CN214870665U - Six-axis robot front end clamping dual-mode composite device - Google Patents
Six-axis robot front end clamping dual-mode composite device Download PDFInfo
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- CN214870665U CN214870665U CN202023081986.XU CN202023081986U CN214870665U CN 214870665 U CN214870665 U CN 214870665U CN 202023081986 U CN202023081986 U CN 202023081986U CN 214870665 U CN214870665 U CN 214870665U
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- sucking disc
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Abstract
The utility model relates to the technical field of workpiece grabbing, in particular to a six-axis robot front end clamping dual-mode composite device, which is matched with magnetic attraction through a sucker, is convenient to increase the clamping force of workpieces, can ensure the positioning precision of the workpieces not to move or jump when clamping large and heavy steel parts, and can clamp non-ferrous metal workpieces such as small stainless steel, aluminum and the like and steel parts through two adsorption modes, thereby improving the use practicability; including supporting base, six robots, connecting mount, sucking disc adsorption apparatus structure and electro-magnet, six robot bottom rotate with the support base top and be connected, connect mount and six robot end fastening connection, sucking disc adsorption apparatus constructs fixed mounting and snatchs the sheet material in order being used for adsorbing on connecting the mount, electro-magnet fixed mounting is in order to be used for assisting the sucking disc adsorption apparatus to adsorb in the sucking disc adsorption apparatus and snatch the sheet material together.
Description
Technical Field
The utility model relates to a technical field that the work piece snatched especially relates to a six axis robot front end centre gripping bimodulus set composite.
Background
The mill often adopts the absorbent mode of vacuum chuck to snatch panel when carrying out the sheet material and snatching, the sucking disc is when adsorbing panel, often lead to panel not hard up because the suction of sucking disc is not enough and the adsorption plane is not big, the untight condition of sucking disc and panel absorption appears, when removing panel, panel just drops easily, secondly, metal sheet is heavier than general panel relatively, the sucking disc receives the influence of panel gravity when adsorbing panel, lead to the sucking disc to be difficult to bear the gravity of panel, lead to using the practicality relatively poor.
SUMMERY OF THE UTILITY MODEL
For solving the technical problem, the utility model provides a through the cooperation of sucking disc and magnetism absorption, be convenient for increase work piece clamping force degree, can guarantee work piece positioning accuracy and not drunkenness, beat when making its centre gripping great heavy ironware, through two kinds of absorption modes simultaneously, both can centre gripping non ferrous metal work pieces such as small-size stainless steel, aluminium, also can centre gripping ironware, improve the six axis robot front end centre gripping bimodulus set composite of use practicality.
The utility model discloses a six-axis robot front end clamping dual-mode composite device, which comprises a supporting base, a six-axis robot, a connecting fixing frame, a sucker adsorption mechanism and an electromagnet, wherein the bottom end of the six-axis robot is rotationally connected with the top end of the supporting base, the connecting fixing frame is tightly connected with the end of the six-axis robot, the sucker adsorption mechanism is fixedly arranged on the connecting fixing frame for adsorbing and grabbing plate materials, the electromagnet is fixedly arranged in the sucker adsorption mechanism for assisting the sucker adsorption mechanism to adsorb and grab plate materials together, the sucker adsorption mechanism comprises an adsorption fixing plate, two groups of inflator mounting plates, a sucker mounting plate, two groups of communicating inflators, two groups of air faucet fixing blocks, two groups of air faucet joints and four groups of suckers, the adsorption fixing plate is fixedly connected with the connecting fixing frame, the two groups of inflator mounting plates are tightly connected with the adsorption fixing plate, the top end of the sucker mounting plate is tightly connected with the bottom end of the adsorption fixing plate, two sets of intercommunication inflator is fixed mounting respectively on two sets of inflator mounting panels, air cock fixed block intercommunication is installed on intercommunication inflator top, and is two sets of the air cock connects the intercommunication respectively and installs on two sets of air cock fixed blocks to the air cock connects and external air pump intercommunication, four groups sucking disc fixed mounting is in sucking disc mounting panel bottom respectively to sucking disc and air cock connect the intercommunication, electro-magnet fixed mounting is in absorption fixed plate bottom.
The utility model discloses a six robot front end centre gripping bimodulus set composite still includes communicating pipe and two sets of head of ventilating, two sets of heads of ventilating communicate respectively and install on the sucking disc mounting panel to head and two sets of sucking discs of ventilating intercommunication, the communicating pipe intercommunication is installed between two sets of heads of ventilating.
The utility model discloses a six robot front end centre gripping bimodulus set composite still includes four group's protection steel rings, four groups the protection steel ring suit is on the sucking disc respectively.
The utility model discloses a six robot front end centre gripping bimodulus set composite still is including strengthening the splicing, strengthen splicing top fixed mounting at sucking disc mounting panel side, strengthen splicing bottom and protection steel ring top fastening connection.
The utility model discloses a six axis robot front end centre gripping bimodulus set composite, the air cock connects and sets up to quick connector.
The utility model discloses a six robots front end centre gripping bimodulus set composite, four group's sucking discs are square four corners and evenly arrange.
The utility model discloses a six axis robot front end centre gripping bimodulus set composite, the electro-magnet is installed at four group's sucking disc side middle parts.
The utility model discloses a six robots front end centre gripping bimodulus set composite, it is subaerial to support base pile fixed mounting.
Compared with the prior art, the beneficial effects of the utility model are that: six robot control connection mounts remove to the work piece top, later paste sucking disc and electro-magnet bottom and sheet material top tightly, then start external air pump, later the sucking disc connects the extraction effect with the air cock at the air cock fixed block and adsorbs on the sheet material under, the electro-magnet starts simultaneously, the electro-magnet circular telegram makes the electro-magnet bottom produce magnetic force, then make the electro-magnet magnetism inhale on the sheet material, inhale the cooperation through sucking disc and magnetism, be convenient for increase work piece centre gripping dynamics, can guarantee work piece positioning accuracy and not drunkenness when making its centre gripping great heavy iron and steel spare, beat, simultaneously through two kinds of absorption modes, both can the small-size stainless steel of centre gripping, non ferrous metal work pieces such as aluminium, also can centre gripping iron and steel spare, improve the practicality of use.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is an enlarged schematic view of the sucking mechanism of the sucking disc;
FIG. 3 is a schematic view of the mounting structure of the suction cup and the electromagnet;
in the drawings, the reference numbers: 1. a support base; 2. a six-axis robot; 3. connecting the fixed frame; 4. adsorbing the fixed plate; 5. an air cylinder mounting plate; 6. a sucker mounting plate; 7. the air cylinder is communicated; 8. an air tap fixing block; 9. an air tap joint; 10. a suction cup; 11. a communicating pipe; 12. a ventilation head; 13. an electromagnet; 14. protecting the steel ring; 15. the tab is reinforced.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
As shown in fig. 1 to 3, the utility model relates to a dual-mode composite device for clamping the front end of a six-axis robot, which comprises a supporting base 1, a six-axis robot 2, a connecting and fixing frame 3, a sucking disc adsorption mechanism and an electromagnet 13, wherein the bottom end of the six-axis robot 2 is rotatably connected with the top end of the supporting base 1, the connecting and fixing frame 3 is fixedly connected with the end of the six-axis robot 2, the sucking disc adsorption mechanism is fixedly arranged on the connecting and fixing frame 3 for adsorbing and grabbing plate materials, the electromagnet 13 is fixedly arranged in the sucking disc adsorption mechanism for assisting the sucking disc adsorption mechanism to adsorb and grab plate materials together, the sucking disc adsorption mechanism comprises an adsorption and fixing plate 4, two sets of inflator mounting plates 5, a sucking disc mounting plate 6, two sets of communicating inflator 7, two sets of fixing blocks 8, two sets of air nozzle joints 9 and four sets of sucking discs 10, the adsorption and fixing plate 4 is fixedly connected with the connecting and fixing frame 3, and the two sets of inflator mounting plates 5 are fixedly connected with the adsorption and fixing plate 4, the top end of the sucking disc mounting plate 6 is fixedly connected with the bottom end of the adsorption fixing plate 4, the two groups of communicated air cylinders 7 are respectively and fixedly mounted on the two groups of air cylinder mounting plates 5, the air nozzle fixing blocks 8 are respectively and communicatively mounted at the top ends of the communicated air cylinders 7, the two groups of air nozzle joints 9 are respectively and communicatively mounted on the two groups of air nozzle fixing blocks 8, the air nozzle joints 9 are communicated with an external air pump, the four groups of sucking discs 10 are respectively and fixedly mounted at the bottom end of the sucking disc mounting plate 6, the sucking discs 10 are communicated with the air nozzle joints 9, and the electromagnet 13 is fixedly mounted at the bottom end of the adsorption fixing plate 4; six axis robot 2 control connection mounts 3 remove to the work piece top, later paste sucking disc 10 and 13 bottoms of electro-magnet tightly with the sheet material top, then start external air pump, later sucking disc 10 adsorbs on the sheet material under air cock fixed block 8 and air cock joint 9 extraction effect, start electro-magnet 13 simultaneously, electro-magnet 13 circular telegram makes 13 bottoms of electro-magnet produce magnetic force, then make 13 magnetism of electro-magnet inhale on the sheet material, inhale the cooperation through sucking disc and magnetism, be convenient for increase work piece centre gripping dynamics, can guarantee work piece positioning accuracy and not drunkenness when making its centre gripping great heavy ironsteel spare, beat, simultaneously through two kinds of absorption modes, both can the small-size stainless steel of centre gripping, nonferrous metal work pieces such as aluminium, also can centre gripping ironsteel spare, improve the practicality.
As the optimization of the above embodiment, the vacuum suction cup further comprises a communicating pipe 11 and two sets of ventilation heads 12, wherein the two sets of ventilation heads 12 are respectively installed on the suction cup installation plate 6 in a communicating manner, the ventilation heads 12 are communicated with the two sets of suction cups 10, and the communicating pipe 11 is installed between the two sets of ventilation heads 12 in a communicating manner; through communicating pipe 11 and the cooperation of head 12 of ventilating, be convenient for with external air pump extraction air current intercommunication guide to the two sets of sucking discs 10 of distal end on, the high efficiency is used in the extraction speed of clamp splice sucking disc vacuum area, improvement.
As the optimization of the above embodiment, the device further comprises four groups of protective steel rings 14, wherein the four groups of protective steel rings 14 are respectively sleeved on the suction cup 10; through setting up protection steel ring 14, be convenient for protect sucking disc 10, avoid sucking disc 10 to be punctured by external sharp object and damage, improve stability in use.
Preferably, the suction cup further comprises a reinforcing connecting piece 15, the top end of the reinforcing connecting piece 15 is fixedly arranged at the side end of the suction cup mounting plate 6, and the bottom end of the reinforcing connecting piece 15 is fixedly connected with the top end of the protective steel ring 14; through setting up strengthening the splicing 15, be convenient for increase protection steel ring 14 intensity, avoid protection steel ring 14 to take place to buckle, improve stability in use.
As a preference of the above embodiment, the air nozzle joint 9 is provided as a quick-connect joint; through connecting the air cock connector 9 to quick connector, the external trachea of quick cartridge of being convenient for, be convenient for change when external trachea leaks gas, improve the convenience in use.
As a preferred example of the above embodiment, four groups of suction cups 10 are uniformly arranged in a square shape at four corners; four groups of suckers 10 are uniformly arranged and installed at four corners of the square, so that the sucking stability of the suckers is improved, and workpieces are prevented from being deviated and falling in the sucking process.
As a preference of the above embodiment, the electromagnet 13 is installed in the middle of the side ends of the four groups of suction cups 10; through installing electro-magnet 13 in the middle part of four groups of sucking discs 10 side, be convenient for balanced sucking disc 10 and electro-magnet 13's adsorption affinity, avoid the work piece skew to drop, improve stability in use.
As a preference of the above embodiment, the supporting base 1 is fixedly installed on the ground by piling; through will supporting 1 pile fixed mounting of base subaerial, guarantee six robots and support stability, avoid six robots to take place the displacement in the course of the work, improve the material loading accuracy.
The utility model discloses a six axis robot front end centre gripping bimodulus set composite, it is at the during operation, six axis robot 2 control connection mount 3 removes to the work piece top, later paste sucking disc 10 and 13 bottoms of electro-magnet tightly with the sheet material top, then start external air pump, later sucking disc 10 is adsorbed on the sheet material under air cock fixed block 8 and air cock joint 9 extraction effect, start electro-magnet 13 simultaneously, electro-magnet 13 circular telegram makes 13 bottoms of electro-magnet produce magnetic force, then make 13 magnetism of electro-magnet inhale on the sheet material, inhale the cooperation through sucking disc and magnetism, be convenient for increase work piece centre gripping dynamics, can guarantee work piece positioning accuracy and not drunkenness when making its centre gripping great heavy iron steel spare, beat, simultaneously through two kinds of absorption modes, both can the small-size stainless steel of centre gripping, non ferrous metal work pieces such as aluminium, also can centre gripping iron steel spare.
The utility model discloses a six robot front end centre gripping bimodulus set composite, its mounting means, connected mode or set up the mode and be common mechanical type, as long as can reach all can implement of its beneficial effect.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. The utility model provides a six robots front end centre gripping bimodulus set composite, its characterized in that, including supporting base (1), six robots (2), connecting mount (3), sucking disc adsorption apparatus construct and electro-magnet (13), six robots (2) bottom is rotated with supporting base (1) top and is connected, connect mount (3) and six robots (2) end fastening connection, sucking disc adsorption apparatus construct fixed mounting and snatch the sheet material in order to be used for adsorbing on connecting mount (3), electro-magnet (13) fixed mounting is in sucking disc adsorption apparatus construct in order to be used for supplementary sucking disc adsorption apparatus to adsorb together and snatch the sheet material, sucking disc adsorption apparatus constructs including adsorbing fixed plate (4), two sets of inflator mounting panels (5), sucking disc mounting panel (6), two sets of intercommunication inflator (7), two sets of air cock fixed blocks (8), two sets of air cock connectors (9) and four sets of sucking discs (10), adsorb fixed plate (4) and be connected mount (3) fixed connection, two sets of inflator mounting panels (5) and adsorb fixed plate (4) fastening connection, sucking disc mounting panel (6) top and adsorption fixed plate (4) bottom fastening connection, it is two sets of intercommunication inflator (7) fixed mounting is on two sets of inflator mounting panels (5) respectively, air cock fixed block (8) intercommunication is installed on intercommunication inflator (7) top, and is two sets of air cock joint (9) intercommunication is installed on two sets of air cock fixed blocks (8) respectively to air cock joint (9) and external air pump intercommunication, four groups sucking disc (10) fixed mounting is in sucking disc mounting panel (6) bottom respectively to sucking disc (10) and air cock joint (9) intercommunication, electro-magnet (13) fixed mounting is in adsorption fixed plate (4) bottom.
2. The six-axis robot front end clamping dual-mode composite device according to claim 1, further comprising a communication pipe (11) and two sets of air vents (12), wherein the two sets of air vents (12) are respectively installed on the suction cup installation plate (6) in a communication manner, the air vents (12) are communicated with the two sets of suction cups (10), and the communication pipe (11) is installed between the two sets of air vents (12) in a communication manner.
3. The six-axis robot front end clamping dual-mode composite device according to claim 1, further comprising four groups of protective steel rings (14), wherein the four groups of protective steel rings (14) are respectively sleeved on the suction cups (10).
4. The six-axis robot front end clamping dual-mode composite device as claimed in claim 3, further comprising a reinforcing connecting piece (15), wherein the top end of the reinforcing connecting piece (15) is fixedly installed at the side end of the sucker mounting plate (6), and the bottom end of the reinforcing connecting piece (15) is tightly connected with the top end of the protective steel ring (14).
5. The six-axis robot front-end clamping dual-mode composite device as claimed in claim 1, wherein the air nozzle joint (9) is configured as a quick-connect joint.
6. The six-axis robot front-end clamping dual-mode composite device as claimed in claim 1, wherein said four groups of suction cups (10) are uniformly arranged in a square shape with four corners.
7. The six-axis robot front end clamping dual-mode compound device as claimed in claim 1, wherein the electromagnets (13) are installed in the middle of the side ends of the four groups of suction cups (10).
8. The six-axis robot front-end clamping dual-mode composite device as claimed in claim 1, wherein the supporting base (1) is fixedly installed on the ground in a piling manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023081986.XU CN214870665U (en) | 2020-12-18 | 2020-12-18 | Six-axis robot front end clamping dual-mode composite device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023081986.XU CN214870665U (en) | 2020-12-18 | 2020-12-18 | Six-axis robot front end clamping dual-mode composite device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214870665U true CN214870665U (en) | 2021-11-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023081986.XU Active CN214870665U (en) | 2020-12-18 | 2020-12-18 | Six-axis robot front end clamping dual-mode composite device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214870665U (en) |
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2020
- 2020-12-18 CN CN202023081986.XU patent/CN214870665U/en active Active
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