CN217648414U - Robot type end effector debugging platform - Google Patents

Abstract

The utility model discloses a robot type end effector debugging platform mainly relates to the end effector and builds the field. Including the pay-off subassembly that removes to set up at the ground rail, be equipped with the end effector positioning disk on the pay-off subassembly, be equipped with sucking disc, its characterized in that on the end effector positioning disk: the top of ground rail is equipped with the horizontal pole, and the end effector positioning disk moves to the horizontal pole under the drive of pay-off subassembly on, be equipped with a plurality of sucking disc fixed districts that are used for going on fixing to unidimensional sucking disc on the end effector positioning disk, all be equipped with the vacuum adsorption inspection hole on every sucking disc fixed district, be equipped with the valve body subassembly of control vacuum adsorption inspection hole switching on the end effector positioning disk. The beneficial effects of the utility model reside in that: the on-line debugging device can be used for rapidly constructing the end picking device under the line, so that the loss of manpower and material resources caused by on-line debugging is avoided, and the efficiency and the accuracy of constructing the end picking device are ensured.

Description

Robot type end effector debugging platform

Technical Field

The utility model relates to an end effector builds the field, specifically is a robot type end effector debugging platform.

Background

In the automatic stamping line, a debugging end effector needs to be set up each time a new plate and a new die are replaced, and great manpower and waiting energy consumption can be generated when the end effector is debugged in the stamping line; at present, all there is track emulation function in the press line, in this work, the end effector has already confirmed three-dimensional coordinate information in virtual emulation space, can directly realize this information through the recognition on the certain medium on the real space, so both be convenient for operation workman's operation, improve work efficiency, simultaneously can great reduction error rate, but do not have in the current structure and carry out the structure that automatic transformation realized the end effector virtual coordinate, it builds still to carry out the manual contrast according to coordinate information to operating personnel during the realization, lead to the efficiency of building of end effector to be lower, the error rate is high, influence efficiency and the accuracy of building.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot type end effector debugging platform, it can be online under rapid build the end effector, avoid the online manpower and materials loss that the debugging caused, guarantee efficiency and the accuracy that the end effector was built.

The utility model discloses a realize above-mentioned purpose, realize through following technical scheme:

the utility model provides a robot formula end effector debugging platform, includes and removes the pay-off subassembly that sets up at the ground rail, is equipped with the end effector positioning disk on the pay-off subassembly, is equipped with the sucking disc on the end effector positioning disk, the top of ground rail is equipped with the horizontal pole, and the end effector positioning disk moves to the horizontal pole under the drive of pay-off subassembly on, be equipped with a plurality of sucking disc fixed districts that are used for going on fixing to not unidimensional sucking disc on the end effector positioning disk, all be equipped with the vacuum adsorption inspection hole on every sucking disc fixed district, be equipped with the valve body subassembly of control vacuum adsorption inspection hole switching on the end effector positioning disk.

Furthermore, the feeding assembly is a robot, and the end effector positioning disc is arranged on a manipulator of the robot.

Furthermore, the sucker fixing area is a plurality of concentrically arranged rings, and the outer diameter of each ring is matched with the size of the sucker.

Furthermore, a separation line is arranged between the adjacent annular sucking disc fixing areas.

Further, the valve body assembly is an electromagnetic valve.

Furthermore, the sucking disc is provided with an air exhaust hole for vacuumizing, and the sucking disc is adsorbed on the end effector positioning disc after being vacuumized.

Contrast prior art, the beneficial effects of the utility model reside in that:

1. the utility model discloses a set up mobilizable feeding component on the ground rail, the end effector positioning disc sets up on feeding component, feeding component according to the virtual three-dimensional coordinate that has designed in advance, moves end effector positioning disc and the sucking disc thereon to the assigned position of horizontal pole, then installs the sucking disc manual work on the assigned position of horizontal pole, realizes accurate location and installation to the sucking disc position, compares to the mode that the position was installed to the manual work, makes the construction of end effector more high-efficient and accurate;

2. because the quantity of the suckers on the end effector is large, after the end effector positioning disc carries the suckers to move to the designated positions on the cross rod, in order to avoid errors of the mounting positions, the suckers need to be fixed at the accurate positions of the end effector positioning disc, a plurality of sucker fixing areas used for fixing the suckers of different sizes are arranged on the end effector positioning disc, the suckers of different sizes can be accurately fixed on different sucker fixing areas when the suckers are mounted, vacuum adsorption detection holes are formed in each sucker fixing area, when the end effector positioning disc is used, the valve body assembly is used for controlling the vacuum adsorption detection holes in the sucker fixing areas corresponding to the sizes of the suckers to be closed, other vacuum adsorption detection holes are opened, the suckers can be successfully adsorbed on the designated sucker fixing areas through vacuumizing at the moment, the suckers cannot be fixed on the sucker fixing areas of other positions, the fixing positions of the suckers are more accurate, and the accuracy of the suckers for mounting the suckers on the cross rod is improved.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural view of the positioning plate of the end effector of the present invention.

Reference numerals shown in the drawings:

1. a ground rail; 2. an end effector positioning plate; 3. a suction cup; 4. a cross bar; 5. a suction cup fixing area; 6. vacuum adsorption detection holes; 7. a robot; 8. a manipulator; 9. a separation line; 10. an electromagnetic valve; 11. and (4) air exhaust holes.

Detailed Description

The present invention will be further described with reference to the following specific examples. It should be understood that these examples are only for illustrating the present invention and are not intended to limit the scope of the present invention. Furthermore, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teachings of the present invention, and these equivalents also fall within the scope defined in the present application.

The utility model relates to a robot type end effector debugging platform, the main structure comprises a feeding component which is arranged on a ground rail 1 in a moving way, the ground rail 1 comprises a track structure with a plurality of directions criss-cross, the feeding component can be moved to a plurality of positions of the ground rail 1, thereby facilitating feeding operation, an end effector positioning disc 2 is arranged on the feeding component, a sucker 3 is arranged on the end effector positioning disc 2, the feeding component is used for conveying the sucker 3 to different positions of the end effector, the building operation of the end effector is realized after the sucker is arranged at different positions of the end effector, the end effector corresponds to a corresponding plate, thereby facilitating accurate punching operation, a cross rod 4 is arranged above the ground rail 1, the cross rod 4 is a bearing device of the end effector, a plurality of end effectors can be arranged on the cross rod 4, the end effector positioning disc 2 is moved to the cross rod 4 under the driving of the feeding component, namely, the appointed three-dimensional coordinate of the end effector positioning disc 2 in the feeding component is utilized to drive the end effector positioning disc 2 to move, the sucker 3 moves to an appointed position of the cross rod 4, thereby realizing that the sucker 3 is fixed on the positioning disc 3, thereby, the sucker 3 is more effectively, the vacuum detecting valve body is arranged on the vacuum detecting disc 2, the vacuum detecting disc, the sucking disc 2, the sucking disc can be fixed on the sucking disc 2, the sucking disc can be more effectively, utilize the valve body subassembly to close vacuum adsorption inspection hole 6 on the sucking disc fixed area 5 of mounted position, vacuum adsorption inspection hole 6 on other sucking disc fixed areas 5 is opened, just can adsorb on the sucking disc fixed area 5 of assigned position when 3 pumples the vacuum like this, thereby make the position that 3 suckers adsorbed on end effector positioning disk 2 more accurate, realize more accurate installation when removing to horizontal pole 4 on, the accuracy of installation has further been improved, the condition of debugging repeatedly after makeing mistakes has been reduced, the efficiency of end effector building has been guaranteed.

Preferably, the feeding assembly is a robot 7, the end effector positioning disc 2 is arranged on a manipulator 8 of the robot 7, the robot 7 can adopt any robot structure in the prior art, the manipulator 8 can be moved to a specified position according to a three-dimensional virtual coordinate input by a system, and the end effector positioning disc 2 can be moved more accurately and efficiently for basic operation of an industrial robot.

Preferably, sucking disc fixed area 5 is a plurality of rings that set up with one heart, and annular external diameter suits with sucking disc 3's size, and annular sucking disc fixed area 5 can be abundant suit with different sucking disc 3's size, and saved the space on the end effector positioning disk 2 greatly for a plurality of sucking disc fixed area 5's position sets up more rationally, has reduced the size of end effector positioning disk 2, and the convenience carries out more accurate cooperation to not unidimensional sucking disc 3 and uses.

Preferably, a separation line 9 is arranged between the adjacent annular sucker fixing areas 5, the arrangement of the separation line 9 can be used for distinguishing the fixing positions of the suckers 3 with different sizes, the structure is simple, the manufacture is convenient, and the fixing positions of the suckers 3 with different sizes can be distinguished more visually.

Preferably, the valve body subassembly is solenoid valve 10, and solenoid valve 10's structure can cooperate with other electrical component, realizes high-efficient quick open and close control to vacuum adsorption inspection hole 6, has improved the convenience that sucking disc 3 was fixed on end effector positioning disk 2.

Preferably, be equipped with the aspirating hole 11 that is used for the evacuation on sucking disc 3, sucking disc 3 adsorbs on end effector positioning disk 2 through evacuation back, utilizes aspirating hole 11 and evacuation pipeline intercommunication, realizes the quick evacuation operation to sucking disc 3 for sucking disc 3 is fixed on end effector positioning disk 2 more high-efficient firm.

The working principle is as follows: the utility model discloses a set up mobilizable feeding component on ground rail 1, end effector positioning disk 2 sets up on feeding component, feeding component is according to the virtual three-dimensional coordinate that has predesigned, with end effector positioning disk 2 and the sucking disc 3 on it remove to the assigned position of horizontal pole 4, then install sucking disc 3 manual work on the assigned position of horizontal pole 4, realize accurate location and installation to the sucking disc 3 position, compare the mode that the position was installed to the manual work, make the buildding of end effector more high-efficient and accurate; because the sucking disc 3 on the end effector is more in quantity, consequently carry sucking disc 3 at end effector positioning disk 2 and remove the assigned position back on horizontal pole 4, for avoiding the mounted position to make mistakes, sucking disc 3 need fix the accurate position at end effector positioning disk 2, consequently set up a plurality of sucking disc fixed areas 5 that are used for fixing to not unidimensional sucking disc 3 on end effector positioning disk 2, make not unidimensional sucking disc 3 can both accurately fix on different sucking disc fixed areas 5 when the installation, and set up vacuum adsorption detection hole 6 on every sucking disc fixed area 5, utilize the vacuum adsorption detection hole 6 on the corresponding sucking disc fixed area 5 of valve body subassembly control and sucking disc 3 size to close during the use, other vacuum adsorption detection hole 6 are opened, sucking disc 3 can successfully adsorb on assigned sucking disc fixed area 5 through the evacuation this moment, and can's unable fixing on the sucking disc fixed area 5 of other positions, make the fixed position of sucking disc more accurate, the accuracy of sucking disc 3 installation on horizontal pole 4 has been improved.

Claims (6)

1. The utility model provides a robot type end effector debugging platform, includes the pay-off subassembly that removes the setting at ground rail (1), is equipped with end effector positioning disk (2) on the pay-off subassembly, is equipped with sucking disc (3) on end effector positioning disk (2), its characterized in that: the top of ground rail (1) is equipped with horizontal pole (4), and end effector positioning disk (2) remove to horizontal pole (4) under the drive of pay-off subassembly on, be equipped with a plurality of sucking disc fixed areas (5) that are used for fixing not unidimensional sucking disc (3) on end effector positioning disk (2), all be equipped with vacuum adsorption inspection hole (6) on every sucking disc fixed area (5), be equipped with the valve body subassembly of control vacuum adsorption inspection hole (6) switching on end effector positioning disk (2).

2. The robotic end effector commissioning platform of claim 1, wherein: the feeding assembly is a robot (7), and the end effector positioning disc (2) is arranged on a manipulator (8) of the robot (7).

3. The robotic end effector commissioning platform of claim 1, wherein: the sucker fixing areas (5) are a plurality of rings which are concentrically arranged, and the outer diameter of each ring is matched with the size of the sucker (3).

4. The robotic end effector commissioning platform of claim 3, wherein: a separation line (9) is arranged between the adjacent annular sucking disc fixing areas (5).

5. The robotic end effector commissioning platform of claim 1, wherein: the valve body assembly is an electromagnetic valve (10).

6. The robotic end effector commissioning platform of claim 1, wherein: the suction disc (3) is provided with an air suction hole (11) for vacuumizing, and the suction disc (3) is adsorbed on the end effector positioning disc (2) after being vacuumized.

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