CN220244787U

CN220244787U - Material grabbing end picking device

Info

Publication number: CN220244787U
Application number: CN202321988590.4U
Authority: CN
Inventors: 楠丁; 杨聪明
Original assignee: Ordos Guansheng Auto Parts Co ltd
Current assignee: Ordos Guansheng Auto Parts Co ltd
Priority date: 2023-07-27
Filing date: 2023-07-27
Publication date: 2023-12-26
Anticipated expiration: 2033-07-27

Abstract

The application provides a grab material end effector, including vacuum grabbing subassembly and electromagnetism snatchs the subassembly, vacuum snatchs subassembly and electromagnetism and snatchs subassembly parallel arrangement each other, and vacuum snatchs the subassembly and snatchs subassembly fixed connection through connecting block and electromagnetism, be equipped with weight induction system on the connecting block, connecting block one side is equipped with adjusting component, adjusting component includes the pivot, slider and slide bar, pivot one end and connecting block fixed connection, the pivot other end and rotating motor's output fixed connection, rotating motor installs on the slider, the slider cover is located on the slide bar, and the slider is equipped with the elevator motor that is used for making the slider remove on the slide rail. This application is in the same place vacuum grabbing component and electromagnetism grabbing component to whether it is successful to pick up the work piece to judge the end pick-up through the weight induction system that sets up on the connecting block, just so need not waste time and energy and remove the end pick-up of changing other kind, saved time cost and human cost, improved production efficiency.

Description

Material grabbing end picking device

Technical Field

The application relates to the technical field of automobile production lines, in particular to a grabbing end effector.

Background

In many automobile companies, a large number of products need to be stretched and produced through robot grabbing of the plates each year, grabbing of the plates needs to be achieved through grabbing end pickers, grabbing end pickers can be flexible like hands in automatic production, and the automatic grabbing end pickers have the characteristics that manpower cannot reach, such as repeated work and work, fatigue is not known, the automatic grabbing end pickers are suitable for dangerous work, grabbing force is large, reliability is good, and the like.

In the prior art, most of the vacuum chuck type end picking devices are used for picking plate materials, the working principle of the vacuum chuck type end picking devices is that vacuum chucks generating negative pressure and equipment for manufacturing vacuum states are mutually connected through air pipes, the surfaces of the chucks and the surfaces of sucked workpieces are mutually in close contact, air is sucked by the equipment, the vacuum chucks are changed into vacuum states, suction is generated, the workpieces are picked up, when some plate materials with uneven surfaces or holes on the surfaces are met, the vacuum chuck type end picking devices cannot pick up the plate materials, and then the end picking devices of other types are required to be replaced, so that time and labor are wasted, and production efficiency is reduced.

Disclosure of Invention

The application provides a grabbing end effector which is used for solving the technical problem in the background technology.

The above object of the present application is achieved by the following technical solutions:

the material grabbing end effector comprises a vacuum grabbing component and an electromagnetic grabbing component, wherein the vacuum grabbing component and the electromagnetic grabbing component are arranged in parallel, the vacuum grabbing component is fixedly connected with the electromagnetic grabbing component through a connecting block, and a weight sensing device is arranged on the connecting block;

one side of the connecting block is provided with an adjusting component which is matched with the weight sensing device to be used for adjusting the vacuum grabbing component and the electromagnetic grabbing component.

Further, the vacuum grabbing component comprises two first cross bars and a first vertical rod, the two first cross bars are arranged in parallel, two ends of the first vertical rod are fixedly connected with the middle parts of the two first cross bars respectively, a plurality of first connecting pipes penetrating through the first cross bars and fixedly connected with the first cross bars are fixedly arranged on the first cross bars, the first connecting pipes are far away from one end of the electromagnetic grabbing component and are provided with vacuum suction cups, the vacuum suction cups are communicated with the first connecting pipes, and the other ends of the first connecting pipes are connected with the same air pipe.

Further, the electromagnetism snatchs subassembly and includes two second horizontal poles and a second montant, two the mutual parallel arrangement of second horizontal pole, second montant both ends respectively with two the middle part fixed connection of second horizontal pole, two all be fixed on the second horizontal pole be equipped with a plurality of runs through the second horizontal pole and with second horizontal pole fixed connection's second connecting pipe, the second connecting pipe is kept away from vacuum snatchs subassembly one end and is equipped with electromagnet, just electromagnet with second connecting pipe intercommunication, the second connecting pipe other end is equipped with the wire.

Further, the adjusting component comprises a rotating shaft, a sliding block and a sliding rod, one end of the rotating shaft is fixedly connected with the connecting block, the other end of the rotating shaft is fixedly connected with the output end of the rotating motor, the rotating motor is installed on the sliding block, the sliding block is sleeved on the sliding rod, and a lifting motor used for enabling the sliding block to move on the sliding rod is further arranged on the sliding block.

Further, the vacuum chuck is detachably connected with the first connecting pipe.

Further, the electromagnetic chuck is detachably connected with the second connecting pipe.

Further, the vacuum chuck is made of one of nitrile rubber, fluororubber, ethylene propylene diene monomer rubber or styrene butadiene rubber.

Further, connecting plates for connecting the mechanical arms are fixedly arranged at two ends of the sliding rod.

In summary, the present application includes at least one of the following beneficial technical effects:

this application is in the same place vacuum grabbing subassembly and electromagnetism grabbing subassembly to whether judge through the weight induction system that sets up on the connecting block that the end pick up has successfully to pick up the work piece, if the end pick up is with the successful pick up of work piece, rotating electrical machines then can not work, if the end pick up is unsuccessful to pick up the work piece, weight induction system does not detect weight and changes, rotating electrical machines then work switches into another grabbing subassembly and snatchs the work piece, just so need not waste time and energy and remove to change other kinds of end pick up, time cost and human cost have been saved, production efficiency has been improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings that are needed in the embodiments or the prior art descriptions, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of the overall structure of a pick-up end effector of the present application;

FIG. 2 is a schematic view of a vacuum gripping assembly of the pick-up end effector of the present application;

fig. 3 is a schematic structural view of an electromagnetic grabbing assembly of the grabbing end effector of the present application;

FIG. 4 is a schematic structural view of an adjustment assembly of the pick-up end effector of the present application;

reference numerals: 1. a vacuum grabbing component; 11. a first connection pipe; 12. a vacuum chuck; 13. an air pipe; 2. an electromagnetic grabbing component; 21. a second connection pipe; 22. an electromagnetic chuck; 23. a wire; 3. a connecting block; 31. a weight sensing device; 4. an adjustment assembly; 41. a rotating shaft; 42. a slide block; 43. a slide bar; 44. a connecting plate; 5. a first cross bar; 6. a first vertical rod; 7. a second cross bar; 8. and a second vertical rod.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application are clearly and completely described below, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, are also within the scope of the present application based on the embodiments herein.

As shown in fig. 1-4, the material grabbing end effector comprises a vacuum grabbing component 1 and an electromagnetic grabbing component 2, wherein the vacuum grabbing component 1 and the electromagnetic grabbing component 2 are arranged in parallel, the vacuum grabbing component 1 is fixedly connected with the electromagnetic grabbing component 2 through a connecting block 3, and a weight sensing device 31 is arranged on the connecting block 3;

one side of the connecting block 3 is provided with an adjusting component 4 for adjusting the vacuum grabbing component 1 and the electromagnetic grabbing component 2.

In the above embodiment, the vacuum grabbing component 1 and the electromagnetic grabbing component 2 are connected together, and whether the end effector successfully picks up the workpiece is judged through the weight sensing device 31 arranged on the connecting block 3, if the vacuum grabbing component 1 successfully picks up the workpiece, the adjusting component 4 cannot work, if the vacuum grabbing component 1 does not successfully pick up the workpiece, the weight sensing device 31 does not detect weight change, the adjusting component 4 starts to work, so that the vacuum grabbing component 1 is switched into the electromagnetic grabbing component 2 to grab the workpiece, time and labor are not required to be wasted to replace the end effector of other types, time cost and labor cost are saved, and production efficiency is improved. Wherein the cooperation between the weight sensing means 31 and the adjustment assembly 4 can be controlled by a controller.

As shown in fig. 1 and fig. 2, the vacuum grabbing component 1 includes two first cross bars 5 and a first montant 6, two the mutual parallel arrangement of first cross bars 5, first montant 6 both ends respectively with two the middle part fixed connection of first cross bars 5, two all be fixed on the first cross bars 5 be equipped with a plurality of runs through first cross bars 5 and with first connecting pipe 11 of first cross bars 5 fixed connection, first connecting pipe 11 keep away from electromagnetic grabbing component 2 one end is equipped with vacuum chuck 12, just vacuum chuck 12 with first connecting pipe 11 intercommunication, a plurality of first connecting pipe 11 other ends all link to each other with same trachea 13.

In the above embodiment, the two ends of the first vertical rod 6 are fixedly connected with the middle parts of the two first cross rods 5 respectively, so that the stability of the vacuum grabbing assembly 1 is increased, the first connecting pipe 11 penetrating the first cross rods 5 is arranged, and the vacuum chuck 12 is communicated with the first connecting pipe 11, so that not only can the vacuum chuck 12 be better fixed on the first cross rods 5, but also the vacuum chuck 12 can be conveniently connected with a vacuum generator through the air pipe 13 at a later stage (it is noted that although the vacuum generator is not shown in the drawings, it is understood that the connection mode of the part is possible and is not within the protection scope of the application, so that the layout of the vacuum generator is not described in detail here).

Optionally, two both ends of the first cross rod 5 are provided with telescopic parts, and the telescopic parts are arranged at both ends of the first cross rod 5 to meet larger objects, so that the first cross rod 5 can be lengthened to pick up larger materials, and the use scene of the grabbing end picker is increased.

As shown in fig. 1 and fig. 3, the electromagnetic grabbing component 2 includes two second cross bars 7 and a second vertical bar 8, two the second cross bars 7 are parallel to each other, two ends of the second vertical bar 8 are respectively fixedly connected with middle parts of the two second cross bars 7, two second connecting pipes 21 penetrating through the second cross bars 7 and fixedly connected with the second cross bars 7 are fixedly arranged on the second cross bars 7, one end, far away from the vacuum grabbing component 1, of each second connecting pipe 21 is provided with an electromagnetic chuck 22, the electromagnetic chuck 22 is communicated with the second connecting pipe 21, and the other end of each second connecting pipe 21 is provided with a conducting wire 23.

In the above embodiment, the two ends of the second vertical rod 8 are fixedly connected with the middle parts of the two second cross rods 7 respectively, so that the stability of the electromagnetic grabbing assembly 2 is improved, the second connecting pipe 21 penetrating through the second cross rods 7 is arranged, the electromagnetic chuck 22 is communicated with the second connecting pipe 21, the electromagnetic chuck 22 can be better fixed on the cross rods 5, and the later electromagnetic chuck 22 can be conveniently connected with a power supply through the lead 23.

Optionally, two both ends of the second cross rod 7 are provided with telescopic parts, and the telescopic parts are arranged at both ends of the second cross rod 7 to meet larger objects, so that the second cross rod 7 can be lengthened to pick up larger materials, and the use scene of the grabbing end picker is increased.

As shown in fig. 1 and fig. 4, an adjusting component 4 is disposed on one side of the connecting block 3, the adjusting component 4 includes a rotating shaft 41, a sliding block 42 and a sliding rod 43, one end of the rotating shaft 41 is fixedly connected with the connecting block 3, the other end of the rotating shaft 41 is fixedly connected with an output end of a rotating motor, the rotating motor is mounted on the sliding block, the sliding block 42 is sleeved on the sliding rod 43, a lifting motor (a screw rod lifting motor is selected as the lifting motor) for enabling the sliding block 42 to move on the sliding rod 43 is further disposed on the sliding block 42, when the lifting motor works, an output shaft of the lifting motor drives the screw rod to rotate, and threads of the screw rod interact with threads of the nut to enable the sliding block 42 to move up and down along the direction of the sliding rod 43.

In the above embodiment, the slide bar 43 of this application is the lead screw, and the plate that both ends and each are connected all rotate to be connected about it, and in addition the elevator motor of this application is lead screw elevator motor, and when elevator motor work, elevator motor's output shaft can drive slide bar 43 rotation, and slide bar 43's screw thread and the screw thread interact of nut make slider 42 reciprocate along slide bar 43's direction.

When the weight sensing device 31 of the application does not feel weight change, the rotating motor can drive the rotating shaft 41 to rotate, so that the process of converting the vacuum grabbing component 1 into the electromagnetic grabbing component 2 can be realized, and the lifting motor drives the sliding block 42 to move upwards, so that collision between the vacuum grabbing component 1 or the electromagnetic grabbing component 2 and a lower plate in the converting process can be avoided.

As shown in fig. 1 and 2, the vacuum chuck 12 is detachably connected to the first connection pipe 11.

In the above embodiment, the vacuum chuck 12 is detachably connected with the first connecting pipe 11, so that the maintenance of the material grabbing end effector in the later period is facilitated, and when a certain vacuum chuck 12 is damaged, only the damaged vacuum chuck 12 needs to be replaced.

As shown in fig. 1 and 3, the electromagnetic chuck 22 is detachably connected to the second connecting pipe 21.

In the above embodiment, the electromagnetic chuck 22 is detachably connected with the second connecting pipe 21, so that the maintenance of the material grabbing end effector in the later stage is facilitated, and when a certain electromagnetic chuck 22 is damaged, only the damaged electromagnetic chuck 22 needs to be replaced.

As shown in fig. 1 and 2, the vacuum chuck 12 is made of one of nitrile rubber, fluororubber, ethylene propylene diene monomer rubber or styrene butadiene rubber.

In the above embodiment, since the surface of the plate often needs to be coated with lubricating oil to prevent rust, and the vacuum chuck 12 is usually made of rubber, the rubber product in contact with the oil can be permeated into the rubber to swell the oil during long-term use, and some additives in the synthetic lubricating oil react with the rubber, so that the service life of the vacuum chuck 12 is reduced, and the use of the oil-resistant rubber such as nitrile rubber, fluororubber, ethylene propylene diene monomer rubber or styrene butadiene rubber can remarkably improve the service life of the vacuum chuck 12, and save the use cost of the material grabbing end effector.

As shown in fig. 1 and 4, the two ends of the sliding rod 43 are fixedly provided with a connecting plate 44 for connecting the mechanical arm.

In the above embodiment, the connecting plates 44 are disposed at two ends of the sliding rod 43, the connecting plate 44 at one end can facilitate connection between the gripping end effector and the mechanical arm, and the connecting plate 44 at the other end can limit the sliding block 42, so as to prevent the sliding block 42 from falling from the sliding rod 43.

The implementation principle of the embodiment is as follows: the mechanical arm descends with the vacuum grabbing component 1, when the vacuum sucker 12 on the vacuum grabbing component 1 is contacted with a plate material, the vacuum generator pumps out gas in the vacuum sucker 12 through the gas pipe 13, the vacuum sucker 12 is tightly attached to the plate material by utilizing negative pressure, the mechanical arm drives the vacuum grabbing component 1 to ascend, if the weight sensing device 31 senses that the weight is changed, a signal is not sent, and the mechanical arm drives the vacuum grabbing component 1 to place the plate material on the punching machine;

if the weight sensing device 31 senses that the weight is not changed when the mechanical arm drives the vacuum grabbing component 1 to ascend, the lifting motor drives the sliding block 42 to ascend along the sliding rod 43, the sliding block 42 drives the rotating shaft 41 and the vacuum grabbing component 1 and the electromagnetic grabbing component 2 to ascend together, in the ascending process, the rotating motor drives the rotating shaft 41 to rotate, the rotating shaft 41 drives the vacuum grabbing component 1 and the electromagnetic grabbing component 2 to rotate, the electromagnetic chuck 22 faces the direction of a plate, the sliding block 42 descends with the electromagnetic grabbing component 2, after the electromagnetic chuck 22 contacts the plate, the electromagnetic chuck 22 is electrified, the electromagnetic chuck 22 generates magnetic force to suck the plate, and the mechanical arm drives the electromagnetic grabbing component 2 to place the plate on the punching machine.

Finally, it should be noted that the above embodiments are merely for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand; the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. The material grabbing end effector is characterized by comprising a vacuum grabbing component (1) and an electromagnetic grabbing component (2), wherein the vacuum grabbing component (1) and the electromagnetic grabbing component (2) are arranged in parallel, the vacuum grabbing component (1) is fixedly connected with the electromagnetic grabbing component (2) through a connecting block (3), and a weight sensing device (31) is arranged on the connecting block (3);

one side of the connecting block (3) is provided with an adjusting component (4) which is matched with the weight sensing device (31) for use to adjust the vacuum grabbing component (1) and the electromagnetic grabbing component (2).

2. The grabbing end picking device according to claim 1, wherein the vacuum grabbing component (1) comprises two first cross bars (5) and a first vertical rod (6), the two first cross bars (5) are arranged in parallel, two ends of the first vertical rod (6) are fixedly connected with the middle parts of the two first cross bars (5) respectively, a plurality of first connecting pipes (11) penetrating the first cross bars (5) and fixedly connected with the first cross bars (5) are fixedly arranged on the two first cross bars (5), one end, far away from the electromagnetic grabbing component (2), of the first connecting pipes is provided with a vacuum chuck (12), the vacuum chuck (12) is communicated with the first connecting pipes (11), and the other ends of the first connecting pipes (11) are connected with the same air pipe (13).

3. The grabbing end picking device according to claim 1, wherein the electromagnetic grabbing component (2) comprises two second cross bars (7) and a second vertical bar (8), the two second cross bars (7) are arranged in parallel, two ends of the second vertical bar (8) are fixedly connected with the middle parts of the two second cross bars (7) respectively, a plurality of second connecting pipes (21) penetrating through the second cross bars (7) and fixedly connected with the second cross bars (7) are fixedly arranged on the two second cross bars (7), an electromagnetic chuck (22) is arranged at one end, far away from the vacuum grabbing component (1), of the second connecting pipe (21), the electromagnetic chuck (22) is communicated with the second connecting pipes (21), and a wire (23) is arranged at the other end of each second connecting pipe (21).

4. The grabbing end picking device according to claim 1, wherein the adjusting component (4) comprises a rotating shaft (41), a sliding block (42) and a sliding rod (43), one end of the rotating shaft (41) is fixedly connected with the connecting block (3), the other end of the rotating shaft (41) is fixedly connected with the output end of a rotating motor, the rotating motor is mounted on the sliding block (42), the sliding block (42) is sleeved on the sliding rod (43), and a lifting motor for enabling the sliding block (42) to move on the sliding rod (43) is further arranged on the sliding block (42).

5. A gripping end pick-up according to claim 2, characterized in that the vacuum chuck (12) is detachably connected to the first connection tube (11).

6. A pick-up end effector according to claim 3, wherein the electromagnetic suction cup (22) is detachably connected to the second connecting tube (21).

7. The material grabbing end effector as claimed in claim 2, wherein the vacuum chuck (12) is made of one of nitrile rubber, fluororubber, ethylene propylene diene monomer rubber or styrene butadiene rubber.

8. The grabbing end picker according to claim 4, wherein connecting plates (44) for connecting mechanical arms are fixedly arranged at two ends of the sliding rod (43).