CN218195232U - Workpiece taking and placing device for tail end of robot - Google Patents
Workpiece taking and placing device for tail end of robot Download PDFInfo
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- CN218195232U CN218195232U CN202221531036.9U CN202221531036U CN218195232U CN 218195232 U CN218195232 U CN 218195232U CN 202221531036 U CN202221531036 U CN 202221531036U CN 218195232 U CN218195232 U CN 218195232U
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Abstract
The utility model provides a workpiece taking and placing device for the tail end of a robot, relating to the field of transfer robots; the work piece is got and is put device includes: the device comprises a workpiece taking and placing mechanism, a fine adjustment mechanism and a locking mechanism; the fine adjustment mechanism is used for being arranged at the tail end of the robot and adjusting the position of the workpiece taking and placing mechanism in a plane; the fine adjustment mechanism comprises an installation plate, a first adjusting plate and a second adjusting plate which are arranged in parallel; the mounting plate is used for being fixedly connected with the tail end of the robot; the first adjusting plate is arranged below the mounting plate through a first sliding assembly; the second adjusting plate is arranged below the first adjusting plate through a second sliding assembly; the locking mechanism is arranged on the fine adjustment mechanism and used for limiting the moving range or position of the second adjusting plate on a plane; the workpiece taking and placing mechanism is fixedly connected with the second adjusting plate and used for fixing and supporting the workpiece; the utility model discloses can finely tune the position that the work piece got and put the mechanism in the plane to satisfy the accurate demand of getting the work piece of getting of robot.
Description
Technical Field
The utility model relates to a transfer robot field especially relates to a workpiece picking and placing device for robot end.
Background
Along with the intelligent development of various industries, the integrated application of the robot becomes an important component, and according to different application scenes, the tail end of the robot can be provided with pick-and-place devices corresponding to different workpieces according to different requirements. In the process of taking and placing the workpiece by the robot, the matching precision requirement of the workpiece and the corresponding placing position is high, so that when the robot moves the workpiece to the workpiece taking and placing station through the workpiece taking and placing device, the workpiece is difficult to be ensured to be in the accurate taking and placing position. In order to meet the requirement of accurately picking and placing the workpiece by the robot, a workpiece picking and placing device for the tail end of the robot needs to be designed.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a work piece is got and is put device for robot is terminal can finely tune the position that the work piece was got and is put mechanism in the plane to satisfy the accurate demand of getting the work piece of getting of robot.
The utility model provides a device is got to work piece of being used for robot end, include: the device comprises a workpiece taking and placing mechanism, a fine adjustment mechanism and a locking mechanism;
the fine adjustment mechanism is used for being installed at the tail end of the robot and adjusting the position of the workpiece taking and placing mechanism in a plane; the fine adjustment mechanism comprises an installation plate, a first adjustment plate and a second adjustment plate which are arranged in parallel; the mounting plate is used for being fixedly connected with the tail end of the robot; the first adjusting plate is arranged below the mounting plate through a first sliding assembly, so that the first adjusting plate can move along a first direction; the second adjusting plate is disposed below the first adjusting plate through a second sliding assembly such that the second adjusting plate is movable in a second direction perpendicular to the first direction;
the locking mechanism is arranged on the fine adjustment mechanism and used for limiting the movement range or position of the second adjusting plate on a plane;
the workpiece taking and placing mechanism is fixedly connected with the second adjusting plate and used for fixing and supporting the workpiece.
Furthermore, the fine adjustment mechanism also comprises a connecting piece and a connecting flange; the connecting flange is arranged on the connecting piece; the mounting plate is fixedly connected with the connecting piece; the connecting flange is used for being fixedly connected with the tail end of the robot.
Further, the first sliding assembly comprises a first sliding chute and a first sliding rail; the first sliding rail is movably arranged in the first sliding groove; the first sliding groove is fixedly connected with the mounting plate; the first sliding rail is fixedly connected with the first adjusting plate.
Further, the second sliding assembly comprises a second sliding chute and a second sliding rail; the second sliding rail is movably arranged in the second sliding groove; the second sliding groove is fixedly connected with the first adjusting plate; the second slide rail with second regulating plate fixed connection.
Further, the locking mechanism comprises a first driver and a limiting rod; the mounting plate, the first adjusting plate and the second adjusting plate are respectively provided with a first avoidance hole, a second avoidance hole and a limiting hole; the first driver is arranged on the connecting piece and used for driving the limiting rod to move along the axial direction of the limiting rod; the limiting rod penetrates through the first avoidance hole and the second avoidance hole; one end of the limiting rod is in transmission connection with the first driver, and the other end of the limiting rod is provided with a conical abutting part; one end edge of the conical abutting part extends into the limiting hole and is used for abutting against the opening part of the limiting hole; the inner diameter of the limiting hole is smaller than the outer diameter of the limiting rod; the conical abutting part is matched with the limiting hole and used for limiting the moving range or position of the second adjusting plate on the plane.
Further, the mouth of the limiting hole is provided with an arc surface for abutting against the conical abutting part.
Furthermore, flexible sealing sleeves are respectively arranged on the outer side between the mounting plate and the first adjusting plate and the outer side between the first adjusting plate and the second adjusting plate.
Further, the workpiece picking and placing mechanism comprises a supporting plate and a fixing component; the supporting plate is fixedly connected with the second adjusting plate and used for supporting the workpiece; the fixing component is arranged on the supporting plate and used for fixing the workpiece on the supporting plate.
Further, the number of the fixing assemblies is two; the two fixing assemblies are arranged on the supporting plate in a back-to-back mode; the fixing assembly comprises a second driver and a pressing block; the second driver is in transmission connection with the pressing block and is used for driving the pressing block to move along a straight line; the pressing block is used for abutting against the workpiece; the two fixing components are matched and used for fixing the workpiece on the supporting plate.
Further, the second driver includes an air cylinder, a hydraulic cylinder, or a linear motor.
The embodiment of the utility model provides a technical scheme brings the beneficial effect be: the workpiece taking and placing device for the tail end of the robot in the embodiment of the utility model comprises a workpiece taking and placing mechanism, a fine adjustment mechanism and a locking mechanism; the fine adjustment mechanism comprises a mounting plate, a first adjusting plate and a second adjusting plate, wherein the first adjusting plate is arranged below the mounting plate through a first sliding assembly, the second adjusting plate is arranged below the first adjusting plate through a second sliding assembly, the second adjusting plate can move in a plane, and the workpiece taking and placing mechanism is fixedly connected with the second adjusting plate; when in use, the workpiece taking and placing mechanism is arranged at the tail end of the robot through the fine adjustment mechanism; when a workpiece is taken, the workpiece taking and placing device for the tail end of the robot is moved to a workpiece taking station through the robot, the limitation of the locking mechanism on the position of the second adjusting plate is removed, the workpiece taking and placing mechanism is located at a position where the workpiece can be accurately taken down by moving the second adjusting plate, the workpiece can be smoothly placed on the workpiece taking and placing mechanism, and after the workpiece is taken down, the position of the second adjusting plate is limited through the locking mechanism; when a workpiece is placed, the workpiece taking and placing device used at the tail end of the robot is moved to a workpiece placing position through the robot, the limitation of the locking mechanism on the position of the second adjusting plate is released, and the workpiece taking and placing mechanism is located at a position where the workpiece can be accurately placed through moving the second adjusting plate, so that the workpiece can be smoothly placed at a specified position; the utility model discloses can finely tune the position that the work piece got and put the mechanism in the plane to satisfy the accurate demand of getting the work piece of getting of robot, and convenient to use.
Drawings
Fig. 1 is a schematic perspective view of a workpiece picking and placing device for a robot end according to an embodiment of the present invention;
FIG. 2 is a side view of the work piece pick and place apparatus for the robot tip of FIG. 1;
FIG. 3 is a top view of the work piece picking and placing device for the end of the robot of FIG. 1;
fig. 4 is a schematic perspective view of the fixing member 2 of the workpiece handling apparatus for a robot end of fig. 1;
FIG. 5 is another perspective view of the fixing assembly 2 of FIG. 4;
FIG. 6 is a perspective view of the push plate 204 of the fixing assembly 2 of FIG. 4;
fig. 7 is a schematic perspective view of a combined structure of the fine adjustment mechanism 3 and the locking mechanism 4 in the workpiece picking and placing device for the robot end in fig. 1;
fig. 8 is another perspective view of the combination structure of the fine adjustment mechanism 3 and the locking mechanism 4 in fig. 7;
FIG. 9 is a side view of the combination of the fine adjustment mechanism 3 and the locking mechanism 4 in FIG. 8;
FIG. 10 isbase:Sub>A schematic sectional view taken along the direction A-A of the combined structure of the fine adjustment mechanism 3 and the locking mechanism 4 in FIG. 9;
fig. 11 is a schematic perspective view of the workpiece picking and placing device for the robot end in fig. 1 when a workpiece is placed on the workpiece picking and placing device;
FIG. 12 is a side view of the work-piece pick and place device for a robot tip of FIG. 11 with a work-piece placed thereon;
FIG. 13 is a top view of the work piece pick and place device for the end of the robot of FIG. 11 with a work piece placed thereon;
FIG. 14 is a top view of a workpiece according to an embodiment of the invention;
100, a workpiece taking and placing device for the tail end of the robot; 1. a support plate; 101. positioning pins; 2. a fixing assembly; 201. a second driver; 202. a fixed block; 203. a guide bar; 204. pushing the plate; 205. a compression block; 206. a first inclined plane; 3. a fine adjustment mechanism; 31. mounting a plate; 311. a first avoidance hole; 32. a first adjusting plate; 321. a second avoidance hole; 33. a second adjusting plate; 331. a limiting hole; 34. a first slide assembly; 35. a second slide assembly; 36. a flexible sealing sleeve; 37. a connecting member; 38. a connecting flange; 4. a locking mechanism; 41. a first driver; 42. a limiting rod; 421. a tapered abutment; 200. a workpiece; 210. an annular plate; 220. a pin hole; 230. a second inclined surface.
Detailed Description
The following detailed description of the preferred embodiments of the invention, which is to be read in connection with the accompanying drawings, forms a part of this application, and together with the embodiments of the invention, serve to explain the principles of the invention and not to limit its scope.
Referring to fig. 1 to 3 and 7 to 10, an embodiment of the present invention provides a workpiece picking and placing device for a robot end, including: a workpiece taking and placing mechanism, a fine adjustment mechanism 3 and a locking mechanism 4;
the fine adjustment mechanism 3 is used for being installed at the tail end of the robot and adjusting the position of the workpiece taking and placing mechanism in a plane; the fine adjustment mechanism 3 comprises a mounting plate 31, a first adjusting plate 32 and a second adjusting plate 33 which are arranged in parallel; the mounting plate 31 is used for being fixedly connected with the tail end of the robot; the first adjusting plate 32 is disposed below the mounting plate 31 by a first slide assembly 34 such that the first adjusting plate 32 can move in a first direction; the second adjusting plate 33 is disposed below the first adjusting plate 32 by a second sliding assembly 35 such that the second adjusting plate 33 can move in a second direction perpendicular to the first direction;
the locking mechanism 4 is arranged on the fine adjustment mechanism 3 and used for limiting the moving range or position of the second adjusting plate 33 on the plane;
the workpiece pick and place mechanism is fixedly connected with the second adjusting plate 33 and used for fixing and supporting the workpiece.
Referring to fig. 7, in order to facilitate the installation of the workpiece picking and placing device for the robot end at the end of the robot, the fine adjustment mechanism 3 further includes a connecting member 37 and a connecting flange 38; the connecting piece 37 is L-shaped and is formed by connecting two plates; the connecting flange 38 is arranged on the connecting piece 37; the mounting plate 31 is fixedly connected with the connecting piece 37; the attachment flange 38 is adapted for fixed attachment to the end of the robot.
Specifically, the first sliding assembly 34 includes a first sliding slot and a first sliding rail; the first sliding rail is movably arranged in the first sliding groove; the first chute is fixedly connected with the mounting plate 31; the first slide rail is fixedly connected with the first adjusting plate 32; the second sliding assembly 35 includes a second sliding groove and a second sliding rail; the second sliding rail is movably arranged in the second sliding groove; the second chute is fixedly connected with the first adjusting plate 32; the second slide rail is fixedly connected with a second adjusting plate 33; the first sliding member 34 is disposed perpendicular to the second sliding member 35.
Referring to fig. 10, in order to define the moving range and position of the second adjusting plate 33, the locking mechanism 4 includes a first driver 41 and a stopper rod 42; the mounting plate 31, the first adjusting plate 32 and the second adjusting plate 33 are respectively provided with a first avoiding hole 311, a second avoiding hole 321 and a limiting hole 331; when the locking mechanism 4 limits the position of the second adjusting plate 33, the fine adjustment mechanism 3 is in a locking state, the first adjusting plate 32 and the second adjusting plate 33 cannot move relative to the mounting plate 31, and at the moment, the first avoiding hole 311, the second avoiding hole 321 and the limiting hole 331 are coaxially arranged; the first driver 41 is arranged on the connecting piece 37 and used for driving the limiting rod 42 to move along the axial direction of the limiting rod; the limiting rod 42 penetrates through the first avoidance hole 311 and the second avoidance hole 321; one end of the limiting rod 42 is in transmission connection with the first driver 41, and the other end is provided with a conical abutting part 421; one end edge of the tapered abutting portion 421 extends into the limiting hole 331, and is used for abutting against the mouth of the limiting hole 331; the inner diameter of the limiting hole 331 is smaller than the outer diameter of the limiting rod 42; the tapered abutting portion 421 cooperates with the stopper hole 331 for defining a moving range or position of the second regulation plate 33 on the plane; when the position of the second adjusting plate 33 needs to be adjusted, the first driver 41 drives the limiting rod 42 to move upwards, at this time, the tapered abutting part 421 is not completely pushed out to the outside of the limiting hole 331, a gap is formed between the tapered abutting part 421 and the mouth of the limiting hole 331, and the tapered abutting part 421 is matched with the limiting hole 331, so that the moving range of the second adjusting plate 33 is limited; when the second adjusting plate 33 needs to be locked, the first driver 41 drives the limiting rod 42 to move downwards until the conical abutting part 421 abuts against the limiting hole 331, and the second adjusting plate 33 is fixed in a coaxial state.
Exemplarily, in the present embodiment, the first driver 41 is a cylinder; the push rod of the first driver 41 is fixedly connected with one end of the limiting rod 42.
As a variation of this embodiment, the first actuator 41 may also be a hydraulic cylinder or a linear motor.
In order to better limit the position of the second adjusting plate 33, the opening of the limiting hole 331 is provided with an arc surface, so that when the conical abutting portion 421 abuts against the opening of the limiting hole 331, the second adjusting plate 33 can be better moved to the limiting hole 331 and coaxially arranged with the limiting rod 42; the mouth of the limiting hole 331 is the top opening of the limiting hole 331; when the tapered abutment portion 421 is not in abutment with the mouth of the stopper hole 331, a gap is present between the mouth of the stopper hole 331 and the tapered abutment portion 421, so that the second adjustment plate 33 can move in a plane, but the movement range is limited by the tapered abutment portion 421.
Referring to fig. 7, in order to prevent dust, rainwater, etc. from entering a space between the mounting plate 31 and the first regulation plate 32 and/or a space between the first regulation plate 32 and the second regulation plate 33, an outer side between the mounting plate 31 and the first regulation plate 32 and an outer side between the first regulation plate 32 and the second regulation plate 33 are provided with flexible sealing sleeves 36, respectively.
Illustratively, in the present embodiment, the flexible sealing sleeve 36 is fixedly connected with the mounting plate 31, the first adjusting plate 32 and the second adjusting plate 33 by screws.
Referring to fig. 1 to 3, the work pick and place mechanism includes a support plate 1 and a fixing member 2; the supporting plate 1 is fixedly connected with the second adjusting plate 33 and used for supporting the workpiece; the fixing component 2 is arranged on the support plate 1 and is used for fixing the workpiece on the support plate 1.
Specifically, with reference to fig. 4 and 5, the number of fixing assemblies 2 is two; the two fixing components 2 are arranged on the support plate 1 in a back-to-back manner; the fixing component 2 comprises a second driver 201, a fixing block 202, a guide rod 203, a push plate 204 and a pressing block 205; the fixed block 202 is arranged on the support plate 1; the guide rod 203 is movably arranged on the fixing block 202 in a penetrating way; the second driver 201 is arranged on the fixed block 202, is in transmission connection with one side of the push plate 204, and is used for driving the push plate 204 to move back and forth along the axial direction of the guide rod 203; the pressing block 205 is arranged on the other side of the push plate 204 and is used for abutting against the workpiece; the two fixing assemblies 2 cooperate to fix the workpiece to the support plate 1.
Exemplarily, in the present embodiment, the second driver 201 is an air cylinder, and a push rod of the second driver 201 is fixedly connected to the push plate 204; the workpiece is in a cylindrical state; after the workpiece is placed on the supporting plate 1, the push plates 204 are driven by the second drivers 201 to move until the pressing blocks 205 abut against the workpiece, so that the workpiece is fixed on the supporting plate 1.
As a variation of this embodiment, the second actuator 201 may also be a hydraulic cylinder or a linear motor.
Exemplarily, referring to fig. 6 and 14, the bottom of the workpiece 200 in the present embodiment is provided with an annular plate 210, and the annular plate 210 is provided with pin holes 220; a first inclined surface 206 is arranged at the bottom of one end of the pressing block 205, and correspondingly, a second inclined surface 230 matched with the first inclined surface 206 is arranged on the annular plate 210; when the pressing block 205 abuts against the annular plate 210, the first inclined surface 206 abuts against the second inclined surface 230, and the pressing block 205 is pressed on the second inclined surface 230, so that the workpiece 200 is pressed on the support plate 1; in order to better fix the workpiece 200 on the support plate 1, the support plate 1 is provided with a positioning pin 101 which is matched with the pin hole 220; when the workpiece 200 is placed on the support plate 1, the positioning pins 101 are inserted in the pin holes 220.
Referring to fig. 3, in the present embodiment, the supporting plate 1 is provided in a U shape for better avoiding obstacles.
Referring to fig. 11 to 14, the method of using the workpiece picking and placing device for the robot end in the present embodiment is as follows:
when in use, the workpiece taking and placing mechanism is arranged at the tail end of the robot through the fine adjustment mechanism 3; when a workpiece 200 is taken, the workpiece taking and placing device 100 for the tail end of the robot is moved to a workpiece taking station through the robot, the limitation of the locking mechanism 4 on the position of the second adjusting plate 33 is removed, the workpiece taking and placing mechanism is located at a position where the workpiece can be accurately taken down by moving the second adjusting plate 33, the workpiece 200 can be smoothly placed on the workpiece taking and placing mechanism, and after the workpiece 200 is taken down, the position of the second adjusting plate 33 is limited through the locking mechanism 4; when the workpiece 200 is placed, the workpiece taking and placing device 100 for the tail end of the robot is moved to a workpiece placing position through the robot, the limitation of the locking mechanism 4 on the position of the second adjusting plate 33 is removed, and the workpiece taking and placing mechanism is located at the position where the workpiece 200 can be accurately placed through moving the second adjusting plate 33, so that the workpiece 200 can be smoothly placed to the designated position.
The above is not relevant and is applicable to the prior art.
In this document, the terms front, back, upper, lower and the like in the drawings are used for the sake of clarity and convenience only for the components are located in the drawings and the positions of the components relative to each other. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (10)
1. A workpiece pick-and-place device for a robot end, comprising: the device comprises a workpiece taking and placing mechanism, a fine adjustment mechanism and a locking mechanism;
the fine adjustment mechanism is used for being installed at the tail end of the robot and adjusting the position of the workpiece taking and placing mechanism in a plane; the fine adjustment mechanism comprises an installation plate, a first adjustment plate and a second adjustment plate which are arranged in parallel; the mounting plate is used for being fixedly connected with the tail end of the robot; the first adjusting plate is arranged below the mounting plate through a first sliding assembly, so that the first adjusting plate can move along a first direction; the second adjusting plate is disposed below the first adjusting plate through a second sliding assembly such that the second adjusting plate is movable in a second direction perpendicular to the first direction;
the locking mechanism is arranged on the fine adjustment mechanism and used for limiting the movement range or position of the second adjusting plate on a plane;
the workpiece taking and placing mechanism is fixedly connected with the second adjusting plate and used for fixing and supporting the workpiece.
2. The workpiece pick-and-place device for the robot tip as recited in claim 1, wherein the fine adjustment mechanism further comprises a connecting member and a connecting flange; the connecting flange is arranged on the connecting piece; the mounting plate is fixedly connected with the connecting piece; the connecting flange is used for being fixedly connected with the tail end of the robot.
3. The workpiece pick and place device for the robot tip of claim 1, wherein the first slide assembly comprises a first slide channel and a first slide rail; the first sliding rail is movably arranged in the first sliding groove; the first sliding groove is fixedly connected with the mounting plate; the first slide rail is fixedly connected with the first adjusting plate.
4. The workpiece pick-and-place device for a robot tip of claim 1, wherein the second slide assembly comprises a second slide slot and a second slide rail; the second sliding rail is movably arranged in the second sliding groove; the second sliding groove is fixedly connected with the first adjusting plate; the second slide rail with second regulating plate fixed connection.
5. The workpiece pick-and-place device for the robot tip as recited in claim 2, wherein the locking mechanism comprises a first driver and a stop bar; the mounting plate, the first adjusting plate and the second adjusting plate are respectively provided with a first avoidance hole, a second avoidance hole and a limiting hole; the first driver is arranged on the connecting piece and used for driving the limiting rod to move along the axial direction of the limiting rod; the limiting rod penetrates through the first avoidance hole and the second avoidance hole; one end of the limiting rod is in transmission connection with the first driver, and the other end of the limiting rod is provided with a conical abutting part; one end edge of the conical abutting part extends into the limiting hole and is used for abutting against the opening part of the limiting hole; the inner diameter of the limiting hole is smaller than the outer diameter of the limiting rod; the conical abutting part is matched with the limiting hole and used for limiting the moving range or position of the second adjusting plate on the plane.
6. A workpiece picking and placing device for a robot tail end as claimed in claim 5, characterized in that the mouth of the limiting hole is provided with an arc surface for abutting against the conical abutting part.
7. The workpiece pick-and-place device for the tail end of a robot as claimed in claim 1, wherein flexible sealing sleeves are respectively arranged on the outer side between the mounting plate and the first adjusting plate and the outer side between the first adjusting plate and the second adjusting plate.
8. The workpiece pick and place device for a robot tip of claim 1, wherein the workpiece pick and place mechanism comprises a support plate and a fixing assembly; the supporting plate is fixedly connected with the second adjusting plate and used for supporting the workpiece; the fixing component is arranged on the supporting plate and used for fixing the workpiece on the supporting plate.
9. The workpiece handling device for a robot tip of claim 8, wherein the number of said fixing members is two; the two fixing assemblies are arranged on the supporting plate in a back-to-back mode; the fixing assembly comprises a second driver and a pressing block; the second driver is in transmission connection with the pressing block and is used for driving the pressing block to move along a straight line; the pressing block is used for abutting against the workpiece; the two fixing components are matched and used for fixing the workpiece on the supporting plate.
10. A workpiece handling device for a robot tip as claimed in claim 9, characterised in that the second drive comprises an air cylinder, a hydraulic cylinder or a linear motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221531036.9U CN218195232U (en) | 2022-06-17 | 2022-06-17 | Workpiece taking and placing device for tail end of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221531036.9U CN218195232U (en) | 2022-06-17 | 2022-06-17 | Workpiece taking and placing device for tail end of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218195232U true CN218195232U (en) | 2023-01-03 |
Family
ID=84648441
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221531036.9U Active CN218195232U (en) | 2022-06-17 | 2022-06-17 | Workpiece taking and placing device for tail end of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218195232U (en) |
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2022
- 2022-06-17 CN CN202221531036.9U patent/CN218195232U/en active Active
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