CN219632418U - End effector debugging and installing device - Google Patents
End effector debugging and installing device Download PDFInfo
- Publication number
- CN219632418U CN219632418U CN202320223912.XU CN202320223912U CN219632418U CN 219632418 U CN219632418 U CN 219632418U CN 202320223912 U CN202320223912 U CN 202320223912U CN 219632418 U CN219632418 U CN 219632418U
- Authority
- CN
- China
- Prior art keywords
- debugging
- end effector
- transverse
- rod
- longitudinal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000012636 effector Substances 0.000 title claims abstract description 42
- 238000009434 installation Methods 0.000 claims description 9
- 210000003437 trachea Anatomy 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an end effector debugging and installing device which comprises a frame (1), a vertical rod, a cross rod, a vertical rod, a sucker (10) and a control device (11), wherein the lower end of the vertical rod is installed on the frame (1), the cross rod is installed at the upper end of the vertical rod, the vertical rod is installed on the cross rod, the sucker (10) is installed on the vertical rod, the control device (11) is installed on the frame (1), the control device (11) comprises a vacuum generator and an air pipe connected with the vacuum generator, the other end of the air pipe is connected with an air hole of the sucker (10), and the position of the sucker (10) is adjusted through the vertical rod, the cross rod and the vertical rod. The end effector debugging and installing device can complete the debugging and installing of the end effector without occupying equipment resources, and the debugging and installing are more convenient.
Description
Technical Field
The utility model relates to the technical field of stamping equipment, in particular to an end effector debugging and installing device.
Background
In the prior art, when the end effector is mounted on a punched product, the debugging mold 13 is required to be mounted on the press device 14, the robot 15 is started, the mechanical arm 16 is adjusted to a picking position, and the mounted end effector 12 is adjusted. Referring to fig. 1, fig. 1 is a schematic diagram of a typical pick-up debug installation system in the prior art.
In the process, the die is used for the press equipment and the robot, a die installer is required to install and debug the die 3, the installation space is narrow, the potential safety hazard of collision exists, the press equipment is occupied, the die is required to be detached after the debugging and installation, and the die to be produced is installed, so that the normal production plan is influenced.
In summary, how to effectively solve the problems of occupying production equipment by the debug end effector is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The utility model aims to provide an end effector debugging and installing device which can finish the debugging and installing of the end effector without occupying equipment resources and is more convenient to debug and install.
In order to solve the technical problems, the utility model provides the following technical scheme:
the utility model provides an end effector debugging installation device, includes frame, lower extreme install in montant on the frame, install in the horizontal pole of montant upper end, install in the vertical pole on the horizontal pole, install in sucking disc on the vertical pole, and install in controlling means on the frame, controlling means include vacuum generator, with the trachea that vacuum generator is connected, tracheal other end with the gas pocket of sucking disc is connected, the position of sucking disc passes through montant, horizontal pole and vertical pole adjustment.
Preferably, the vertical rod comprises an outer sleeve with the lower end fixed on the frame, and an inner sleeve with the lower end sleeved in the upper end of the outer sleeve, and the inner sleeve is vertically and slidably connected with the outer sleeve.
Preferably, the upper end of the inner sleeve is connected with a flange connector, a transverse connecting hole is formed in the flange connector, and the cross rod is connected in the transverse connecting hole.
Preferably, the cross bar is in transverse sliding connection with the transverse connection hole.
Preferably, the cross bar comprises a plurality of sections of main bars which are sequentially connected, and the main bars are detachably connected.
Preferably, the ends of adjacent main rods are connected through a plug and a socket.
Preferably, the cross rod is connected with a plurality of turning blocks, the turning blocks are provided with transverse through holes and longitudinal through holes, the cross rod is connected in the transverse through holes, and the longitudinal rods are connected in the longitudinal through holes;
the transverse rod is in transverse sliding connection with the transverse through hole, and the longitudinal rod is in longitudinal sliding connection with the longitudinal through hole.
Preferably, the end part of the vertical rod is connected with a rotating arm, and the sucker is connected to the rotating arm.
Preferably, the bottom of the frame is provided with travelling wheels.
Preferably, the vacuum generator is provided with a vacuumizing button and a vacuumizing button, the control device is provided with an indicator lamp, and the indicator lamp is turned on when the actual pressure of the vacuum generator reaches a preset vacuum pressure value.
The utility model provides an end effector debugging and installing device which comprises a frame, a vertical rod, a cross rod, a vertical rod, a sucker and a control device. The frame is the base, and the lower extreme of montant is installed on the frame, and the axis direction of montant is along vertical direction, and the upper end of montant can reciprocate for the frame. The vertical rods and the frame can be connected through bolts, and can be detachably connected, so that the disassembly is convenient; the connection can be realized through welding, and the connection is firm and reliable. The horizontal pole is installed in the upper end of montant, and the axis direction of horizontal pole sets up along transversely, and the horizontal pole can be for montant lateral shifting. The longitudinal rod is arranged on the cross rod, the axial direction of the longitudinal rod is longitudinally arranged, and the longitudinal rod can longitudinally move relative to the cross rod. The sucking disc is installed on the vertical pole, and the position of sucking disc is adjusted through montant, horizontal pole and vertical pole, and it is convenient to adjust, simple operation.
The control device is arranged on the frame and comprises a vacuum generator and an air pipe, wherein two ends of the air pipe are respectively connected with the vacuum generator and the sucker, and the sucker is vacuumized and vacuumized through the vacuum generator so as to pick up and put down the end effector.
When the end picking device is required to be installed, the debugging mould is opened, the press equipment is not required to be installed, the end picking device debugging and installing device is pushed to a proper position, after the end picking device is installed, the air pipe and the power supply of the control device are connected, the vacuumizing button is pressed down, the vacuum generator starts vacuumizing, a preset suction pressure value is arranged in the control device, for example, the suction pressure is the same as the pressure of the robot, and if the actual suction pressure value reaches the preset suction pressure value, the suction cup picks the end picking device, so that the automatic requirement is met.
The end effector debugging and installing device provided by the utility model can completely execute the task of the manipulator, the debugging die does not need to be installed on the press equipment, the press equipment does not need to start intervention when the die is debugged, the robot end effector gripper can be installed after the process of taking the die off again, and the installation space is wide; the device is provided with a vacuum system, an air pipe is connected with a sucker, a power supply is connected, and a vacuum generator is utilized to suck air, so that the inside of the sucker is in a vacuum state, suction force is generated, a workpiece is picked up, and automatic control is realized; the end picking device of the automatic product can be completed without delaying production and occupying the press and robot equipment, equipment and personnel occupancy rate are released, and the installation is safer.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a typical prior art end effector debug mounting system;
fig. 2 is a schematic structural diagram of an end effector debugging and mounting device according to an embodiment of the present utility model.
The figures are marked as follows:
the device comprises a frame 1, an outer sleeve 2, an inner sleeve 3, a flange connector 4, a first main rod 5, a plug socket 6, a second main rod 7, a turning block 8, a rotating arm 9, a sucker 10 and a control device 11.
Detailed Description
The utility model provides an end effector debugging and installing device which can finish the debugging and installing of the end effector without occupying equipment resources, and is more convenient to debug and install.
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 2, fig. 2 is a schematic structural diagram of an end effector debugging and mounting device according to an embodiment of the present utility model.
In a specific embodiment, the utility model provides an end effector debugging and installing device, which comprises a frame 1, a vertical rod, a cross rod, a vertical rod and a sucker 10, wherein the lower end of the vertical rod is installed on the frame 1, the cross rod is installed on the upper end of the vertical rod, the vertical rod is installed on the cross rod, the sucker 10 is installed on the vertical rod, the control device 11 is installed on the frame 1, the control device 11 comprises a vacuum generator and an air pipe connected with the vacuum generator, the other end of the air pipe is connected with an air hole of the sucker 10, and the position of the sucker 10 is adjusted through the vertical rod, the cross rod and the vertical rod.
In the above structure, the end effector debugging and installing device comprises a frame 1, a vertical rod, a cross rod, a vertical rod, a sucker 10 and a control device 11.
The frame 1 is the base, and the lower extreme of montant is installed on frame 1, and the axis direction of montant is along vertical direction, and the upper end of montant can reciprocate for frame 1. The vertical rods and the frame 1 can be connected through bolts, and can be detachably connected, so that the disassembly is convenient; the connection can be realized through welding, and the connection is firm and reliable. The horizontal pole is installed in the upper end of montant, and the axis direction of horizontal pole sets up along transversely, and the horizontal pole can be for montant lateral shifting. The longitudinal rod is arranged on the cross rod, the axial direction of the longitudinal rod is longitudinally arranged, and the longitudinal rod can longitudinally move relative to the cross rod. The sucking disc 10 is installed on the vertical pole, and the position of sucking disc 10 is adjusted through montant, horizontal pole and vertical pole, adjusts conveniently, simple operation.
The control device 11 is arranged on the frame 1, the control device 11 comprises a vacuum generator and an air pipe, two ends of the air pipe are respectively connected with the vacuum generator and the sucker 10, and the sucker 10 is vacuumized and vacuumized through the vacuum generator so as to pick up and put down the end effector.
When the end effector needs to be installed, the debugging mould is opened, the press equipment does not need to be installed, the end effector debugging and installing device is pushed to a proper position, after the end effector is installed, the air pipe and the power supply of the control device 11 are connected, the vacuumizing button is pressed down, the vacuum generator starts vacuumizing, a preset suction pressure value is arranged in the control device 11, for example, the suction pressure is the same as the pressure of the robot, and if the actual suction pressure value reaches the preset suction pressure value, the suction cup 10 picks up the end effector, so that the automatic requirement is met.
The end effector debugging and installing device provided by the utility model can completely execute the task of the manipulator, the debugging die does not need to be installed on the press equipment, the press equipment does not need to start intervention when the die is debugged, the robot end effector gripper can be installed after the process of taking the die off again, and the installation space is wide; the device is provided with a vacuum system, an air pipe is connected with the sucker 10, a power supply is connected, and the vacuum generator is utilized to suck air, so that the inside of the sucker 10 is in a vacuum state, suction force is generated, a workpiece is picked up, and automatic control is realized; the end picking device of the automatic product can be completed without delaying production and occupying the press and robot equipment, equipment and personnel occupancy rate are released, and the installation is safer.
Based on the above specific embodiments, a person skilled in the art may perform a plurality of changes on the terminal pick-up debugging and mounting device according to different specific occasions, where the vertical rod includes an outer sleeve 2 with a lower end fixed on the frame 1, and an inner sleeve 3 with a lower end sleeved in an upper end of the outer sleeve 2, and the inner sleeve 3 is vertically slidably connected with the outer sleeve 2.
In practical application, the montant includes outer tube 2, interior sleeve pipe 3, and the lower extreme of outer tube 2 is fixed in on the frame 1, and interior sleeve pipe 3's lower extreme suit is in the upper end of outer tube 2, interior sleeve pipe 3 and the vertical sliding connection of outer tube 2, interior sleeve pipe 3 and outer tube 2 reciprocate, realizes sucking disc 10 altitude mixture control. After the height is determined, the inner sleeve 3 and the outer sleeve 2 are positioned, specifically, the inner sleeve 3 is provided with a through hole, the outer sleeve 2 is provided with a telescopic button, and after the relative positions of the inner sleeve 3 and the outer sleeve 2 are determined, the telescopic button stretches into the through hole to realize positioning.
On the basis of the above-mentioned specific embodiments, the upper end of the inner sleeve 3 is connected with a flange connector 4, the flange connector 4 is provided with a transverse connecting hole, and the cross rod is connected in the transverse connecting hole.
In practical application, the flange connector 4 is connected to the upper end of the inner sleeve 3, and specifically the upper end face of the inner sleeve 3 is connected with the flange plate of the flange connector 4, and the inner sleeve 3 can be detachably connected through a bolt, so that the inner sleeve is convenient to detach. The flange connector 4 is provided with a transverse connecting hole, the axis direction of the transverse connecting hole is arranged transversely, the cross rod is inserted into the transverse connecting hole, the interconnection of the vertical rod and the cross rod is realized, and the connection is convenient.
On the basis of the above-mentioned various embodiments, the cross rod is in transverse sliding connection with the transverse connecting hole, and the cross rod can move left and right in the transverse connecting hole, so that the suction cup 10 can be transversely adjusted.
In another more reliable embodiment, on the basis of any one of the above embodiments, the cross bar includes a plurality of sections of sequentially connected main bars, and the main bars are detachably connected.
In practical application, the horizontal pole includes multisection mobile jib, for example including first mobile jib 5 and second mobile jib 7, and the head and the tail of mobile jib connect gradually, are detachable connection between the mobile jib, through the length of increase and decrease quantity adjustment horizontal pole of mobile jib to realize sucking disc 10 transverse position adjustment.
On the basis of the above-mentioned specific embodiments, the head and tail of the adjacent main rod are connected through the plug and socket 6, the tail of the front-section main rod is connected with the plug, the head of the rear-section main rod is connected with the socket, and the plug is connected in the socket, so that the mutual connection between the main rods is realized.
Of course, the tail part of the front section main rod is connected with the socket, the head part of the rear section main rod is connected with the plug, and the plug is connected in the socket, so that the mutual connection between the main rods is realized.
In another more reliable embodiment, on the basis of any one of the above embodiments, a plurality of direction-changing blocks 8 are connected to the cross bar, the direction-changing blocks 8 have a transverse through hole and a longitudinal through hole, the cross bar is connected to the transverse through hole, and the longitudinal bar is connected to the longitudinal through hole;
the transverse rod is in transverse sliding connection with the transverse through hole, and the longitudinal rod is in longitudinal sliding connection with the longitudinal through hole.
In practical application, connect a plurality of diversion piece 8 on the horizontal pole, can connect a diversion piece 8, also can connect a plurality of diversion pieces 8, specific quantity can be according to the different self-settings of specific service conditions. The direction-changing block 8 is provided with a transverse through hole and a longitudinal through hole, the transverse rod is connected in the transverse through hole, the longitudinal rod is connected in the longitudinal through hole, and the transverse rod and the longitudinal rod are connected through the direction-changing block 8; and the axial direction of the cross rod and the longitudinal rod is changed, so that the longitudinal position adjustment of the sucker 10 is realized, and the coverage area is enlarged.
Preferably, the cross bar is in transverse sliding connection with the transverse through hole, along which the cross bar can be moved transversely in order to adjust the transverse position of the deflector block 8 on the cross bar. The longitudinal rod is longitudinally connected with the longitudinal through hole in a sliding way, and can longitudinally move in the longitudinal through hole to realize the front-back position adjustment of the sucker 10.
On the basis of the above-mentioned specific embodiments, the end of the vertical rod is connected with the rotating arm 9, and the sucker 10 is connected to the rotating arm 9.
In practical application, the end part of the vertical rod is connected with the rotating arm 9, the lantern ring of the rotating arm 9 is hinged on the vertical rod, and the rotating arm 9 can rotate around the vertical rod. The sucker 10 is connected to the rotating arm 9, and the rotating arm 9 drives the sucker 10 to rotate around the longitudinal rod, so that the position of the sucker 10 is finely adjusted.
In another more reliable embodiment, on the basis of any one of the above embodiments, the bottom of the frame 1 is provided with travelling wheels, so that the frame 1 is pushed to walk more conveniently and in a labor-saving manner.
In another more reliable embodiment, on the basis of any one of the above embodiments, a vacuumizing button and a vacuumizing button are arranged on the vacuum generator, and the vacuumizing button is pressed by the vacuumizing button and the vacuumizing button working modes, so that the sucker 10 grabs the end effector; when the vacuum button is pressed, the vacuum chuck 10 discharges vacuum, and the chuck 10 releases the end effector.
The control device 11 is provided with an indicator lamp, when the actual pressure of the vacuum generator reaches a preset vacuum pressure value, the indicator lamp is lightened, and the indicator lamp has a prompting function, so that an operator can know the working state of the vacuum generator in time.
Preferably, a power indicator lamp is arranged on the control device 11, and the power indicator lamp is turned on after the power is turned on to prompt the staff that the control device 11 is powered on and pay attention to safety.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The terminal pick-up debugging and installing device provided by the utility model is described in detail above. The principles and embodiments of the present utility model have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present utility model and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the utility model can be made without departing from the principles of the utility model and these modifications and adaptations are intended to be within the scope of the utility model as defined in the following claims. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides an end effector debugging installation device, its characterized in that, including frame (1), lower extreme install in montant on frame (1), install in the horizontal pole of montant upper end, install in the vertical pole on the horizontal pole, install in sucking disc (10) on the vertical pole, and install in controlling means (11) on frame (1), controlling means (11) include vacuum generator, with the trachea that vacuum generator is connected, tracheal other end with the gas pocket of sucking disc (10) is connected, the position of sucking disc (10) is passed through montant, horizontal pole and vertical pole adjustment.
2. The end effector debugging and installing device according to claim 1, wherein the vertical rod comprises an outer sleeve (2) with the lower end fixed on the frame (1) and an inner sleeve (3) with the lower end sleeved in the upper end of the outer sleeve (2), and the inner sleeve (3) is vertically and slidably connected with the outer sleeve (2).
3. The end effector debugging and installing device according to claim 2, wherein the upper end of the inner sleeve (3) is connected with a flange connecting piece (4), a transverse connecting hole is arranged on the flange connecting piece (4), and the cross rod is connected into the transverse connecting hole.
4. An end effector debug mounting apparatus according to claim 3 wherein said cross bar is in transverse sliding connection with said transverse connection aperture.
5. The end effector debugging and installing device according to claim 1, wherein the cross bar comprises a plurality of sections of main bars which are sequentially connected, and the main bars are detachably connected.
6. An end effector debugging mounting device according to claim 5, wherein the head and tail of adjacent said main stems are connected by a plug and socket (6).
7. The end effector debugging and installing device according to claim 1, wherein a plurality of turning blocks (8) are connected to the cross bar, the turning blocks (8) are provided with transverse through holes and longitudinal through holes, the cross bar is connected to the transverse through holes, and the longitudinal bar is connected to the longitudinal through holes;
the transverse rod is in transverse sliding connection with the transverse through hole, and the longitudinal rod is in longitudinal sliding connection with the longitudinal through hole.
8. An end effector debugging mounting device according to claim 7, wherein the end of the vertical rod is connected with a rotating arm (9), and the suction cup (10) is connected to the rotating arm (9).
9. An end effector debugging mounting device according to any one of claims 1-8, characterized in that the bottom of the frame (1) is provided with road wheels.
10. The end effector debugging and installing device according to any one of claims 1-8, wherein a vacuumizing button and a vacuumizing button are arranged on the vacuum generator, an indicator lamp is arranged on the control device (11), and the indicator lamp is turned on when the actual pressure of the vacuum generator reaches a preset vacuum pressure value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320223912.XU CN219632418U (en) | 2023-02-15 | 2023-02-15 | End effector debugging and installing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320223912.XU CN219632418U (en) | 2023-02-15 | 2023-02-15 | End effector debugging and installing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219632418U true CN219632418U (en) | 2023-09-05 |
Family
ID=87810728
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320223912.XU Active CN219632418U (en) | 2023-02-15 | 2023-02-15 | End effector debugging and installing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219632418U (en) |
-
2023
- 2023-02-15 CN CN202320223912.XU patent/CN219632418U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN219632418U (en) | End effector debugging and installing device | |
| CN210047551U (en) | Tractor and traction device | |
| CN210880331U (en) | Top plate punching device | |
| CN212497498U (en) | Device for mounting and dismounting locomotive air conditioning unit | |
| CN213857921U (en) | Sleeve automatic replacing device for automobile tire installation | |
| CN213857922U (en) | Automatic sleeve replacing device for tire installation | |
| CN218926634U (en) | BSB welding gas blowing and sucking structure and welding equipment | |
| CN210011214U (en) | Automatic change quick assembly disassembly rotational molding mould | |
| CN201514782U (en) | Rotary irradiation trolley | |
| CN112388273A (en) | Sleeve automatic replacing device for automobile tire installation | |
| CN203680791U (en) | Plastic box trimming system | |
| CN208289344U (en) | A kind of powder cabin powder outlet cutter automatic assembly equipment | |
| CN208450498U (en) | A kind of automatic Primary-secondary rivet machine | |
| CN218260909U (en) | Pneumatic material dredging device | |
| CN221177110U (en) | Cable erection is with tractive structure | |
| CN216755367U (en) | A be convenient for change and maintain plastic-aluminum board for mahjong machine mesa | |
| CN211378844U (en) | Shoulder-back type visual fruit picking equipment | |
| CN215121400U (en) | Movable AC/DC full-automatic power supply | |
| CN219778970U (en) | Automatic copper core taking mechanism | |
| CN217478773U (en) | Yarn breaking mechanism of automatic yarn inserting device | |
| CN213082060U (en) | Inclined support drag chain device for tire unloading trolley of vulcanizing machine | |
| CN217861044U (en) | Assembling and disassembling tool for guide vane servomotor of water turbine | |
| CN220101177U (en) | Automatic side slope drilling equipment | |
| CN204075120U (en) | A kind of hot chamber machine | |
| CN218260206U (en) | Processing line for elevator car walls and door plates |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |