CN203863685U - Flexible end effector capable of grabbing various parts - Google Patents
Flexible end effector capable of grabbing various parts Download PDFInfo
- Publication number
- CN203863685U CN203863685U CN201420296536.8U CN201420296536U CN203863685U CN 203863685 U CN203863685 U CN 203863685U CN 201420296536 U CN201420296536 U CN 201420296536U CN 203863685 U CN203863685 U CN 203863685U
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- collecting machine
- various parts
- supervisor
- cylindrical
- terminal
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Abstract
The utility model relates to a flexible end effector capable of grabbing various parts, and belongs to the technical field of part grabbing transferring devices. The flexible end effector comprises a cylindrical main pipe, a plurality of clamps are connected to the cylindrical main pipe in a sleeved mode, installation supports capable of being arranged in any direction are fixed to the clamps, and supporting pressing heads or suction cups are connected to the installation supports. According to the flexible end effector, the single cylindrical steel pipe is used as the main body structure of the end effector, the size, the weight and the cost of the end effector are reduced, and the weight and the cost of the end effector for the same parts are reduced.
Description
Technical field
The utility model relates to part and captures transloading equipment, is specifically related to a kind of flexible terminal-collecting machine that various parts captures of realizing.
Background technology
In the design of the automobile door cover production line that is welded, for improving process equipment commonality, reduce equipment investment, and being widely used along with multi-vehicle-type flexible production line, door or the lid of four car doors in a vehicle and front and rear covers or several vehicles concentrate in a robot island, because the different parts of same vehicle are all different on shape, size, positioning datum with the identical parts of different automobile types.As shown in Figure 1, on existing terminal-collecting machine, generally need to install the alignment pin for locating, for the sucker of retaining element, prevent support pressure head and some couplings that part comes off, sense switch etc., in order to meet, part captures and carrying, on its terminal-collecting machine, correspondingly needing has the located in connection and the annex that are applicable to this part grasp handling, simultaneously because terminal-collecting machine is in the process of carrying part, easily collide with other facilities in robot island, existing terminal-collecting machine is that square tube or the pipe of steel part is welded into main frame structure, like this in the time that terminal-collecting machine designs and produces, weight and the size of the terminal-collecting machine of a part are larger, while carrying various parts for needs, part needs a terminal-collecting machine and due to robot load reason, in the time of the different part of carrying, terminal-collecting machine must switch, not only the quantity of terminal-collecting machine is many, simultaneously owing to need to switch continually terminal-collecting machine for different parts in operating process, the stability of equipment is also poor, exert an influence the circulation timei to whole robot island.
Utility model content
When the purpose of this utility model is exactly, single component single terminal-collecting machine large for terminal-collecting machine frame structure Heavy Weight volume in prior art, multi-vehicle-type or many parts, need to switch sample frame affects the problem of stabilization of equipment performance and operational use time, and a kind of flexible terminal-collecting machine that various parts captures of realizing is provided.
The technical solution adopted in the utility model is: comprise cylindrical supervisor, on described cylindrical supervisor, be socketed with some clips, be fixed with the erection support that can arrange towards any direction on described clip, be connected with and support pressure head or sucker on described erection support.
Further preferred structure, centered by described clip, have the unconnected loop configuration of head and the tail of installing hole, the head and the tail two ends of described loop configuration are respectively equipped with installation base, on described installation base, have locating hole, described clip outer ring is that multiple planes are connected and form, and in described plane, has square hole.
Further preferred structure, described cylindrical supervisor is provided with robot connector
Further preferred structure, described robot connector is fixedly connected on cylindrical supervisor's termination.
Further preferred structure, described support pressure head is provided with alignment pin.
Further preferred structure, described sucker is provided with inductive switch.
Further preferred structure, described cylindrical supervisor is provided with measurement ball.
The utlity model has following beneficial effect: adopt single steel cylindrical tube as terminal-collecting machine agent structure, terminal-collecting machine volume weight and cost, the terminal-collecting machine of same part, weight reducing, cost; The 360 ° directions of erection support in steel cylindrical tube are rotatable, and terminal-collecting machine that can integrated multiple parts supports pressure head and sucker, realizes a terminal-collecting machine and captures multiple parts, avoids changing terminal-collecting machine, and investment reduces, and the operating time on, single switches saving man-hour.
Brief description of the drawings
Fig. 1 is prior art structural representation;
Fig. 2 is the utility model structural representation
Fig. 3 is yoke configurations schematic diagram;
Fig. 4 is clip side view.
In figure, 1-main frame; 2-support pressure head; 3-sucker; 4-cylindrical supervisor; 5-clip; 6-erection support; 7-robot connector; 8-alignment pin; 9-inductive switch; 10-measurement ball.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail, is convenient to be well understood to the utility model, but they do not form and limit the utility model.
As shown in Figure 1, terminal-collecting machine of the prior art adopts square tube or pipe to be welded into main frame 1, the sucker 3 of retaining element is set on main frame 1, prevent support pressure head 2 and some couplings that part comes off, like this in the time that terminal-collecting machine designs and produces, weight and the size of the terminal-collecting machine of a part are larger, while carrying various parts for needs, part needs a terminal-collecting machine and due to robot load reason, in the time of the different part of carrying, terminal-collecting machine must switch, not only the quantity of terminal-collecting machine is many, simultaneously owing to need to switch continually terminal-collecting machine for different parts in operating process, the stability of equipment is also poor, exert an influence the circulation timei to whole robot island.
As shown in Figure 2, the utility model comprises cylindrical supervisor 4, on described cylindrical supervisor 4, is socketed with some clips 5, is fixed with the erection support 6 that can arrange towards any direction on described clip 5, is connected with and supports pressure head 2 or sucker 3 on described erection support 6.Described cylindrical supervisor 4 is provided with robot connector 7, described robot connector 7 is fixedly connected on cylindrical supervisor's 4 termination, described support pressure head 2 is provided with alignment pin 8, and described sucker 3 is provided with inductive switch 9, and described cylindrical supervisor 4 is provided with and measures ball 10.
In such scheme, as shown in Figure 3, Figure 4, centered by described clip 5, have the unconnected loop configuration of head and the tail of installing hole 5.1, clip 5 is fixed on cylindrical supervisor 4 by installing hole 5.1, the head and the tail two ends of described loop configuration are respectively equipped with installation base 5.2, on described installation base 5.2, have locating hole 5.3, described erection support 6 is fixed on installation base 5.2 fixing by locating hole 5.3, described clip outer ring is that multiple planes 5.4 are connected and form, and in described plane 5.4, has square hole 5.5.
The cylindrical supervisor of the utility model, adopts a seamless steel pipe, and length is determined according to accessory size, can avoid adopting the frame structure of welding, and the body weight of framework is reduced, clip is standard component, can adopt a model on all terminal-collecting machines, erection support is standard component, for fixed support pressure head and sucker, erection support has all lengths specification and adjustable in length, simultaneously according to the features of shape of part and size, the direction that is fixed on the erection support on clip can 360 ° of adjustment on cylindrical supervisor, to corresponding alignment pin is installed according to part form, pressure head and sucker etc., for the different parts of same model and the identical parts of different automobile types, the fixed angle difference of the standard erection support of each part on cylindrical supervisor, can realize the terminal-collecting machine parts that the crawl of various parts is installed on a terminal-collecting machine, simultaneously, capture as required quantity and the form of part, select scalable erection support, further improve its flexibility, support pressure head and sucker etc. for capturing part and handling process retaining element, the erection support that supports pressure head, sucker etc. is standard component, is convenient to later maintenance and adjustment, robot connection end can be arranged on cylindrical supervisor's face or cylindrical supervisor termination.
When installation, select the cylindrical supervisor of appropriate length according to accessory size, clip is socketed on cylindrical supervisor one by one, then adopt screw to connect with clip erection support, correspondingly sucker and support pressure head etc. are arranged on erection support, complete like this assembling of terminal-collecting machine body, the different part direction of erection support can be adjusted to different angles and position on cylindrical supervisor, connector or the connecting plate of terminal-collecting machine with robot is finally installed, connector is also to adopt clip to be connected with terminal-collecting machine agent structure, robot connector is for connecting terminal-collecting machine with manipulator shaft.
The content that this description is not described in detail belongs to the known prior art of professional and technical personnel in the field.
Claims (7)
1. can realize the flexible terminal-collecting machine that various parts captures for one kind, it is characterized in that: comprise cylindrical supervisor (4), on described cylindrical supervisor (4), be socketed with some clips (5), on described clip (5), be fixed with the erection support (6) that can arrange towards any direction, on described erection support (6), be connected with and support pressure head (2) or sucker (3).
2. the flexible terminal-collecting machine of realizing various parts crawl according to claim 1, it is characterized in that: the unconnected loop configuration of head and the tail that has installing hole (5.1) centered by described clip (5), the head and the tail two ends of described loop configuration are respectively equipped with installation base (5.2), on described installation base (5.2), have locating hole (5.3), described clip outer ring is that multiple planes (5.4) are connected and form, and has square hole (5.5) in described plane (5.4).
3. the flexible terminal-collecting machine of realizing various parts crawl according to claim 1, is characterized in that: described cylindrical supervisor (4) is provided with robot connector (7).
4. the flexible terminal-collecting machine of realizing various parts crawl according to claim 3, is characterized in that: described robot connector (7) is fixedly connected on the termination of cylindrical supervisor (4).
5. the flexible terminal-collecting machine of realizing various parts crawl according to claim 1, is characterized in that: described support pressure head (2) is provided with alignment pin (8).
6. the flexible terminal-collecting machine of realizing various parts crawl according to claim 1, is characterized in that: described sucker (3) is provided with inductive switch (9).
7. the flexible terminal-collecting machine of realizing various parts crawl according to claim 1, is characterized in that: described cylindrical supervisor (4) is provided with and measures ball (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420296536.8U CN203863685U (en) | 2014-06-05 | 2014-06-05 | Flexible end effector capable of grabbing various parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420296536.8U CN203863685U (en) | 2014-06-05 | 2014-06-05 | Flexible end effector capable of grabbing various parts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203863685U true CN203863685U (en) | 2014-10-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420296536.8U Expired - Fee Related CN203863685U (en) | 2014-06-05 | 2014-06-05 | Flexible end effector capable of grabbing various parts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203863685U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104444314A (en) * | 2014-11-20 | 2015-03-25 | 珠海格力电器股份有限公司 | Handling device on production line |
| CN108381592A (en) * | 2017-02-03 | 2018-08-10 | 哈尔滨智龙自动化设备有限公司 | Robot adaptive battery connecting plate assembles actuator |
| CN109048173A (en) * | 2018-10-12 | 2018-12-21 | 上海嘉堃实业有限公司 | A kind of flexible welding positioning device for thin plate components |
| CN110116421A (en) * | 2019-05-11 | 2019-08-13 | 一汽轿车股份有限公司 | A kind of terminal-collecting machine of two kinds of transmission forms of generally applicable SpeedBar, Crossbar high-speed punching crimping |
| CN113441638A (en) * | 2021-07-20 | 2021-09-28 | 保隆(安徽)汽车配件有限公司 | End picking device |
| CN113441638B (en) * | 2021-07-20 | 2024-07-30 | 保隆(安徽)汽车配件有限公司 | End picking device |
-
2014
- 2014-06-05 CN CN201420296536.8U patent/CN203863685U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104444314A (en) * | 2014-11-20 | 2015-03-25 | 珠海格力电器股份有限公司 | Handling device on production line |
| CN108381592A (en) * | 2017-02-03 | 2018-08-10 | 哈尔滨智龙自动化设备有限公司 | Robot adaptive battery connecting plate assembles actuator |
| CN109048173A (en) * | 2018-10-12 | 2018-12-21 | 上海嘉堃实业有限公司 | A kind of flexible welding positioning device for thin plate components |
| CN110116421A (en) * | 2019-05-11 | 2019-08-13 | 一汽轿车股份有限公司 | A kind of terminal-collecting machine of two kinds of transmission forms of generally applicable SpeedBar, Crossbar high-speed punching crimping |
| CN113441638A (en) * | 2021-07-20 | 2021-09-28 | 保隆(安徽)汽车配件有限公司 | End picking device |
| CN113441638B (en) * | 2021-07-20 | 2024-07-30 | 保隆(安徽)汽车配件有限公司 | End picking device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141008 Termination date: 20200605 |