication date: 2020-12-18
Anticipated expiration: 2030-03-31

Abstract

The utility model discloses a grabbing and sucking dual-purpose end effector, which comprises a three-jaw cylinder unit for grabbing parts, a magnetic cylinder unit for sucking parts and a connecting flange unit for connecting a robot; the three-jaw cylinder unit comprises a group of three-jaw cylinders and a clamping jaw assembly fixed below the three-jaw cylinders; the connecting flange unit is positioned right above the three-jaw air cylinder unit and comprises a group of mounting rods and a connecting flange, one end of each mounting rod is connected with the connecting flange, and the other end of each mounting rod is fixedly connected with the three-jaw air cylinder; the magnetism cylinder unit is located the installation pole side, and magnetism cylinder unit includes a triaxial cylinder and is located the magnetism cylinder of triaxial cylinder below, fixed connection between triaxial cylinder outer wall and the installation pole, and the parallel installation pole setting of triaxial cylinder guide arm, the terminal fixed connection of magnetism cylinder and guide arm, and the terminal surface is higher than clamping jaw subassembly up end setting under the magnetism cylinder, can effectively solve the problem of snatching of outside profile complex parts such as water pump shell.

Description

Grabbing and sucking dual-purpose end effector

Technical Field

The utility model belongs to the technical field of the robot snatchs end effector, in the concretely relates to machining trade, the last unloading of the letter sorting of unordered part snatchs robot end effector in the material frame.

Background

At present, industrial robots are widely applied to industries such as 3C (computer, communication, consumer electronics), logistics and the like. The end effector is used as an industrial robot to grasp and execute tools, and the suction capacity, the operation stability and the like of the end effector have important influences on the efficiency and the reliability of equipment. The robot gripper is a device capable of simulating the actions of a hand and an arm of a human body to realize the gripping and carrying of objects or operation tools, can effectively reduce the labor load of personnel and improve the working efficiency, and is widely applied to various fields of mechanical manufacturing, metallurgy, electronics and the like.

With the rapid development of modern industrial production, various specifications and types of robot grippers are developed in the industry, but for parts like water pump shells and the like, the external profiles of the parts are special-shaped pieces, so that the parts are not suitable for directly grabbing by taking the external profiles, when the parts are grabbed through the center holes of the parts, if the initial postures of the parts are not in correct states, a proper force application point cannot be found, the parts are seriously shaken and easily fall off when the robot moves at high speed, so that the whole production efficiency is low and the automatic production cannot be realized due to the fact that the robot mainly adopts a manual loading and unloading mode at present.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a grab and inhale dual-purpose end effector to solve the problem that prior art exists.

In order to achieve the above purpose, the utility model provides a grabbing and sucking dual-purpose end effector, which comprises a three-jaw cylinder unit for grabbing parts, a magnetic cylinder unit for sucking parts, and a connecting flange unit for connecting a robot;

the three-jaw cylinder unit comprises a group of three-jaw cylinders and a clamping jaw assembly fixed below the three-jaw cylinders;

the connecting flange unit is positioned right above the three-jaw air cylinder unit and comprises a group of mounting rods and a connecting flange, one end of each mounting rod is connected with the connecting flange, and the other end of each mounting rod is fixedly connected with the three-jaw air cylinder;

the utility model discloses a clamping jaw subassembly, including installation pole, magnetism cylinder unit, installation pole side, magnetism cylinder unit includes a triaxial cylinder and is located the magnetism cylinder of triaxial cylinder below, triaxial cylinder outer wall with fixed connection between the installation pole, the guide arm of triaxial cylinder is parallel the installation pole sets up, the magnetism cylinder with the terminal fixed connection of the guide arm of triaxial cylinder, just the terminal surface is higher than under the magnetism cylinder clamping jaw subassembly up end sets up.

As a preferable scheme, the distance from the lower end face of the clamping jaw assembly to the lower end face of the magnetic cylinder is half of the stroke of the three-shaft cylinder.

Furthermore, the stroke size of the three-axis cylinder is 4 to 6 times of the height of the part to be grabbed.

As a preferred scheme, the outer wall of the triaxial cylinder is fixedly connected with the mounting rod through a third connecting assembly, the third connecting assembly comprises a cylinder mounting plate and at least one group of annular connecting units arranged on the cylinder mounting plate, and the cylinder mounting plate is arranged in parallel with the mounting rod and is fixed on the outer wall of the triaxial cylinder through screws; the annular connecting unit comprises a fixing plate and a supporting plate, the fixing plate is positioned between the supporting plate and the air cylinder mounting plate, and the fixing plate is perpendicular to the air cylinder mounting plate and is fixed on the air cylinder mounting plate through screws; the fixing plate and the supporting plate are butted to form an annular frame, the size of the annular frame is matched with the external contour design of the mounting rod, and the fixing plate and the supporting plate are fixedly connected through screws.

Furthermore, the grabbing and sucking dual-purpose end effector is provided with two groups of annular connecting units, and the annular connecting units are located at the first two ends of the cylinder mounting plate and used for fixing the mounting rod and the outer wall of the three-axis cylinder up and down.

Furthermore, the inner wall surface of the part of the fixing plate, which is contacted with the mounting rod, is a plane.

As a preferable scheme, the bottom end of the mounting rod is fixedly connected with the three-jaw cylinder through a first connecting assembly; first connecting element includes first mounting panel and second mounting panel, the second mounting panel is located first mounting panel top and with first mounting panel fixed connection, installation pole bottom surface is equipped with the screw hole, the installation pole with the second mounting panel is via screw fixed connection, be equipped with a plurality of trompils on the first mounting panel, the three-jaw cylinder with via screw fixed connection between the first mounting panel.

As a preferred scheme, the magnetism cylinder with via second coupling assembling fixed connection between the guide arm of triaxial cylinder, second coupling assembling includes a set of L mounting panel, the long limit of L mounting panel with the guide arm top is via screw fixed connection, the minor face of L mounting panel with the lateral wall of magnetism cylinder is via screw fixed connection.

Preferably, the clamping jaw assembly comprises three groups of clamping jaws, and the size of the clamping end of each group of clamping jaws is smaller than the size of the central hole of the part when the three groups of clamping jaws are closed.

The utility model discloses the dual-purpose end effector of grabbing and sucking overall structure is simple, arrange rationally, can effectively solve the problem of snatching of outside profile complex parts such as water pump shell, provides the instrument for this kind of product automated production.

When the robot is in work, the grabbing and sucking dual-purpose end effector is fixed on the robot through the connecting flange, parts to be grabbed are stacked in the material frame in a non-sequential mode, after visual shooting, the robot controls the grabbing and sucking dual-purpose end effector to work, for parts with smaller inclination angles (such as the parts with the inclination angles smaller than or equal to 30 degrees), the clamping jaw assembly is directly controlled to enter the inner wall of a center hole of the part, then the guide rail of the three-jaw air cylinder is controlled to move outwards, the clamping jaw assembly fixed on the guide rail is driven to be propped open on the inner wall of the center hole, and the parts are grabbed according to friction force; for parts with larger inclination angles (such as parts with inclination angles larger than 30 degrees), the robot firstly controls the guide rod of the three-axis cylinder to extend downwards, the magnetic cylinder is conveyed to the upper part of the parts, the parts are sucked by the magnetic cylinder and placed on the platform for secondary positioning, and then the parts are accurately grabbed and placed by the three-jaw cylinder, so that the accurate grabbing operation of the parts with various poses can be realized.

In the grabbing process, because the lower end face of the magnetic cylinder is higher than the upper end face of the clamping jaw assembly, enough operation space is reserved between the magnetic cylinder and the clamping jaw assembly, and the two magnetic cylinders and the clamping jaw assembly can be effectively prevented from colliding or interfering with each other during working. When the clamping jaw assembly needs to be adopted for working, the magnetic cylinder is positioned above the side of the clamping jaw assembly, so that the working of the clamping jaw assembly is not interfered; when the position of a part needs to be adjusted firstly in judgment, then the clamping jaw assembly is used for grabbing the part, the magnetic cylinder is conveyed to the position below the clamping jaw assembly through the three-axis cylinder to suck and place the part, then the three-axis cylinder is controlled to be retracted to drive the magnetic cylinder to return to the original position (namely, the upper part of the clamping jaw assembly), and finally the part is grabbed through the clamping jaw assembly.

Drawings

FIG. 1 is a schematic view of the working state of the present invention when grabbing parts;

FIG. 2 is a schematic view of the working state of the present invention when sucking parts;

wherein the reference numerals are specified as follows: the mounting rod 1, the supporting plate 2, the fixing plate 3, the cylinder mounting plate 4, the three-axis cylinder 55, the L mounting plate 6, the magnetic cylinder 7, the first mounting plate 8, the three-jaw cylinder 9, the clamping jaw 10, the second mounting plate 11 and the part 12.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention in any way.

Like reference numerals refer to like elements throughout the specification. The expression "and/or" includes any and all combinations of one or more of the associated listed items. In the drawings, the thickness, size, and shape of an object have been slightly exaggerated for convenience of explanation. The figures are purely diagrammatic and not drawn to scale.

It will be further understood that the terms "comprises," "comprising," "includes," "including," "has," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, integers, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, integers, operations, elements, components, and/or groups thereof.

The terms "substantially", "about" and the like as used in the specification are used as terms of approximation and not as terms of degree, and are intended to account for inherent deviations in measured or calculated values that would be recognized by one of ordinary skill in the art.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict. The following describes the present application in detail with the parts to be grasped as the water pump housing.

As shown in fig. 1 and fig. 2, the utility model provides a grabbing and sucking dual-purpose end effector, which comprises a three-jaw cylinder unit for grabbing a part 12, a magnetic cylinder unit for sucking the part 12, and a connecting flange unit for connecting a robot; wherein, three-jaw cylinder unit is located the flange unit under, and magnetism cylinder unit is located flange unit side, and 7 lower terminal surfaces of magnetism cylinders are higher than clamping jaw subassembly up end setting.

Specifically, the three-jaw cylinder unit comprises a group of three-jaw cylinders and a clamping jaw assembly fixed below the three-jaw cylinders, and the three-jaw cylinders are used for grabbing the part 12; the connecting flange unit is positioned right above the three-jaw air cylinder unit and comprises a group of mounting rods 1 and a connecting flange, one end of each mounting rod 1 is connected with the connecting flange, and the other end of each mounting rod 1 is fixedly connected with the three-jaw air cylinder; the magnetism cylinder unit is located the absorption of 1 side of installation pole in order to be used for part 12, magnetism cylinder unit includes a triaxial cylinder 5 and is located the magnetism cylinder 7 of triaxial cylinder 5 below, the setting of guide arm parallel mount pole 1 of triaxial cylinder 5, the aerodynamic direction of triaxial cylinder 5 sets up with installation pole 1 is the same promptly, fixed connection between triaxial cylinder 5 outer wall and the installation pole 1, fixed connection between the guide arm of magnetism cylinder 7 and triaxial cylinder 5, and the terminal surface is higher than clamping jaw subassembly up end setting under the magnetism cylinder 7.

During operation, this grab and inhale dual-purpose end effector and fix on the robot via flange, the part 12 that waits to snatch is piled up in the material frame in disorder, after the vision is shot, robot control the utility model discloses a grab and inhale dual-purpose end effector work, to the part 12 that inclination is less (if the part that inclination is less than or equal to 30 degrees), directly control the clamping jaw subassembly and get into in the centre bore inner wall of part 12, then control the guide rail of three-jaw cylinder outwards to move, thereby drive the clamping jaw subassembly that fixes on the guide rail and strut at the centre bore inner wall, in order to follow the frictional force and snatch part 12; for parts 12 with larger inclination angles (such as parts 12 with inclination angles larger than 30 degrees), the robot firstly controls the guide rod of the three-axis cylinder 5 to extend downwards, conveys the magnetic cylinder 7 to the position above the parts 12, sucks the parts 12 by the magnetic cylinder 7, places the parts on a platform for secondary positioning, and then accurately grabs and places the parts 12 by the three-jaw cylinder, so that accurate grabbing operation on the parts 12 with various poses can be realized. In the grabbing process, because the lower end face of the magnetic cylinder 7 is higher than the upper end face of the clamping jaw assembly, enough operation space is reserved between the magnetic cylinder 7 and the clamping jaw assembly, and the two magnetic cylinders 7 and the clamping jaw assembly can be effectively prevented from colliding or interfering with each other during working. When the clamping jaw assembly needs to be adopted for working, the magnetic cylinder 7 is positioned above the side of the clamping jaw assembly, so that the working of the clamping jaw assembly is not interfered; when the position of the part 12 needs to be adjusted firstly in judgment, when the clamping jaw assembly is used for grabbing the part 12, the magnetic cylinder 7 is conveyed to the position below the clamping jaw assembly by the three-axis cylinder 5 to absorb and secondarily place the part 12, the clamping jaw assembly cannot influence the work of the magnetic cylinder 7, after the position adjustment is finished, the three-axis cylinder 5 is controlled to be retracted to drive the magnetic cylinder 7 to return to the original position, and finally, the part 12 is grabbed through the clamping jaw assembly.

The utility model discloses a grab and inhale dual-purpose end effector overall structure simple, arrange rationally, can effectively solve the problem of snatching of the complicated part 12 of outside profile such as water pump shell, provide instrument for this kind of product automated production.

As a preferred scheme, in this embodiment, the distance from the lower end surface of the clamping jaw assembly to the lower end surface of the magnetic cylinder 7 is half of the stroke of the triaxial cylinder 5, so as to reserve sufficient operating space and effectively solve the problem of collision avoidance during the operation of the clamping jaw assembly and the magnetic cylinder in the grabbing process.

In the present embodiment, based on the above two sets of solutions, the stroke of the three-axis cylinder 5 may be further set to be 4 to 6 times of the height of the part 12 to be grabbed, so as to provide sufficient operation space.

As shown in fig. 1, the magnetic cylinder unit and the connecting flange unit are fixedly connected via a third connecting assembly, as a preferred scheme, in this embodiment, the third connecting assembly includes a cylinder mounting plate 4 and at least one group of annular connecting units arranged on the cylinder mounting plate 4, the cylinder mounting plate 4 is arranged parallel to the direction of the mounting rod 1 and is fixed on the outer wall of the triaxial cylinder 5 via screws; the annular connecting unit comprises a fixing plate 3 and a supporting plate 2, the fixing plate 3 is positioned between the supporting plate 2 and the cylinder mounting plate 4, and the fixing plate 3 is arranged perpendicular to the cylinder mounting plate 4 and is fixed on the cylinder mounting plate 4 through screws; the fixing plate 3 and the supporting plate 2 are butted to form an annular frame, the size of the annular frame is matched with the external contour design of the mounting rod 1, and the annular frame and the mounting rod are fixedly connected through screws.

In the illustrated embodiment, the cylinder mounting plate 4 is a rectangular plate, a plurality of mounting holes are formed in the rectangular plate, a plurality of mounting holes are correspondingly formed in the outer wall of the triaxial cylinder 5 and are fixedly connected with each other through screws, and the annular connecting unit is composed of a fixing plate 3 and a supporting plate 2 which are oppositely arranged, wherein one end face of the fixing plate 3 is correspondingly provided with a mounting hole in the cylinder mounting plate 4, and the fixing plate 3 and the cylinder mounting plate are fixedly connected through screws; backup pad 2 is U type structure, be equipped with the through hole on two terminal surfaces that backup pad and fixed plate 3 are connected, it is equipped with the connecting hole to correspond two through holes on the other terminal surface of fixed plate 3, fixed plate 3 is fixed well after on cylinder mounting panel 4, support installation pole 1 on the ring channel on fixed plate 3, set up backup pad 2 and fixed plate 3 relatively, and at last and install the screw in the side direction trompil that corresponds the seting up on backup pad 2 and fixed plate 3, can realize the fixed connection between installation pole 1 and triaxial cylinder 5.

In order to ensure the stability of being connected between triaxial cylinder 5 and the installation pole 1, can set up multiunit third coupling assembling between magnetism cylinder unit and the flange unit, in the embodiment of the drawing, be equipped with two sets of annular coupling units altogether, annular coupling unit is located the head and the tail both ends of cylinder mounting panel 4 to be used for the upper and lower fixed between cylinder outer wall and the installation pole 1, improve the stability of device during operation as far as possible. In addition, in the use process, the connecting position of the mounting rod 1 and the annular connecting unit can be adjusted, so that the distance between the clamping jaw assembly and the magnetic cylinder 7 can be adjusted, and the requirements of practical application scenes can be met.

Furthermore, the inner wall surface of the portion of the fixing plate 3 contacting the mounting rod 1 is a planar knot (not shown). The inner avoiding surface part of the fixing plate 3 contacting with the mounting rod 1 is set to be a plane structure, so that the stability of connection between the annular connecting unit and the mounting rod 1 can be further improved.

As a preferable scheme, as shown in fig. 1 and fig. 2, the bottom end of the mounting rod 1 is fixedly connected with the three-jaw cylinder through a first connecting component; in this embodiment, the first connecting assembly includes a first mounting plate 8 and a second mounting plate 11, in the illustrated embodiment, the second mounting plate 11 and the first mounting plate 8 are both circular plates, the second mounting plate 11 is disposed above the first mounting plate 8 and fixedly connected to the first mounting plate 8, the bottom surface of the mounting rod 1 is provided with a screw hole, the mounting rod 1 and the second mounting plate 11 are fixedly connected via a screw, the first mounting plate 8 is provided with a plurality of holes, and the three-jaw cylinder is fixedly connected to the first mounting plate 8 via a screw.

As a preferable scheme, as shown in fig. 1 and fig. 2, the magnetic cylinder 7 is fixedly connected with the guide rod of the triaxial cylinder 5 through a second connection assembly, in this embodiment, the second connection assembly includes a set of L-shaped mounting plates 6, the long sides of the L-shaped mounting plates 6 are fixedly connected with the tops of the guide rods through screws, and the short sides of the L-shaped mounting plates 6 are fixedly connected with the side walls of the magnetic cylinder 7 through screws.

As shown in fig. 1 and 2, the clamping jaw assembly includes three sets of clamping jaws 10, and the tops of the three sets of clamping jaws 10 are respectively and fixedly connected with corresponding guide rails of the three-jaw air cylinder. When the three-jaw clamping jaw assembly works, the size of a grabbing end formed by closing the three groups of clamping jaws 10 is smaller than that of a central hole of the part 12, so that the clamping jaw assembly is controlled to enter the inner wall of the central hole of the part 12, then the three groups of guide rails of the three-jaw air cylinder are controlled to move outwards, and the three groups of clamping jaws 10 fixed on the guide rails are driven to be spread on the inner wall of the central hole, so that the part is grabbed by means.

The above embodiment numbers of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.

The above is only the preferred embodiment of the present invention, and not 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 the direct or indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A grab and inhale dual-purpose end effector which characterized in that: the part grabbing device comprises a three-jaw air cylinder unit for grabbing parts, a magnetic air cylinder unit for sucking the parts and a connecting flange unit for connecting a robot;

2. A dual-purpose grasping and suction end effector as claimed in claim 1, wherein: and the distance from the lower end face of the clamping jaw assembly to the lower end face of the magnetic cylinder is half of the stroke of the three-shaft cylinder.

3. A grip-suction end effector as claimed in claim 1 or 2, wherein: the stroke size of the triaxial cylinder is 4-6 times of the height of the part to be grabbed.

4. A dual-purpose grasping and suction end effector as claimed in claim 1, wherein: the three-shaft cylinder outer wall is fixedly connected with the mounting rod through a third connecting assembly, the third connecting assembly comprises a cylinder mounting plate and at least one group of annular connecting units arranged on the cylinder mounting plate, and the cylinder mounting plate is parallel to the mounting rod and is fixed on the three-shaft cylinder outer wall through screws; the annular connecting unit comprises a fixing plate and a supporting plate, the fixing plate is positioned between the supporting plate and the air cylinder mounting plate, and the fixing plate is perpendicular to the air cylinder mounting plate and is fixed on the air cylinder mounting plate through screws; the fixing plate and the supporting plate are butted to form an annular frame, the size of the annular frame is matched with the external contour design of the mounting rod, and the fixing plate and the supporting plate are fixedly connected through screws.

5. A dual-purpose grasping and suction end effector as claimed in claim 4, wherein: be equipped with two sets of annular linkage unit, annular linkage unit is located the first both ends of cylinder mounting panel, so that be used for the installation pole with it is fixed from top to bottom between the triaxial cylinder outer wall.

6. A dual-purpose grasping and suction end effector as claimed in claim 4, wherein: the inner wall surface of the part of the fixing plate, which is contacted with the mounting rod, is a plane.

7. A dual-purpose grasping and suction end effector as claimed in claim 1, wherein: the bottom end of the mounting rod is fixedly connected with the three-jaw air cylinder through a first connecting assembly; first connecting element includes first mounting panel and second mounting panel, the second mounting panel is located first mounting panel top and with first mounting panel fixed connection, installation pole bottom surface is equipped with the screw hole, the installation pole with the second mounting panel is via screw fixed connection, be equipped with a plurality of trompils on the first mounting panel, the three-jaw cylinder with via screw fixed connection between the first mounting panel.

8. A dual-purpose grasping and suction end effector as claimed in claim 1, wherein: the magnetism cylinder with via second coupling assembling fixed connection between the guide arm of triaxial cylinder, second coupling assembling includes a set of L mounting panel, the long limit of L mounting panel with the guide arm top is via screw fixed connection, the minor face of L mounting panel with the lateral wall of magnetism cylinder is via screw fixed connection.

9. A dual-purpose grasping and suction end effector as claimed in claim 1, wherein: the clamping jaw assembly comprises three groups of clamping jaws, and the size of a grabbing end of each clamping jaw is smaller than the size of a central hole of the part when the three groups of clamping jaws are closed.