CN216027657U - Automatic symmetrical rotating mechanism for left and right piece stamping directions of end effector - Google Patents
Automatic symmetrical rotating mechanism for left and right piece stamping directions of end effector Download PDFInfo
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- CN216027657U CN216027657U CN202121423647.7U CN202121423647U CN216027657U CN 216027657 U CN216027657 U CN 216027657U CN 202121423647 U CN202121423647 U CN 202121423647U CN 216027657 U CN216027657 U CN 216027657U
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Abstract
The utility model discloses an automatic symmetrical rotating mechanism for left and right end piece stamping directions of an end effector, which comprises an end effector component, wherein the end effector component comprises a plurality of sucker connecting assemblies and two rotating components connected to the end effector component, each rotating component comprises a fixing device connected to two ends of the end effector component, a rotating shaft fixed through the fixing devices, a driving mechanism connected to the lower end of the end effector component, an air cylinder arranged at the lower end of the driving mechanism, an air cylinder accessory sleeved on the air cylinder, a sensor arranged close to the air cylinder, and a floating device connected to one end, far away from an exhaust speed regulating valve, of an air inlet speed regulating valve. The automatic symmetrical rotating mechanism for the stamping direction of the left and right parts of the end effector has a simple structure, and realizes independent symmetrical transformation of common mode production in the stamping direction of the front and back processes of the left and right symmetrical parts; the adjusting time of the end pick-up is reduced for saving automatic production, the production cost and the manual production cost are saved, and the production efficiency is improved; the use efficiency of equipment is improved, and the practicality is strong.
Description
Technical Field
The utility model relates to the technical field of mechanical automation, in particular to an automatic symmetrical rotating mechanism for left and right end effector stamping directions.
Background
The end effector is a set of mechanisms for grasping and handling articles, and may be mounted on a robot or automated equipment to perform grasping-handling of articles. The industries commonly used at present are the metal plate industry (stamping of automobile metal plates, stamping of household appliance metal plates, loading and unloading in laser cutting), the injection molding industry (grabbing of injection molding), and the general industry (including glass, wood, packaging logistics and the like). An end effector is a device attached to an industrial robot or a robot arm, and is moved from a position to a predetermined position by contacting a gripped object with a vacuum chuck or a gripper. The automatic symmetrical rotating mechanism for the left and right parts of the automatic production line end effector mainly aims to meet the requirement of realizing independent symmetrical transformation common mode production in the stamping direction of the front and back subsequent processes of the left and right symmetrical parts.
Traditional automation line end effector, when bilateral symmetry piece common mode production to when the independent symmetry transform of piece punching press direction need is controlled to the subsequent handling, an end effector can only pick up a product earlier alone, relies on the rotatory follow-up singleton product punching press direction transform of realization of robot arm, picks up another product alone again, relies on the rotatory follow-up singleton product punching press direction transform of realization of robot arm. The adjustment mode seriously wastes production time, causes the waste of production cost and labor cost, and reduces the use efficiency of production equipment.
Based on the technical problems, technical personnel in the field need to develop an automatic symmetrical rotating mechanism for left and right end effector parts, which has a light structure and is flexible to use, can meet the use requirements of other products by changing an additional structure of the end effector, can save the adjustment time of an automatic production line for the end effector during production, and improves the use efficiency of production equipment.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide the automatic symmetrical rotating mechanism for the left and right end-effector parts, which has a light and handy structure and is flexible to use, can meet the use requirements of other products by changing the additional structure of the end-effector, can save the adjustment time of the end-effector during the production of an automatic production line, and improves the use efficiency of production equipment.
In order to achieve the above purpose, the utility model provides the following technical scheme:
the utility model relates to an automatic symmetrical rotating mechanism for left and right end effector stamping directions, which comprises:
an end effector component comprising a plurality of suction cup connection assemblies;
two rotating assemblies connected to the end effector assembly, the two rotating assemblies being symmetrically disposed with respect to each other;
the rotating assembly includes fixtures connected to both ends of the end effector assembly; and
a rotating shaft fixed by the fixing device;
a drive mechanism connected to a lower end of the end effector assembly;
the cylinder is arranged at the lower end of the driving mechanism, and the driving mechanism can drive the cylinder to extend outwards or return inwards;
the cylinder accessory is sleeved on the cylinder;
the sensor is arranged close to the air cylinder and used for receiving signals of the electric control terminal;
the floating device is connected to one end of the driving mechanism, and the sucking disc connecting assembly is driven to rotate by taking the rotating shaft as a center through the floating device.
Furthermore, actuating mechanism includes the governing valve that admits air and exhaust governing valve, the governing valve that admits air can drive the cylinder outwards extends, just the exhaust governing valve can drive the cylinder is inwards returned.
Further, the fixing device includes a shaft fixing plate to fix the rotation shaft; and
a return limiting block connected to the upper end of the shaft fixing plate;
the limiting plate is arranged at one end, far away from the shaft fixing plate, of the rotating shaft, and an inductor is arranged on the limiting plate;
and the sucking disc assembly connecting block is connected to the upper end of the limiting plate.
Furthermore, the rotating assembly further comprises an air cylinder fixing plate for fixing the air cylinder, the air cylinder fixing plate is fixedly connected to the end effector assembly through a screw, and the air cylinder fixing plate is made of an aluminum alloy material;
and one end of the floating device, which is far away from the air inlet speed regulating valve, is connected to the end effector assembly through a connecting shaft.
Preferably, the cylinder accessory is a cylinder sleeve, and the model of the cylinder sleeve is CB 40.
Further, the end effector assembly includes a primary shaft; and
the auxiliary rods are connected to the two ends of the main rod through a plurality of support rods, and the sucker connecting assembly is obliquely connected to the auxiliary rods;
one end of the sucker connecting assembly, which is far away from the auxiliary rod, is connected with a sucker;
and the horizontal-out joint is connected to the connecting shaft and fixedly connected to the auxiliary rod.
Furthermore, the floating device is a floating joint, one end of the floating joint is connected to the air inlet speed regulating valve, and the other end of the floating joint is connected to the connecting shaft.
Further, the type of the sensor is DMSE-020.
In the technical scheme, the automatic symmetrical rotating mechanism for the left and right end effector in the stamping direction has the following beneficial effects:
the automatic symmetrical rotating mechanism for the stamping direction of the left and right parts of the end effector has a simple structure, and realizes independent symmetrical transformation of common mode production in the stamping direction of the front and back processes of the left and right symmetrical parts; the adjusting time of the end pick-up is reduced for saving automatic production, the production cost and the manual production cost are saved, and the production efficiency is improved; the use efficiency of equipment is improved, and the practicality is strong.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic overall structural view of an automatic symmetrical rotating mechanism for left and right end effector punching directions according to an embodiment of the present invention;
fig. 2 is a schematic overall structural view of an automatic symmetrical rotating mechanism for left and right end effector punching directions according to an embodiment of the present invention;
fig. 3 is a reverse enlarged view of a partial structure of an automatic symmetrical rotating mechanism for left and right end effector punching directions according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a fixing device of an automatic symmetric rotation mechanism for left and right end effector in stamping direction according to an embodiment of the present invention.
Description of reference numerals:
1. an end effector assembly; 2. a rotating assembly;
101. the sucker is connected with the assembly; 102. a main rod; 103. an auxiliary rod; 104. a strut; 105. a suction cup; 106. leveling out the joint;
201. a cylinder attachment; 202. a fixing device; 203. a rotating shaft; 204. a drive mechanism; 206. a cylinder; 207. a floating device; 208. a sensor; 209. a cylinder fixing plate; 210. a connecting shaft;
2021. a shaft fixing plate; 2022. a return stroke limiting block; 2023. a limiting plate; 2024. a sucker assembly connecting block;
2041. an air inlet speed regulating valve; 2042. an exhaust speed regulating valve.
Detailed Description
In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 4;
the utility model relates to an automatic symmetrical rotating mechanism for left and right end effector stamping directions, which comprises:
an end effector component 1, said end effector component 1 comprising a plurality of suction cup attachment assemblies 101;
two rotating assemblies 2 connected to the end effector assembly 1, the two rotating assemblies 2 being arranged symmetrically with respect to each other;
the rotating assembly 2 includes fixtures 202 attached to both ends of the end effector assembly 1; and
a rotating shaft 203 fixed by the fixing device 202;
a drive mechanism 204 connected to the lower end of the end effector assembly 1;
an air cylinder 206 disposed at a lower end of the driving mechanism 204, wherein the driving mechanism 204 can drive the air cylinder 206 to extend outward or return inward, the air cylinder 206 provided in this embodiment has an automatic locking function, and the model of the air cylinder 206 is SE40 × 50 SCR;
the cylinder accessory 201 is sleeved on the cylinder 206;
a sensor 208 disposed proximate to the cylinder 206, the sensor 208 configured to receive signals from an electrical control terminal;
the floating device 207 is connected to one end of the driving mechanism 204, the sucker connecting assembly 101 is driven to rotate by taking the rotating shaft 203 as a center through the floating device 207, and the automatic symmetrical rotating mechanism for the left and right end effector in the stamping direction mainly uses the stretching of an air cylinder to drive the rotating shaft to work, so that the structure is light and convenient to use.
The driving mechanism 204 is further introduced in this embodiment, the driving mechanism 204 includes an air inlet speed regulating valve 2041 and an exhaust speed regulating valve 2042, the air inlet speed regulating valve 2041 can drive the cylinder 206 to extend outwards, and the exhaust speed regulating valve 2042 can drive the cylinder 206 to return inwards, the type of the air inlet speed regulating valve 2041 provided in this embodiment is PSL802B, and the type of the exhaust speed regulating valve 2042 is PSL 802A.
The present embodiment further introduces a fixing device 202, the fixing device 202 includes a shaft fixing plate 2021 for fixing the rotating shaft 203, the shaft fixing plate 2021 provided by the present embodiment is made of an aluminum alloy material, which increases the hardness and reduces the weight;
a return limiting block 2022 connected to the upper end of the shaft fixing plate 2021, wherein the return limiting block 2022 is made of an aluminum alloy material;
a limit plate 2023 disposed at an end of the rotating shaft 203 away from the shaft fixing plate 2021, wherein the limit plate 2023 is provided with an inductor;
the suction cup assembly connecting block 2024 is connected to the upper end of the limiting plate 2023, the rotating shaft 203 is connected to the end effector component 1 through the suction cup assembly connecting block 2024, and the suction cup assembly connecting block 2024 is made of an aluminum alloy material.
As a further introduction to this embodiment, the rotating assembly 2 further includes a cylinder fixing plate 209 for fixing the cylinder 206, the cylinder fixing plate 209 is fixedly connected to the end effector assembly 1 by screws, and the cylinder fixing plate 209 is made of an aluminum alloy;
the end of the float device 207 remote from the inlet governor valve 2041 is connected to the end effector assembly 1 by a connecting shaft 210.
As a preferred technical solution of this embodiment, the cylinder attachment 201 is a cylinder sleeve, and the model of the cylinder sleeve is CB 40.
The present embodiment further introduces an end effector assembly 1, the end effector assembly 1 including a main bar 102; and
the auxiliary rods 103 are connected to two ends of the main rod 102 through a plurality of support rods 104, and the suction cup connecting assembly 101 is obliquely connected to the auxiliary rods 103;
one end of the suction cup connecting assembly 101, which is far away from the auxiliary rod 103, is connected with a suction cup 105;
and a horizontal-out joint 106 connected to the connecting shaft 210 and fixedly connected to the sub-rod 103.
As a preferable technical solution of this embodiment, the floating device 207 is a floating joint, and one end of the floating joint is connected to the air intake speed regulating valve 2041, and the other end of the floating joint is connected to the connecting shaft 210.
As a preferable technical scheme of the embodiment, the model of the sensor 208 is DMSE-020.
The specific working process is as follows:
when the power is switched on, the sensor 208 receives a signal from an electrical control terminal, the air inlet speed regulating valve 2021 starts to admit air and drives the air cylinder 206 to extend outwards, the floating joint drives the suction cup connecting assembly 101 to rotate around the rotating shaft 203, when the sensor on the limiting plate 2023 senses a signal source on the suction cup connecting block 2024, the extending and rotating operation is completed, the air cylinder 206 starts to perform automatic locking function locking, and at the moment, the sensor on the end effector receives a terminal signal and drives the suction cup to start exhausting and discharging;
when the sensor 208 receives a signal from an electrical control terminal, the exhaust speed control valve 2022 starts to admit air to drive the air cylinder 206 to return inwards, the floating joint drives the suction cup connection assembly 101 to rotate around the rotating shaft 203, when the sensor on the return limit block 2022 senses a signal source on the suction cup assembly connection block 2024, the return rotation is completed, the air cylinder 206 starts to perform automatic locking function locking, and at the moment, the sensor on the end effector receives a terminal signal to drive the suction cup connection assembly 101 to start suction work and take out a part. And sequentially finishing front-to-back sequence transmission tasks of the product pieces through the end pick on the mechanical arm. The automatic symmetrical rotary mechanism of end effector left and right sides piece stamping direction that this embodiment provided mainly uses the flexible rotation axis work of driving that comes of cylinder, and such mode structure is light and handy, convenient to use.
In the technical scheme, the automatic symmetrical rotating mechanism for the left and right end effector in the stamping direction has the following beneficial effects:
the automatic symmetrical rotating mechanism for the stamping direction of the left and right parts of the end effector has a simple structure, and realizes independent symmetrical transformation of common mode production in the stamping direction of the front and back processes of the left and right symmetrical parts; the adjusting time of the end pick-up is reduced for saving automatic production, the production cost and the manual production cost are saved, and the production efficiency is improved; the use efficiency of equipment is improved, and the practicality is strong.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the utility model. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the utility model.
Claims (8)
1. An automatic symmetry rotary mechanism of end effector left and right parts punching direction which characterized in that, this rotary mechanism includes:
an end effector assembly (1), said end effector assembly (1) comprising a plurality of suction cup attachment assemblies (101);
two rotating assemblies (2) connected to the end effector assembly (1), the two rotating assemblies (2) being arranged symmetrically with respect to each other;
the rotating assembly (2) comprises a fixture (202) connected to both ends of the end effector assembly (1); and
a rotating shaft (203) fixed by the fixing device (202);
a drive mechanism (204) connected to a lower end of the end effector assembly (1);
a cylinder (206) arranged at the lower end of the driving mechanism (204), wherein the driving mechanism (204) can drive the cylinder (206) to extend outwards or return inwards;
the cylinder accessory (201) is sleeved on the cylinder (206);
a sensor (208) disposed proximate to the cylinder (206), the sensor (208) configured to receive a signal from an electrical control terminal;
and the floating device (207) is connected to one end of the driving mechanism (204), and the sucker connecting assembly (101) is driven to rotate around the rotating shaft (203) by the floating device (207).
2. The automatic symmetrical rotating mechanism for left and right punching directions of an end effector as claimed in claim 1, wherein said driving mechanism (204) comprises an air inlet speed regulating valve (2041) and an air outlet speed regulating valve (2042), said air inlet speed regulating valve (2041) can drive said cylinder (206) to extend outward, and said air outlet speed regulating valve (2042) can drive said cylinder (206) to return inward.
3. An automatic symmetrical rotating mechanism for left and right punching direction of end effector as claimed in claim 1, wherein said fixing means (202) comprises a shaft fixing plate (2021) for fixing said rotating shaft (203); and
a return limit block (2022) connected to the upper end of the shaft fixing plate (2021);
a limit plate (2023) arranged at one end of the rotating shaft (203) far away from the shaft fixing plate (2021), wherein the limit plate (2023) is provided with an inductor;
and the sucking disc assembly connecting block (2024) is connected to the upper end of the limiting plate (2023).
4. The automatic symmetrical rotating mechanism of punching direction of left and right piece of end effector of claim 2, characterized by that, said rotating assembly (2) further comprises a cylinder fixing plate (209) for fixing said cylinder (206), said cylinder fixing plate (209) is fixedly connected to said end effector assembly (1) by screw, and said cylinder fixing plate (209) is made of aluminum alloy;
one end of the floating device (207) far away from the air inlet speed regulating valve (2041) is connected to the end effector assembly (1) through a connecting shaft (210).
5. The automatic symmetrical rotating mechanism for left and right punching direction of end effector as claimed in claim 1, wherein said cylinder attachment (201) is a cylinder sleeve and said cylinder sleeve is of type CB 40.
6. An end-effector left-right piece stamping direction automatic symmetrical rotating mechanism according to claim 4, characterized in that said end-effector assembly (1) comprises a main rod (102); and
the auxiliary rods (103) are connected to two ends of the main rod (102) through a plurality of support rods (104), and the sucker connecting assembly (101) is obliquely connected to the auxiliary rods (103);
one end of the sucker connecting assembly (101) far away from the auxiliary rod (103) is connected with a sucker (105);
a horizontal-out joint (106) connected to the connecting shaft (210) and fixedly connected to the auxiliary rod (103).
7. An automatic symmetrical rotating mechanism for left and right punching direction of end effector as claimed in claim 4, wherein said floating device (207) is a floating joint, and one end of said floating joint is connected to said air intake speed adjusting valve (2041) and the other end is connected to said connecting shaft (210).
8. The end-effector left-right piece press direction automatic symmetric rotation mechanism according to claim 1, wherein the sensor (208) is model number DMSE-020.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121423647.7U CN216027657U (en) | 2021-06-25 | 2021-06-25 | Automatic symmetrical rotating mechanism for left and right piece stamping directions of end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121423647.7U CN216027657U (en) | 2021-06-25 | 2021-06-25 | Automatic symmetrical rotating mechanism for left and right piece stamping directions of end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216027657U true CN216027657U (en) | 2022-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121423647.7U Active CN216027657U (en) | 2021-06-25 | 2021-06-25 | Automatic symmetrical rotating mechanism for left and right piece stamping directions of end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216027657U (en) |
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2021
- 2021-06-25 CN CN202121423647.7U patent/CN216027657U/en active Active
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