CN217451876U - Automatic end effector device with feeding and discharging functions - Google Patents
Automatic end effector device with feeding and discharging functions Download PDFInfo
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- CN217451876U CN217451876U CN202221181847.0U CN202221181847U CN217451876U CN 217451876 U CN217451876 U CN 217451876U CN 202221181847 U CN202221181847 U CN 202221181847U CN 217451876 U CN217451876 U CN 217451876U
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Abstract
The utility model discloses an automatic end effector device with feeding and discharging functions, which comprises a main body structure, an adsorption structure and a clamping structure; the adsorption structure is fixedly arranged on the main body structure, and the clamping structure is fixedly arranged on the adsorption structure; the main body structure comprises a main body frame, a bearing, a motor and a shaft frame; the utility model relates to the technical field of mechanical feeding equipment; this automatic end effector device who has unloading concurrently installs on the arm through major structure, then accessible adsorption structure carries panel material loading before the punching press, and the punching press back, through control motor drive with adsorption structure upset 180 degrees backs, is located the clamping structure below, and then the accessible centre gripping carries out the centre gripping and unloads, realizes that an equipment realizes automatic feeding and unloading function, saves equipment cost, reduces area occupied.
Description
Technical Field
The utility model relates to a mechanical feeding equipment technical field specifically is an automatic end effector device who has unloading concurrently.
Background
In the current stamping industry, the automation popularization rate is higher and higher; the end effector, as an important component of the automation equipment, plays a key role in the automatic production process. In a traditional automatic production process, a robot is provided with a set of end picking devices, the robot and the end picking devices are used as independent units for transferring workpieces, and after a finished product process workpiece in a previous process is picked, the finished product process workpiece is sent to a press in a next process, in other words, an automatic unit is needed for an upper workpiece and a lower workpiece of each press;
the shapes and sizes of the general plates before and after stamping are different, so that a single end effector cannot be adopted for adsorption and transportation, and if two machines are purchased, the cost is improved, the occupied area is large, and therefore the automatic end effector device with the functions of feeding and discharging is designed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a have automatic end effector device of unloading concurrently to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: an automatic end effector device with feeding and discharging functions comprises a main body structure, an adsorption structure and a clamping structure; the adsorption structure is fixedly arranged on the main body structure, and the clamping structure is fixedly arranged on the adsorption structure;
the main body structure comprises a main body frame, a bearing, a motor and a shaft frame;
the main part frame one end is the rectangle body structure, and the other end is trapezium structure to both sides wall and left side wall are all fixed to be provided with the switching ear around the other end, the bearing is fixed respectively and inlays to be adorned in main part frame one end, and one of them bearing is located the central line left side, the motor is fixed to be set up in the main part frame, and is located and is close to other end position department, pedestal one end is shaft-like structure, and the other end is platelike structure, pedestal one end is fixed respectively to run through in the bearing, and is fixed continuous with motor drive end.
Preferably, the adsorption structure comprises a first adsorption frame, a first vent pipe, a first nut, a plurality of first suckers with the same structure, a pair of linkage frames with the same structure, a second adsorption frame, a pair of sliding frames with the same structure, a second vent pipe, a second nut and a plurality of second suckers with the same structure;
the first adsorption frame is of a rectangular pipe body structure, a first fixing port is formed in the center of the left side wall of the front end of the first adsorption frame, a first switching through hole communicated with the right side wall of the first adsorption frame is formed in the center of the left side wall of the first adsorption frame, a plurality of first mounting threaded holes with the same structure are formed in the center of the left side wall of the first adsorption frame at equal intervals, the first adsorption frame is fixedly arranged at the other end of the shaft frame through bolts, the first vent pipe is of a rectangular pipe body structure, a first air suction port is formed in the front side wall of the first vent pipe, a first threaded column is arranged on the left side wall of the front end of the first vent pipe, first vent holes corresponding to the first mounting threaded holes are formed in the left side wall of the first vent pipe at equal intervals, the first vent pipe is movably inserted into the first adsorption frame, the first threaded column is movably embedded in the first fixing port, and a first nut is movably screwed on the first threaded column, one end of each of the first suckers is of a rubber sucker structure, the other end of each of the first suckers is of an L-shaped pipe body structure, oblique threads are formed in the outer side wall of the other end of each pipe body, the first suckers are movably screwed in the first mounting threaded holes and movably penetrate through the first air exhaust ports, one end of each of a pair of linkage frames is fixedly welded on the upper wall of the first sucker frame and is respectively positioned close to the front end and the rear end of the upper wall of the first sucker frame, the front end and the rear end of each linkage frame are mutually symmetrical, the second sucker frame and the first sucker frame are of the same structure, the front end and the rear end of the upper wall of the first sucker frame are respectively welded with a sliding frame, the other end of each sliding frame is movably sleeved on the linkage frame, the second vent pipe and the first vent pipe are of the same structure, the second vent pipe is movably inserted in the second sucker frame and is fixed through a second nut, the second suckers are respectively of the same structure as the first suckers, and the second suckers are respectively fixedly arranged on the right side wall of the second sucker frame at equal intervals, and are respectively opposite to the first sucking discs in a staggered way.
Preferably, the clamping structure comprises a bracket, a linkage plate, a hydraulic cylinder and a plurality of clamping rods with the same structure;
the bracket is of a Z-shaped structure, one end of the bracket is fixedly welded on the left side wall of the first adsorption frame and is positioned at the central position and is positioned between the first adsorption frame and the other end of the shaft frame, the linkage plate is of a Z-shaped structure, one end of the linkage plate is fixedly welded on the right side wall of the second adsorption frame and is positioned at the central position, one end of the hydraulic cylinder is fixedly arranged on the bracket and is fixedly connected with the other end of the linkage plate, the clamping rods are of an L-shaped structure, one ends of the plurality of shrinkage clamping rods are respectively and fixedly welded on the upper wall of the first adsorption frame and the upper wall of the second adsorption frame and are respectively positioned on the front side and the rear side of the central line and are mutually symmetrical.
Preferably, the height of the clamping rod is higher than that of the linkage frame.
Preferably, the height of one end of the bracket is higher than that of the main body frame.
Preferably, the first vent pipe and the second vent pipe are connected through a tee pipe.
Compared with the prior art, the beneficial effects of the utility model are that: this automatic end effector device who has unloading concurrently installs on the arm through major structure, then accessible adsorption structure carries panel material loading before the punching press, and the punching press back, through control motor drive with adsorption structure upset 180 degrees backs, is located the clamping structure below, and then the accessible centre gripping carries out the centre gripping and unloads, realizes that an equipment realizes automatic feeding and unloading function, saves equipment cost, reduces area occupied.
Drawings
Fig. 1 is a schematic view of an assembly structure of the present invention;
FIG. 2 is a schematic view of the main structure of the present invention;
FIG. 3 is a schematic view of the disassembled structure of the adsorption structure of the present invention;
fig. 4 is a schematic view of the split structure of the clamping structure of the present invention.
In the figure: 1. the main structure, 11, the main frame, 12, the bearing, 13, the motor, 14, the pedestal, 2, the adsorption structure, 20, first adsorption frame, 21, first breather pipe, 22, first nut, 23, first sucking disc, 24, the interlock frame, 25, the second adsorption frame, 26, the sliding frame, 27, the second breather pipe, 28, the second nut, 29, the second sucking disc, 3, the clamping structure, 31, the bracket, 32, the interlock board, 33, the pneumatic cylinder, 34, the clamping bar, 4, the tee pipe.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: an automatic end effector device with feeding and discharging functions comprises a main body structure 1, an adsorption structure 2 and a clamping structure 3; the adsorption structure 2 is fixedly arranged on the main body structure 1, and the clamping structure 3 is fixedly arranged on the adsorption structure 2; the main body structure 1 comprises a main body frame 11, a bearing 12, a motor 13 and a shaft frame 14; one end of the main body frame 11 is of a rectangular pipe body structure, the other end of the main body frame is of a trapezoidal structure, the front side wall, the rear side wall and the left side wall of the other end of the main body frame are fixedly provided with a switching lug, the bearings 12 are respectively and fixedly embedded in one end of the main body frame 11, one of the bearings 12 is positioned on the left side of the central line, the motor 13 is fixedly arranged in the main body frame 11 and is positioned at a position close to the other end of the main body frame, one end of the shaft frame 14 is of a rod-shaped structure, the other end of the shaft frame 14 is of a plate-shaped structure, and one end of the shaft frame 14 is respectively and fixedly penetrated in the bearings 12 and is fixedly connected with the driving end of the motor 13; the main structure 1 is convenient for switching installation and control overturning.
The following electric devices have the following types and functions:
a motor: it is prior art, as long as the machine that is applicable to this scheme all can use.
Hydraulic cylinder: it is prior art, as long as the pneumatic cylinder that is applicable to this scheme all can use.
Preferably, the adsorption structure 2 includes a first adsorption frame 20, a first vent pipe 21, a first nut 22, a plurality of first suction cups 23 with the same structure, a pair of linking frames 24 with the same structure, a second adsorption frame 25, a pair of slide frames with the same structure, a second vent pipe 27, a second nut 28, and a plurality of second suction cups 29 with the same structure;
the first adsorption rack 20 is a rectangular tube structure, a first fixing port is arranged at the center of the left side wall of the front end, a first switching through hole communicated with the right side wall is arranged at the center of the left side wall of the first adsorption rack 20, a plurality of first mounting threaded holes with the same structure are equidistantly arranged at the center of the left side wall of the first adsorption rack 20, the first adsorption rack 20 is fixedly arranged at the other end of the shaft rack 14 through bolts, the first vent tube 21 is a rectangular tube structure, a first air suction port is arranged on the front side wall, a first threaded column is arranged on the left side wall of the front end of the first vent tube 21, first vent holes corresponding to the first mounting threaded holes are equidistantly arranged on the left side wall of the first vent tube 21, the first vent tube 21 is movably inserted into the first adsorption rack 20, the first threaded column is movably inserted into the first fixing port, and a first nut 22 is movably screwed on the first threaded column, one end of each of the first suckers 23 is of a rubber sucker structure, the other end of each of the first suckers 23 is of an L-shaped pipe body structure, the outer side wall of the other end of each pipe body is provided with oblique threads, the first suckers 23 are movably screwed in the first mounting threaded holes and movably penetrate through the first air suction ports, one end of each of a pair of linkage frames 24 is fixedly welded on the upper wall of the first adsorption frame 20 and is respectively positioned close to the front end and the rear end of each of the linkage frames, the front end and the rear end of each of the first adsorption frames 20 are mutually symmetrical, the second adsorption frame 25 is of the same structure as the first adsorption frame 20, the front end and the rear end of the upper wall of the first adsorption frame 20 are respectively welded with a sliding frame, the other end of each of the sliding frame is movably sleeved on the linkage frame 24, the second vent pipe 27 is of the same structure as the first vent pipe 21, the second vent pipe 27 is movably inserted in the second adsorption frame 25 and is fixed through a second nut 28, the plurality of second suckers 29 are respectively of the same structure as the first suckers 23, the second suckers 29 are respectively and fixedly arranged on the right side wall of the second adsorption frame 25 at equal intervals, and are respectively opposite to the first suction cups 23 in a staggered manner.
Preferably, the clamping structure 3 further comprises a bracket 31, a linkage plate 32, a hydraulic cylinder 33 and a plurality of clamping bars 34 with the same structure;
Preferably, the height of the clamping bar 34 is higher than that of the linkage frame 24, so as to facilitate clamping.
Preferably, the bracket 31 has a height higher than that of the main body frame 11 at one end thereof for design requirements, thereby facilitating the first adsorption frame 20 to be turned upside down.
Preferably, the first vent pipe 21 and the second vent pipe 27 are connected by a tee 4 for connecting requirements, so as to realize simultaneous operation.
The detailed connection means is a technique known in the art, and the following mainly describes the working principle and process, and the specific operation is as follows.
Example (b): as can be seen from fig. 1 to 4 of the specification, firstly, the suction plate is installed by the main frame 11 in the main structure 1, then the other end of the three-way pipe 4 is connected to the air extraction equipment, and the suction plates can be loaded and conveyed by controlling the plurality of first suction cups 23 and the plurality of second suction cups 29 to suck air through the first vent pipes 21 and the second vent pipes 27 fixedly installed in the first suction frame 20 and the second suction frame 25 in the suction structure 2 by the first nuts 22 and the second nuts 28; meanwhile, the hydraulic cylinder 33 on the bracket 31 in the clamping structure 3 can be controlled to stretch and retract according to the width of the plate, the second adsorption frame 25 is forced to move on the linkage frame 24 through the linkage plate 32, and the distance between the first adsorption disc 23 and the second adsorption disc 29 is adjusted; when blanking, the motor 13 in the main body frame 11 can be controlled to drive the shaft frame 14 to rotate 180 degrees by means of the bearing 12, so that the first suction cup 23 and the second suction cup 29 face upwards, and the clamping structure 3 faces downwards; then, the hydraulic cylinder 33 in the clamping structure 3 is controlled to extend and retract according to the shape and width of the punched plate, so as to drive the second adsorption frame 25 to slide through the linkage frame 24 for adjusting the distance, and the clamping rod 34 is used for clamping the blanking (the clamping rod 34 can be replaced by a suction cup, and the suction cup can be arranged according to the shape).
In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation; meanwhile, unless otherwise explicitly specified and limited, terms such as "fixedly welded", "fixedly embedded", "fixedly penetrated", "movably inserted", and "screwed" should be broadly construed, for example, they may be fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, and may be connected through the inside of two elements or in an interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the above terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a have automatic end effector device of unloading concurrently which characterized in that: comprises a main body structure (1), an adsorption structure (2) and a clamping structure (3); the adsorption structure (2) is fixedly arranged on the main body structure (1), and the clamping structure (3) is fixedly arranged on the adsorption structure (2);
the main body structure (1) comprises a main body frame (11), a bearing (12), a motor (13) and a shaft frame (14);
main part frame (11) one end is the rectangle body structure, and the other end is trapezium structure to both sides wall and left side wall are all fixed and are provided with the switching ear around the other end, bearing (12) are fixed respectively to be inlayed and are adorned in main part frame (11) one end, and one of them bearing (12) are located the central line left side, motor (13) are fixed to be set up in main part frame (11), and are located and are close to other end position department, pedestal (14) one end is shaft-like structure, and the other end is platelike structure, pedestal (14) one end is fixed respectively to run through in bearing (12), and is fixed continuous with motor (13) drive end.
2. The automated end effector assembly with loading and unloading function as claimed in claim 1, wherein: the adsorption structure (2) comprises a first adsorption frame (20), a first vent pipe (21), a first nut (22), a plurality of first suckers (23) with the same structure, a pair of linkage frames (24) with the same structure, a second adsorption frame (25), a pair of sliding frames with the same structure, a second vent pipe (27), a second nut (28) and a plurality of second suckers (29) with the same structure;
the first adsorption rack (20) is of a rectangular pipe body structure, a first fixing port is formed in the center of the left side wall of the front end of the first adsorption rack, a first switching through hole communicated with the right side wall is formed in the center of the left side wall of the first adsorption rack (20), a plurality of first mounting threaded holes with the same structure are formed in the center of the left side wall of the first adsorption rack (20) at equal intervals, the first adsorption rack (20) is fixedly arranged at the other end of the shaft bracket (14) through bolts, the first vent pipe (21) is of a rectangular pipe body structure, a first air suction port is formed in the front side wall of the first adsorption rack, a first threaded column is arranged on the left side wall of the front end of the first vent pipe (21), first vent holes corresponding to the first mounting threaded holes are formed in the left side wall of the first vent pipe (21) at equal intervals, the first vent pipe (21) is movably inserted into the first adsorption rack (20), and the first threaded column is movably inserted into the first fixing port, the first nut (22) is movably screwed on the first threaded column, one end of each of a plurality of first suckers (23) is of a rubber sucker structure, the other end of each first sucker is of an L-shaped pipe body structure, the outer side wall of the other end of each pipe body is provided with oblique threads, each first sucker (23) is movably screwed in a first mounting threaded hole and movably penetrates through a first air suction port, one end of each linkage frame (24) is fixedly welded on the upper wall of the corresponding first adsorption frame (20) and is positioned close to the front end and the rear end of each linkage frame respectively, the front end and the rear end of each linkage frame are symmetrical, the second adsorption frame (25) is structurally identical to the first adsorption frame (20), the front end and the rear end of the upper wall of the corresponding first adsorption frame (20) are respectively welded with sliding frames, the other ends of the sliding frames are movably sleeved on the linkage frames (24), the second vent pipe (27) is structurally identical to the first vent pipe (21), and the second vent pipe (27) is movably inserted in the second adsorption frame (25), and the second suckers (29) are respectively fixed on the right side wall of the second adsorption frame (25) at equal intervals and are respectively opposite to the first suckers (23) in a staggered manner.
3. The automated end effector assembly with loading and unloading function as claimed in claim 1, wherein: the clamping structure (3) comprises a bracket (31), a linkage plate (32), a hydraulic cylinder (33) and a plurality of clamping rods (34) with the same structure;
the support frame (31) is of a Z-shaped structure, one end of the support frame (31) is fixedly welded on the left side wall of the first adsorption frame (20) and is located at the center position and is located between the other end of the first adsorption frame (20) and the other end of the shaft frame (14), the linkage plate (32) is of a Z-shaped structure, one end of the linkage plate (32) is fixedly welded on the right side wall of the second adsorption frame (25) and is located at the center position, one end of the hydraulic cylinder (33) is fixedly arranged on the support frame (31), the telescopic end of the hydraulic cylinder is fixedly connected to the other end of the linkage plate (32), the clamping rods (34) are of an L-shaped structure, and one ends of the plurality of shrinkage clamping rods (34) are respectively and fixedly welded on the upper wall of the first adsorption frame (20) and the upper wall of the second adsorption frame (25) and are respectively located on the front side and the back side of the center line and are mutually symmetrical.
4. The automated end effector assembly with loading and unloading function as claimed in claim 3, wherein: the height of the clamping rod (34) is higher than that of the linkage frame (24).
5. The automated end effector assembly with loading and unloading function as claimed in claim 3, wherein: one end of the bracket (31) is higher than the main body frame (11).
6. The automated end effector apparatus with loading and unloading functions as claimed in claim 2, wherein: the first vent pipe (21) and the second vent pipe (27) are connected through a three-way pipe (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221181847.0U CN217451876U (en) | 2022-05-17 | 2022-05-17 | Automatic end effector device with feeding and discharging functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221181847.0U CN217451876U (en) | 2022-05-17 | 2022-05-17 | Automatic end effector device with feeding and discharging functions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217451876U true CN217451876U (en) | 2022-09-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221181847.0U Active CN217451876U (en) | 2022-05-17 | 2022-05-17 | Automatic end effector device with feeding and discharging functions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217451876U (en) |
-
2022
- 2022-05-17 CN CN202221181847.0U patent/CN217451876U/en active Active
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