WO2020186832A1 - Flexible grasping apparatus of six-axis robot applied to assembly production line - Google Patents
Flexible grasping apparatus of six-axis robot applied to assembly production line Download PDFInfo
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- WO2020186832A1 WO2020186832A1 PCT/CN2019/123793 CN2019123793W WO2020186832A1 WO 2020186832 A1 WO2020186832 A1 WO 2020186832A1 CN 2019123793 W CN2019123793 W CN 2019123793W WO 2020186832 A1 WO2020186832 A1 WO 2020186832A1
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- assembly line
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- support plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
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- the utility model relates to the technical field of grasping devices, in particular to a six-axis robot flexible grasping device applied to an assembly line.
- the gripping devices on the output arm of the output arm are all gripping claw devices. In this way, when the gripping claw device is gripping materials, if the rigidity of the material is low, the material is easily clamped, which will damage the material. .
- the present invention provides a six-axis robot flexible grasping device applied to an assembly line, which uses suction nozzles and suction cups to suck materials, which can effectively prevent materials from being pinched. This phenomenon can avoid material damage.
- the utility model relates to a six-axis robot flexible grasping device applied to an assembly line, which includes an assembly line and a six-axis robot located on one side of the assembly line.
- the output arm of the six-axis robot is fixed with a flange plate and a bracket plate is fixed on the flange plate.
- a pair of suction nozzles are installed on the bracket plate, and the lower end of each suction nozzle is equipped with a suction cup. The upper end of each suction nozzle is used to communicate with the suction end of the vacuum generator through a pipeline.
- An adjustment mechanism for adjusting the distance between the two suction nozzles is arranged between the nozzle and the support plate;
- the assembly line includes a frame, the middle of the frame is provided with a conveyor belt, and the two ends of the conveyor belt rotate with one end of the frame respectively Connected, workbenches are installed on the racks on both sides of the conveyor belt, and the motor and reducer are installed on the racks.
- the output shaft of the motor is connected with the input shaft of the reducer, and the output shaft of the reducer is connected with the conveyor belt.
- a first support frame is placed on the ground on the same side of the six-axis robot. The upper end of the first support frame is fixed with a first positioning jig arranged in an inclined manner.
- the first positioning jig is located at the lowest point on two sides All are provided with ribs, and a material tray is placed on the first positioning fixture; a second support frame is placed on the workbench on the same side of the six-axis robot, and the upper end of the second support frame is fixed with an inclined second positioning fixture .
- the utility model is a six-axis robot flexible grasping device applied to an assembly line, wherein the adjustment mechanism includes an elongated hole arranged in the support plate, the elongated hole extends along the length of the support plate, and both suction nozzles pass through Set in the elongated hole, the outer wall of each suction nozzle is threadedly connected with two nuts for pressing the support plate, and the two nuts on each suction nozzle are respectively located above and below the support plate.
- the utility model is a six-axis robot flexible grasping device applied to an assembly line, wherein the side of the suction cup gradually expands outward from top to bottom and forms an arc-shaped structure.
- the utility model is a six-axis robot flexible grasping device applied to an assembly line, wherein the upper end of the suction cup is sleeved outside the lower end of the suction nozzle in an interference fit.
- the utility model sucks materials by adopting an air suction nozzle and a suction cup. In this way, it can effectively avoid the phenomenon of materials being pinched, thereby avoiding material damage.
- Figure 1 is a schematic diagram of the structure of the utility model
- Figure 2 is a schematic diagram of the structure of a six-axis robot
- Figure 3 is a schematic diagram of the assembled structure of the flange, the support plate, the suction nozzle and the suction cup;
- Figure 4 is a schematic diagram of the structure of the pipeline
- Figure 5 is a schematic diagram of the assembled structure of the first support frame, the first positioning jig and the tray;
- Figure 6 is a schematic structural view of the first support frame and the first positioning jig after assembly
- Figure 7 is a schematic structural view of the second support frame and the second positioning jig after assembly
- Figure 8 is a schematic view of the structure of the second support frame and the second positioning jig after assembly.
- first”, “second”, etc. in the present utility model are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present utility model. Distinguish between components or operations described in the same technical terms, but cannot be understood as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include at least one of the features.
- the technical solutions between the various embodiments can be combined with each other, but it must be based on what can be achieved by a person of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that such a combination of technical solutions does not exist. , Is not within the scope of protection required by the utility model.
- the flexible grasping device for a six-axis robot applied to an assembly line of the present invention includes an assembly line 1 and a six-axis robot 2 on one side of the assembly line 1.
- the output arm 21 of the six-axis robot 2 is fixed with a flange 22 and a flange
- a bracket plate 3 is fixed on the disk 22, a pair of suction nozzles 4 are installed on the bracket plate 3, and the lower end of each suction nozzle 4 is equipped with a suction cup 41, and the upper end of each suction nozzle 4 is used to communicate with a vacuum generator.
- the suction ends of the two suction nozzles are connected by pipelines, and an adjustment mechanism for adjusting the distance between the two suction nozzles 4 is arranged between the two suction nozzles 4 and the bracket plate 3;
- the assembly line 1 includes a frame 11 and a frame 11
- a conveyor belt 12 is provided in the middle. The two ends of the conveyor belt 12 are respectively connected to one end of the frame 11 in rotation.
- the frame 11 on both sides of the conveyor belt 12 is equipped with a workbench 13, and the frame 11 is equipped with a motor 14 and Reducer 15, the output shaft of the motor 14 is drivingly connected with the input shaft of the reducer 15, and the output shaft of the reducer 15 is drivingly connected with the conveyor belt 12;
- a first support frame 5 is placed on the ground on the same side of the six-axis robot 2,
- the upper end of the first support frame 5 is fixed with a first positioning jig 51 that is arranged obliquely, and both sides of the first positioning jig 51 located at the lowest point are provided with ribs 52, the first positioning jig 51
- a tray 6 is placed on it;
- a second supporting frame 7 is placed on the worktable 13 on the same side of the six-axis robot 2, and a second positioning jig 71 that is inclinedly arranged is fixed on the upper end of the second supporting frame 7.
- the adjustment mechanism includes an elongated hole 31 arranged in the support plate 3.
- the elongated hole 31 extends along the length of the support plate 3.
- Two suction nozzles 4 are inserted in the elongated hole 31, and each suction nozzle 4
- Two nuts 42 for pressing the bracket plate 3 are threadedly connected to the outer wall of the bracket.
- the two nuts 42 on each suction nozzle 4 are respectively located above and below the bracket plate 3; by adopting this kind of adjustment mechanism, When you need to adjust the distance between two suction nozzles, first loosen the upper nut on each suction nozzle, and then move the two suction nozzles in the elongated hole. After the two suction nozzles are moved, that is After adjusting the distance between the two suction nozzles, tighten the nut above each suction nozzle.
- the side edges of the suction cup 41 gradually expand outward from top to bottom and form an arc-shaped structure; by adopting the suction cup of this structure, the suction cup can better suck and hold the product.
- the upper end of the suction cup 41 is sleeved outside the lower end of the suction nozzle 4 in an interference fit; after adopting this structure, the suction cup can be easily assembled to the suction nozzle and can be easily removed from the suction nozzle. First, when the suction cup needs to be replaced, it can bring convenience to the disassembly and assembly of the suction cup.
- the blister tray filled with materials is placed on the inclined positioning fixture.
- the blister tray will be close to the edge of the positioning fixture by using the potential energy of gravity, and the materials will also be close to the blister On the side of the tray, eliminate the gap between the material on the blister tray and the blister tray, thus completing the precise positioning of the product;
- the six-axis robot first sucks the material in the material tray through the suction nozzle and the suction cup, and then places the sucked material in the second positioning jig for verification for the next station assembly; or places the material on the conveyor belt ,
- this device can be a station unit and repeatedly arranged on the assembly line to replace manpower.
- the utility model sucks materials by adopting an air suction nozzle and a suction cup. In this way, it can effectively avoid the phenomenon of materials being pinched, thereby avoiding material damage.
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Abstract
A flexible grasping apparatus of a six-axis robot applied to an assembly production line, comprising a production line (1) and a six-axis robot (2) located on one side of the production line (1). A flange (22) is fixed on an output arm (21) of the six-axis robot (2), a support plate (3) is fixed on the flange (22). A pair of suction nozzles (4) are mounted on the support plate (3). A suction cup (41) is mounted on the lower end of each suction nozzle (4). An adjustment mechanism is provided between the two suction nozzles (4) and the support plate (3). The production line (1) comprises a rack (11). A conveyor belt (12) is provided in the middle of the rack (11), and work tables (13) are mounted on the rack (11) on either side of the conveyor belt (12). An obliquely provided first positioning fixture (51) is fixed on the upper end of a first support (5). A material tray (6) is placed on the first positioning fixture (51). An obliquely provided second positioning fixture (71) is fixed on the upper end of a second support (7). The flexible grasping apparatus of a six-axis robot sucks a material by means of the suction nozzles and suction cups, and can effectively avoid the material from being damaged due to clamping, thereby avoiding damage to the material.
Description
本实用新型涉及抓取装置技术领域，具体涉及一种应用于组装流水线的六轴机器人柔性抓取装置。The utility model relates to the technical field of grasping devices, in particular to a six-axis robot flexible grasping device applied to an assembly line.
随着机器人技术的不断发展，目前应用于流水线生产中的机器人越来越多，且为了提高机器人的灵活性，目前流水线生产中所使用的机器人多为六轴机器人，但是目前安装在六轴机器人的输出臂上的抓取装置都为夹爪装置，这样一来，当夹爪装置在夹取物料时，如物料的刚性较低的话，很容易出现物料被夹伤的现象，从而会损坏物料。With the continuous development of robot technology, more and more robots are currently used in assembly line production. In order to improve the flexibility of robots, most of the robots used in assembly line production are six-axis robots, but they are currently installed in six-axis robots. The gripping devices on the output arm of the output arm are all gripping claw devices. In this way, when the gripping claw device is gripping materials, if the rigidity of the material is low, the material is easily clamped, which will damage the material. .
实用新型内容Utility model content
针对现有技术的不足，本实用新型提供一种应用于组装流水线的六轴机器人柔性抓取装置，其通过采用吸气嘴和吸盘来吸取物料，这样一来，能够有效避免物料出现被夹伤的现象，从而能够避免物料的损坏。In view of the shortcomings of the prior art, the present invention provides a six-axis robot flexible grasping device applied to an assembly line, which uses suction nozzles and suction cups to suck materials, which can effectively prevent materials from being pinched. This phenomenon can avoid material damage.
本实用新型的应用于组装流水线的六轴机器人柔性抓取装置，包括流水线和位于流水线一侧的六轴机器人，六轴机器人的输出臂上固定有法兰盘，法兰盘上固定有支架板，支架板上安装有一对吸气嘴，每个吸气嘴的下端均安装有吸盘，每个吸气嘴的上端均用于与真空发生器的吸气端通过管路连通，两个吸气嘴与支架板之间设置有用于调整两个吸气嘴之间的间距的调节机构；流水线包括机架，机架的中部设置有输送皮带，输送皮带的两端分别与机架的其中一端转动连接，位于输送皮带两侧的机架上安装有工作台，机架上安装有电机和减速机，电机的输出轴与减速机的输入轴传动连接，减速机的输出轴与输送皮带传动连接；位于六轴机器人同侧的地面上放置有第一支撑架，第一支撑架的 上端固定有呈倾斜设置的第一定位治具，位于最低点处的第一定位治具的两个侧边上均设置有挡边，第一定位治具上放置有料盘；位于六轴机器人同侧的工作台上放置有第二支撑架，第二支撑架的上端固定有呈倾斜设置的第二定位治具。The utility model relates to a six-axis robot flexible grasping device applied to an assembly line, which includes an assembly line and a six-axis robot located on one side of the assembly line. The output arm of the six-axis robot is fixed with a flange plate and a bracket plate is fixed on the flange plate. , A pair of suction nozzles are installed on the bracket plate, and the lower end of each suction nozzle is equipped with a suction cup. The upper end of each suction nozzle is used to communicate with the suction end of the vacuum generator through a pipeline. An adjustment mechanism for adjusting the distance between the two suction nozzles is arranged between the nozzle and the support plate; the assembly line includes a frame, the middle of the frame is provided with a conveyor belt, and the two ends of the conveyor belt rotate with one end of the frame respectively Connected, workbenches are installed on the racks on both sides of the conveyor belt, and the motor and reducer are installed on the racks. The output shaft of the motor is connected with the input shaft of the reducer, and the output shaft of the reducer is connected with the conveyor belt. A first support frame is placed on the ground on the same side of the six-axis robot. The upper end of the first support frame is fixed with a first positioning jig arranged in an inclined manner. The first positioning jig is located at the lowest point on two sides All are provided with ribs, and a material tray is placed on the first positioning fixture; a second support frame is placed on the workbench on the same side of the six-axis robot, and the upper end of the second support frame is fixed with an inclined second positioning fixture .
本实用新型的应用于组装流水线的六轴机器人柔性抓取装置，其中，调节机构包括设置在支架板中的长形孔，长形孔沿支架板的长度方向延伸，两个吸气嘴均穿设在长形孔中，每个吸气嘴的外壁上均螺纹连接有两个用于压紧支架板的螺母，每个吸气嘴上的两个螺母分别位于支架板的上方和下方。The utility model is a six-axis robot flexible grasping device applied to an assembly line, wherein the adjustment mechanism includes an elongated hole arranged in the support plate, the elongated hole extends along the length of the support plate, and both suction nozzles pass through Set in the elongated hole, the outer wall of each suction nozzle is threadedly connected with two nuts for pressing the support plate, and the two nuts on each suction nozzle are respectively located above and below the support plate.
本实用新型的应用于组装流水线的六轴机器人柔性抓取装置，其中，吸盘的侧边由上至下逐渐向外扩张且形成弧形状结构。The utility model is a six-axis robot flexible grasping device applied to an assembly line, wherein the side of the suction cup gradually expands outward from top to bottom and forms an arc-shaped structure.
本实用新型的应用于组装流水线的六轴机器人柔性抓取装置，其中，吸盘的上端过盈配合地套设在吸气嘴下端的外部。The utility model is a six-axis robot flexible grasping device applied to an assembly line, wherein the upper end of the suction cup is sleeved outside the lower end of the suction nozzle in an interference fit.
本实用新型通过采用吸气嘴和吸盘来吸取物料，这样一来，能够有效避免物料出现被夹伤的现象，从而能够避免物料的损坏。The utility model sucks materials by adopting an air suction nozzle and a suction cup. In this way, it can effectively avoid the phenomenon of materials being pinched, thereby avoiding material damage.
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The exemplary embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation of the application. In the attached picture:
图1为本实用新型的结构示意图；Figure 1 is a schematic diagram of the structure of the utility model;
图2为六轴机器人的结构示意图；Figure 2 is a schematic diagram of the structure of a six-axis robot;
图3为法兰盘、支架板、吸气嘴和吸盘装配后的结构示意图；Figure 3 is a schematic diagram of the assembled structure of the flange, the support plate, the suction nozzle and the suction cup;
图4为流水线的结构示意图；Figure 4 is a schematic diagram of the structure of the pipeline;
图5为第一支撑架、第一定位治具和料盘装配后的结构示意图；Figure 5 is a schematic diagram of the assembled structure of the first support frame, the first positioning jig and the tray;
图6为第一支撑架和第一定位治具装配后的结构示意图；Figure 6 is a schematic structural view of the first support frame and the first positioning jig after assembly;
图7为第二支撑架和第二定位治具装配后的结构示意图；Figure 7 is a schematic structural view of the second support frame and the second positioning jig after assembly;
图8为第二支撑架和第二定位治具装配后的结构示意图。Figure 8 is a schematic view of the structure of the second support frame and the second positioning jig after assembly.
以下将以图式揭露本实用新型的多个实施方式，为明确说明起见，许多实务上的细节将在以下叙述中一并说明。然而，应了解到，这些实务上的细节不应用以限制本实用新型。也就是说，在本实用新型的部分实施方式中，这些实务上的细节是非必要的。此外，为简化图式起见，一些习知惯用的结构与组件在图式中将以简单的示意的方式绘示之。Several embodiments of the present invention will be disclosed in the following drawings. For clear description, many practical details will be described in the following description. However, it should be understood that these practical details should not be used to limit the present invention. In other words, in some embodiments of the present invention, these practical details are unnecessary. In addition, in order to simplify the drawings, some conventionally used structures and components will be shown in simple schematic ways in the drawings.
另外，在本实用新型中如涉及“第一”、“第二”等的描述仅用于描述目的，并非特别指称次序或顺位的意思，亦非用以限定本实用新型，其仅仅是为了区别以相同技术用语描述的组件或操作而已，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本实用新型要求的保护范围之内。In addition, the descriptions of "first", "second", etc. in the present utility model are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present utility model. Distinguish between components or operations described in the same technical terms, but cannot be understood as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on what can be achieved by a person of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that such a combination of technical solutions does not exist. , Is not within the scope of protection required by the utility model.
本实用新型的应用于组装流水线的六轴机器人柔性抓取装置，包括流水线1和位于流水线1一侧的六轴机器人2，六轴机器人2的输出臂21上固定有法兰盘22，法兰盘22上固定有支架板3，支架板3上安装有一对吸气嘴4，每个吸气嘴4的下端均安装有吸盘41，每个吸气嘴4的上端均用于与真空发生器的吸气端通过管路连通，两个吸气嘴4与支架板3之间设置有用于调整两个吸气嘴4之间的间距的调节机构；流水线1包括机架11，机架11的中部设置有输送皮带12，输送皮带12的两端分别与机架11的其中一端转动连接，位于输送皮带12两侧的机架11上安装有工作台13，机架11上安装有电机14和减速机15，电机14的输出轴与减速机15的输入轴传动连接，减速机15的输出轴与输送皮带12传动连接；位于六轴机器人2同侧的地面上放置有第一支撑架5，第一支撑架5的上端固定有呈倾斜设置的第一定位治具51，位于最 低点处的第一定位治具51的两个侧边上均设置有挡边52，第一定位治具51上放置有料盘6；位于六轴机器人2同侧的工作台13上放置有第二支撑架7，第二支撑架7的上端固定有呈倾斜设置的第二定位治具71。The flexible grasping device for a six-axis robot applied to an assembly line of the present invention includes an assembly line 1 and a six-axis robot 2 on one side of the assembly line 1. The output arm 21 of the six-axis robot 2 is fixed with a flange 22 and a flange A bracket plate 3 is fixed on the disk 22, a pair of suction nozzles 4 are installed on the bracket plate 3, and the lower end of each suction nozzle 4 is equipped with a suction cup 41, and the upper end of each suction nozzle 4 is used to communicate with a vacuum generator. The suction ends of the two suction nozzles are connected by pipelines, and an adjustment mechanism for adjusting the distance between the two suction nozzles 4 is arranged between the two suction nozzles 4 and the bracket plate 3; the assembly line 1 includes a frame 11 and a frame 11 A conveyor belt 12 is provided in the middle. The two ends of the conveyor belt 12 are respectively connected to one end of the frame 11 in rotation. The frame 11 on both sides of the conveyor belt 12 is equipped with a workbench 13, and the frame 11 is equipped with a motor 14 and Reducer 15, the output shaft of the motor 14 is drivingly connected with the input shaft of the reducer 15, and the output shaft of the reducer 15 is drivingly connected with the conveyor belt 12; a first support frame 5 is placed on the ground on the same side of the six-axis robot 2, The upper end of the first support frame 5 is fixed with a first positioning jig 51 that is arranged obliquely, and both sides of the first positioning jig 51 located at the lowest point are provided with ribs 52, the first positioning jig 51 A tray 6 is placed on it; a second supporting frame 7 is placed on the worktable 13 on the same side of the six-axis robot 2, and a second positioning jig 71 that is inclinedly arranged is fixed on the upper end of the second supporting frame 7.
调节机构包括设置在支架板3中的长形孔31，长形孔31沿支架板3的长度方向延伸，两个吸气嘴4均穿设在长形孔31中，每个吸气嘴4的外壁上均螺纹连接有两个用于压紧支架板3的螺母42，每个吸气嘴4上的两个螺母42分别位于支架板3的上方和下方；通过采用该种调节机构后，当需要调整两个吸气嘴之间的间距时，首先拧松每个吸气嘴上位于上方的螺母，然后在长形孔中移动两个吸气嘴，两个吸气嘴移动完成后，即两个吸气嘴之间的间距调整完成后，再拧紧位于每个吸气嘴上方的螺母即可。The adjustment mechanism includes an elongated hole 31 arranged in the support plate 3. The elongated hole 31 extends along the length of the support plate 3. Two suction nozzles 4 are inserted in the elongated hole 31, and each suction nozzle 4 Two nuts 42 for pressing the bracket plate 3 are threadedly connected to the outer wall of the bracket. The two nuts 42 on each suction nozzle 4 are respectively located above and below the bracket plate 3; by adopting this kind of adjustment mechanism, When you need to adjust the distance between two suction nozzles, first loosen the upper nut on each suction nozzle, and then move the two suction nozzles in the elongated hole. After the two suction nozzles are moved, that is After adjusting the distance between the two suction nozzles, tighten the nut above each suction nozzle.
吸盘41的侧边由上至下逐渐向外扩张且形成弧形状结构；通过采用这种结构的吸盘后，吸盘能够更好地吸取产品和吸紧产品。The side edges of the suction cup 41 gradually expand outward from top to bottom and form an arc-shaped structure; by adopting the suction cup of this structure, the suction cup can better suck and hold the product.
吸盘41的上端过盈配合地套设在吸气嘴4下端的外部；通过采用这种结构后，吸盘能够方便地装配到吸气嘴上，且可以方便地从吸气嘴上拆卸下来，这样一来，当吸盘需要更换时，能够给吸盘的拆卸和装配带来方便。The upper end of the suction cup 41 is sleeved outside the lower end of the suction nozzle 4 in an interference fit; after adopting this structure, the suction cup can be easily assembled to the suction nozzle and can be easily removed from the suction nozzle. First, when the suction cup needs to be replaced, it can bring convenience to the disassembly and assembly of the suction cup.
如图1所示，首先装有物料的吸塑盘放置在倾斜的定位治具上，利用重力势能吸塑盘会紧靠在定位治具的边上，同样，物料也会紧靠在吸塑盘的边上，消除吸塑盘上的物料与吸塑盘之间的间隙，这样就完成了产品的精确定位；As shown in Figure 1, the blister tray filled with materials is placed on the inclined positioning fixture. The blister tray will be close to the edge of the positioning fixture by using the potential energy of gravity, and the materials will also be close to the blister On the side of the tray, eliminate the gap between the material on the blister tray and the blister tray, thus completing the precise positioning of the product;
六轴机器人首先通过吸气嘴和吸盘吸取料盘中的物料，然后将吸取到的物料放置到第二定位治具中进行检定，以备下一工位组装；或将物料放置到输送皮带上，当吸气嘴和吸盘释放物料时，物料随输送皮带进入到下一工序；本装置可成一工位单元，重复布置于流水线上，以代替人力。The six-axis robot first sucks the material in the material tray through the suction nozzle and the suction cup, and then places the sucked material in the second positioning jig for verification for the next station assembly; or places the material on the conveyor belt , When the suction nozzle and the suction cup release the material, the material enters the next process with the conveyor belt; this device can be a station unit and repeatedly arranged on the assembly line to replace manpower.
本实用新型通过采用吸气嘴和吸盘来吸取物料，这样一来，能够有效避免物料出现被夹伤的现象，从而能够避免物料的损坏。The utility model sucks materials by adopting an air suction nozzle and a suction cup. In this way, it can effectively avoid the phenomenon of materials being pinched, thereby avoiding material damage.
上所述仅为本实用新型的实施方式而已，并不用于限制本实用新型。对于本领域技术人员来说，本实用新型可以有各种更改和变化。凡在本实用新型的 精神和原理的内所作的任何修改、等同替换、改进等，均应包括在本实用新型的权利要求范围之内。The above are only the embodiments of the present utility model, and are not used to limit the present utility model. For those skilled in the art, the present utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included in the scope of the claims of the present utility model.
Claims (4)
- 一种应用于组装流水线的六轴机器人柔性抓取装置，包括流水线(1)和位于流水线(1)一侧的六轴机器人(2)，其特征在于：所述六轴机器人(2)的输出臂(21)上固定有法兰盘(22)，所述法兰盘(22)上固定有支架板(3)，所述支架板(3)上安装有一对吸气嘴(4)，每个吸气嘴(4)的下端均安装有吸盘(41)，每个吸气嘴(4)的上端均用于与真空发生器的吸气端通过管路连通，两个吸气嘴(4)与支架板(3)之间设置有用于调整两个吸气嘴(4)之间的间距的调节机构；所述流水线(1)包括机架(11)，所述机架(11)的中部设置有输送皮带(12)，所述输送皮带(12)的两端分别与机架(11)的其中一端转动连接，位于输送皮带(12)两侧的机架(11)上安装有工作台(13)，所述机架(11)上安装有电机(14)和减速机(15)，所述电机(14)的输出轴与减速机(15)的输入轴传动连接，所述减速机(15)的输出轴与输送皮带(12)传动连接；位于六轴机器人(2)同侧的地面上放置有第一支撑架(5)，所述第一支撑架(5)的上端固定有呈倾斜设置的第一定位治具(51)，位于最低点处的第一定位治具(51)的两个侧边上均设置有挡边(52)，所述第一定位治具(51)上放置有料盘(6)；位于六轴机器人(2)同侧的工作台(13)上放置有第二支撑架(7)，所述第二支撑架(7)的上端固定有呈倾斜设置的第二定位治具(71)。A six-axis robot flexible grasping device applied to an assembly line, comprising an assembly line (1) and a six-axis robot (2) located on one side of the assembly line (1), characterized in that: the output of the six-axis robot (2) A flange (22) is fixed on the arm (21), a bracket plate (3) is fixed on the flange (22), and a pair of suction nozzles (4) are installed on the bracket plate (3). Suction cups (41) are installed at the lower end of each suction nozzle (4). The upper end of each suction nozzle (4) is used to communicate with the suction end of the vacuum generator through a pipeline. Two suction nozzles (4) An adjustment mechanism for adjusting the distance between the two suction nozzles (4) is provided between the support plate (3) and the support plate (3); the assembly line (1) includes a frame (11), and the frame (11) A conveyor belt (12) is arranged in the middle, and the two ends of the conveyor belt (12) are respectively connected to one end of the frame (11) in rotation. The frame (11) on both sides of the conveyor belt (12) is installed with A table (13), a motor (14) and a reducer (15) are installed on the frame (11), the output shaft of the motor (14) is drivingly connected with the input shaft of the reducer (15), and the speed reducer The output shaft of the machine (15) is in transmission connection with the conveyor belt (12); a first support frame (5) is placed on the ground on the same side of the six-axis robot (2), and the upper end of the first support frame (5) is fixed There is a first positioning jig (51) that is arranged obliquely, and two sides of the first positioning jig (51) located at the lowest point are provided with ribs (52). The first positioning jig ( 51) is placed on a material tray (6); on the workbench (13) on the same side of the six-axis robot (2) is placed a second support frame (7), the upper end of the second support frame (7) is fixed A second positioning jig (71) arranged obliquely.
- 根据权利要求1所述的应用于组装流水线的六轴机器人柔性抓取装置，其特征在于，所述调节机构包括设置在支架板(3)中的长形孔(31)，所述长形孔(31)沿支架板(3)的长度方向延伸，两个吸气嘴(4)均穿设在长形孔(31)中，每个吸气嘴(4)的外壁上均螺纹连接有两个用于压紧支架板(3)的螺母(42)，每个吸气嘴(4)上的两个螺母(42)分别位于支架板(3)的上方和下方。The six-axis robot flexible grasping device applied to an assembly line according to claim 1, wherein the adjustment mechanism comprises an elongated hole (31) provided in the support plate (3), and the elongated hole (31) Extending along the length of the support plate (3), two suction nozzles (4) are inserted in the elongated hole (31), and the outer wall of each suction nozzle (4) is threadedly connected with two Two nuts (42) for pressing the support plate (3), two nuts (42) on each suction nozzle (4) are respectively located above and below the support plate (3).
- 根据权利要求1所述的应用于组装流水线的六轴机器人柔性抓取装置， 其特征在于，所述吸盘(41)的侧边由上至下逐渐向外扩张且形成弧形状结构。The six-axis robotic flexible grasping device applied to an assembly line according to claim 1, wherein the side of the suction cup (41) gradually expands outward from top to bottom and forms an arc-shaped structure.
- 根据权利要求1所述的应用于组装流水线的六轴机器人柔性抓取装置，其特征在于，所述吸盘(41)的上端过盈配合地套设在吸气嘴(4)下端的外部。The six-axis robotic flexible gripping device applied to an assembly line according to claim 1, wherein the upper end of the suction cup (41) is sleeved outside the lower end of the suction nozzle (4) in an interference fit.
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| CN201920335520.6 | 2019-03-18 | ||
| CN201920335520.6U CN209615553U (en) | 2019-03-18 | 2019-03-18 | A kind of six-joint robot flexible grabbing device applied to assembly production chain |
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| CN111717648A (en) * | 2019-03-18 | 2020-09-29 | 惠州中科先进制造研究中心有限公司 | Be applied to complicated multi-functional clamp of assembly line and get device |
| CN209615553U (en) * | 2019-03-18 | 2019-11-12 | 惠州中科先进制造研究中心有限公司 | A kind of six-joint robot flexible grabbing device applied to assembly production chain |
| CN111922577B (en) * | 2020-05-29 | 2022-07-29 | 西安航天精密机电研究所 | Six-axis robot-based manipulator for welding polar needle and bridge belt of sealing body |
| CN114955520A (en) * | 2022-04-27 | 2022-08-30 | 山东睿思精密工业有限公司 | High-precision taking and placing mechanism |
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