Light end effector for high-speed reciprocating carrying

Abstract

The utility model discloses a light end effector for high-speed reciprocating carrying, which comprises an assembly mounting plate assembly body, an effector mounting rack and four lower probing suction assemblies, the assembly mounting plate assembly body comprises a carbon fiber mounting plate, four corners of the carbon fiber mounting plate are respectively provided with a vacuum tube mounting hole, and the vacuum tube mounting holes are communicated with the actuator mounting rack. A first vacuum pipe joint, a cylinder mounting hole and two linear bearings are arranged on the periphery of each vacuum pipe mounting hole; each downward-probing suction assembly comprises a pen-shaped air cylinder, an assembly installation frame, a sponge suction cup and two guide rods, and the four downward-probing suction assemblies are arranged at the four corners of the carbon fiber installation plate in a one-to-one correspondence mode. According to the light end effector for high-speed reciprocating carrying, the load of the mechanical arm can be reduced and the motion trail of the mechanical arm can be optimized in an auxiliary mode by adopting light materials to be combined with the unit lifting set, so that the overall carrying speed is increased, and the carrying speed is 2-4 times that of a conventional end effector under the same working condition.

Description

Technical Field

[0001] The utility model relates to a light end effector for high-speed reciprocating transportation, which is suitable for transporting materials with rough and irregular surfaces of various specifications. Background Art

[0002] In the working condition of high-speed reciprocating product handling, the handling frequency and speed of the robot arm (parallel robot) will be affected by the weight of the end effector and the motion trajectory of the robot arm (parallel robot), thereby reducing the overall speed of the equipment; conventional end effectors are all metal structures and can generally only handle regular materials.

[0003] The existing parts are made of metal steel, and the mechanical properties of steel are tensile strength (1724MPa), elastic modulus (200GPa), density (7.85×10 3 Kg / M 3 ), compared with the mechanical properties of carbon fiber boards, tensile strength (4000MPa), elastic modulus (240GPa), density (1.8×10 3 Kg / M 3 ) does not have advantages, and the existing technology is affected by the mechanical properties of steel materials, the overall weight is between 2.5-3.5kg, and the conventional robot arm load is 3kg, so the disadvantages of the existing technology are heavy weight and large vibration when the robot arm drives the end effector to move at high speed. In addition, the reciprocating speed of the existing conventional end effector within the 1000mm handling range is 60-80pcs / min, and the operating speed is low. Utility Model Content

[0004] The purpose of the utility model is to overcome the defects of the prior art and provide a light end effector for high-speed reciprocating transportation, which is suitable for transporting materials with rough and irregular surfaces of various specifications, such as bagged materials (foods and medicines with wrinkles or bulging surfaces of packaging bags), plant fruits (custard apples, pomegranates, apples, etc.), special-shaped bottled materials, etc. By adopting light materials combined with a unit lifting group, the load of the robot arm can be reduced and the motion trajectory of the robot arm can be optimized to improve the overall transportation speed. Under the same working conditions, the transportation speed is 2-4 times that of a conventional end effector.

[0005] The technical solution to achieve the above purpose is: a lightweight end effector for high-speed reciprocating handling, comprising a component mounting plate assembly, an actuator mounting frame and four downward-reaching suction components, wherein:

[0006] The component mounting plate assembly comprises a carbon fiber mounting plate, four corners of the carbon fiber mounting plate are respectively provided with vacuum tube mounting holes, and the periphery of each vacuum tube mounting hole is provided with a first vacuum tube joint, a cylinder mounting hole and two linear bearings; the bottom end of the actuator mounting frame is fixed to the middle of the carbon fiber mounting plate; two first air pipe joints are provided on the carbon fiber mounting plate, and the two first air pipe joints are respectively provided on both sides of the actuator mounting frame;

[0007] Each downward-probing suction component includes a pen-shaped cylinder, a component mounting frame, a sponge suction cup and two guide rods, and a second vacuum pipe joint is provided in the middle of the component mounting frame; the sponge suction cup is located below the component mounting frame, and the top of the sponge suction cup is connected to the bottom of the second vacuum pipe joint, the bottom ends of the two guide rods are respectively fixed to the component mounting frame, the output end of the pen-shaped cylinder is connected to the top of the component mounting frame, and a second air pipe joint is provided on the pen-shaped cylinder;

[0008] The four downward-expanding suction components are arranged one by one at the four corners of the carbon fiber mounting plate, the second vacuum pipe joint of each downward-expanding suction component is located directly below the corresponding vacuum pipe mounting hole, the pen-shaped cylinder of each downward-expanding suction component is arranged in the corresponding cylinder mounting hole, and the two guide rods of each downward-expanding suction component are plugged into the corresponding two linear bearings one by one; the top end of the second vacuum pipe joint of each downward-expanding suction component is connected to the corresponding first vacuum pipe joint through a vacuum pipe, and the vacuum pipe passes through the corresponding vacuum pipe mounting hole;

[0009] One of the first air pipe joints is connected to the second air pipe joints on the pen-shaped cylinders of two downward-reaching suction assemblies through air pipes, and the other first air pipe joint is connected to the second air pipe joints on the pen-shaped cylinders of the other two downward-reaching suction assemblies through air pipes.

[0010] The above-mentioned light end effector for high-speed reciprocating transportation, wherein the pen-shaped cylinder drives the component mounting frame to move up and down, and the component mounting frame drives the sponge suction cup to move up and down.

[0011] In the above-mentioned light end effector for high-speed reciprocating transport, each guide rod moves up and down along a corresponding linear bearing.

[0012] In the above-mentioned lightweight end effector for high-speed reciprocating transport, the component mounting frame is made of carbon fiber material.

[0013] In the above-mentioned light end effector for high-speed reciprocating transport, a plurality of weight-reducing holes are provided on the carbon fiber mounting plate.

[0014] In the above-mentioned light end effector for high-speed reciprocating transport, the first vacuum pipe joint is externally connected to a vacuum generator.

[0015] The light end effector for high-speed reciprocating transport of the utility model has the following beneficial effects:

[0016] (1) Special-shaped materials can also be transported;

[0017] (2) The mounting plate and mounting frame are made of carbon fiber, which reduces the overall weight and enhances the mechanical properties;

[0018] (3) Simultaneously add a pen-type cylinder to optimize the motion trajectory of the robot arm, thereby increasing the handling speed and movement frequency of the equipment;

[0019] (4) The reciprocating transport speed can reach 120-130pcs / min within a 1000mm transport range, which is 2-4 times that of conventional end effectors. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a three-dimensional structural diagram of a lightweight end effector for high-speed reciprocating transport according to the utility model;

[0021] Figure 2 It is a schematic diagram of the structure of the component mounting plate assembly;

[0022] Figure 3 It is a structural schematic diagram of the downward suction component. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the technical solution of the utility model, the specific implementation method thereof is described in detail below in conjunction with the accompanying drawings:

[0024] See also Figure 1 , Figure 2 and Figure 3 The best embodiment of the utility model is a light end effector for high-speed reciprocating handling, comprising a component mounting plate assembly 1, an actuator mounting frame 2 and four downward-reaching suction components 3.

[0025] The component mounting plate assembly 1 includes a carbon fiber mounting plate 11, and vacuum tube mounting holes 12 are respectively provided at the four corners of the carbon fiber mounting plate 11. A first vacuum tube joint 13, a cylinder mounting hole 14 and two linear bearings 15 are provided on the periphery of each vacuum tube mounting hole 12; the bottom end of the actuator mounting frame 2 is fixed to the middle of the carbon fiber mounting plate 11. Two first air pipe joints 17 are provided on the carbon fiber mounting plate 11, and the two first air pipe joints 17 are respectively provided on both sides of the actuator mounting frame 2. Preferably, a plurality of weight reduction holes 18 are provided on the carbon fiber mounting plate 11 to further reduce the overall weight.

[0026] Each downward suction assembly 3 includes a pen-shaped cylinder 31, an assembly mounting frame 32, a sponge suction cup 33 and two guide rods 34. A second vacuum pipe joint 35 is provided in the middle of the assembly mounting frame 32. The sponge suction cup 33 is located below the assembly mounting frame 32, and the top of the sponge suction cup 33 is connected to the bottom of the second vacuum pipe joint 35. The bottom ends of the two guide rods 34 are respectively fixed on the assembly mounting frame 32. The output end of the pen-shaped cylinder 31 is connected to the top of the assembly mounting frame 32, and a second air pipe joint 36 is provided on the pen-shaped cylinder 31. The pen-shaped cylinder 31 drives the assembly mounting frame 32 to move up and down, and the assembly mounting frame 32 drives the sponge suction cup 33 to move up and down. The assembly mounting frame 32 is made of carbon fiber material to further reduce the overall weight.

[0027] Four downward-probing and suction components 3 are arranged one by one at the four corners of the carbon fiber mounting plate 11, and the second vacuum pipe joint 35 of each downward-probing and suction component 3 is located directly below the corresponding vacuum tube mounting hole 12, and the pen-shaped cylinder 31 of each downward-probing and suction component 3 is arranged in the corresponding cylinder mounting hole 14, and the two guide rods 34 of each downward-probing and suction component 3 are inserted into the corresponding two linear bearings 15 one by one; the top of the second vacuum pipe joint 35 of each downward-probing and suction component 3 is connected to the corresponding first vacuum pipe joint 13 through a vacuum pipe, and the vacuum pipe passes through the corresponding vacuum tube mounting hole 12; the first vacuum pipe joint 13 is externally connected to a vacuum generator, and when the vacuum generator is working, the first vacuum pipe joint 13 and the second vacuum pipe joint 35 provide vacuum suction for the sponge suction cup 33.

[0028] One of the first air pipe joints 17 is connected to the second air pipe joints 36 on the pen-shaped cylinders 31 of two of the downward-exploring suction assemblies 3 through air pipes, and the other first air pipe joints 17 are connected to the second air pipe joints 36 on the pen-shaped cylinders 31 of the other two downward-exploring suction assemblies 3 through air pipes. In this way, compressed air provides power to the corresponding pen-shaped cylinders 31 through the air pipes via the first air pipe joints 17 and the second air pipe joints 36, and the pen-shaped cylinders 31 drive the assembly mounting frame 32 to move up and down, and the assembly mounting frame 32 drives the sponge suction cup 33 to move up and down. In this process, each guide rod 34 moves up and down along the corresponding linear bearing 15 to ensure that the sponge suction cup 33 performs a linear lifting motion.

[0029] The light end effector for high-speed reciprocating handling of the utility model has four downward-reaching suction components 3, which can simultaneously realize four grabbing and one material-discharging handling operations in one handling, and can reduce the number of grabbing and releasing of the robot arm or other mechanical structures. Moreover, the sponge suction cups 33 of the four downward-reaching suction components 3 provide four points of force during the handling process, which is more suitable for handling materials with rough and irregular surfaces of various specifications, such as bagged materials (foods and medicines with wrinkles or bulges on the surface of the packaging bag, etc.), plant fruits (custard apples, pomegranates, apples, etc.), special-shaped bottled materials, etc.

[0030] The light end effector for high-speed reciprocating transport of the utility model can solve the interference problem generated in the overall downward exploration process through the action of the pen-shaped cylinder 31 of the downward exploration and suction component 3, and at the same time can reduce the movement trajectory of the robot arm or other mechanical structures. This method can increase the operating speed of the entire mechanical system and extend the service life of the robot arm or other mechanical structures.

[0031] The lightweight end effector for high-speed reciprocating transport of the utility model, the carbon fiber mounting plate 11 and the component mounting frame 32 are both made of carbon fiber material, which can reduce the overall weight of the end effector and enhance the mechanical performance

[0032] The utility model is a lightweight end effector for high-speed reciprocating transportation. When in use, the top end of the actuator mounting frame 2 is connected to a mechanical arm or other driving structure. Driven by the mechanical arm or other driving structure, the system obtains the posture and position information of the material to be transported. When the material reaches the grasping area, the first downward-probing and suction component 3 realizes the downward-probing action under the action of the pen-shaped cylinder 31. The sponge suction cup 33 on the downward-probing and suction component 3 contacts the product and absorbs the product material under the action of vacuum gas (the vacuum gas is introduced into the sponge suction cup 33 by the vacuum pipeline through the first vacuum pipe joint 13 and the second vacuum pipe joint 35); the remaining downward-probing and suction components 3 complete the grasping action in sequence according to this principle. After the last downward-probing and suction component 3 completes the suction of the material, the mechanical arm or other driving structure drives the lightweight end effector of the utility model to move to the designated material trough area, and then the inner cavity of the sponge suction cups 33 of the four downward-probing and suction components 3 breaks the vacuum to complete the discharge. The reciprocating transport speed can reach 120-130pcs / min within a 1000mm transport range, which is 2-4 times that of conventional end effectors.

[0033] In summary, the lightweight end effector for high-speed reciprocating transportation of the utility model is suitable for transporting materials of various specifications with rough and irregular surfaces. By adopting lightweight materials combined with a unit lifting group, the load of the robot arm can be reduced and the motion trajectory of the robot arm can be optimized to improve the overall transportation speed. Under the same working conditions, the transportation speed is 2-4 times that of a conventional end effector.

[0034] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. A lightweight end effector for high-speed reciprocating transport, characterized in that: It includes a component mounting plate assembly, an actuator mounting frame and four downward suction components, including: The component mounting plate assembly comprises a carbon fiber mounting plate, four corners of the carbon fiber mounting plate are respectively provided with vacuum tube mounting holes, and the periphery of each vacuum tube mounting hole is provided with a first vacuum tube joint, a cylinder mounting hole and two linear bearings; the bottom end of the actuator mounting frame is fixed to the middle of the carbon fiber mounting plate; two first air pipe joints are provided on the carbon fiber mounting plate, and the two first air pipe joints are respectively provided on both sides of the actuator mounting frame; Each downward-probing suction component includes a pen-shaped cylinder, a component mounting frame, a sponge suction cup and two guide rods, and a second vacuum pipe joint is provided in the middle of the component mounting frame; the sponge suction cup is located below the component mounting frame, and the top of the sponge suction cup is connected to the bottom of the second vacuum pipe joint, the bottom ends of the two guide rods are respectively fixed to the component mounting frame, the output end of the pen-shaped cylinder is connected to the top of the component mounting frame, and a second air pipe joint is provided on the pen-shaped cylinder; The four downward-expanding suction components are arranged one by one at the four corners of the carbon fiber mounting plate, the second vacuum pipe joint of each downward-expanding suction component is located directly below the corresponding vacuum pipe mounting hole, the pen-shaped cylinder of each downward-expanding suction component is arranged in the corresponding cylinder mounting hole, and the two guide rods of each downward-expanding suction component are plugged into the corresponding two linear bearings one by one; the top end of the second vacuum pipe joint of each downward-expanding suction component is connected to the corresponding first vacuum pipe joint through a vacuum pipe, and the vacuum pipe passes through the corresponding vacuum pipe mounting hole; One of the first air pipe joints is connected to the second air pipe joints on the pen-shaped cylinders of two downward-reaching suction assemblies through air pipes, and the other first air pipe joint is connected to the second air pipe joints on the pen-shaped cylinders of the other two downward-reaching suction assemblies through air pipes.

2. A lightweight end effector for high-speed reciprocating transport according to claim 1, characterized in that: The pen-shaped cylinder drives the component mounting frame to move up and down, and the component mounting frame drives the sponge suction cup to move up and down.

3. A lightweight end effector for high-speed reciprocating transport according to claim 2, characterized in that: Each guide rod moves up and down along a corresponding linear bearing.

4. A lightweight end effector for high-speed reciprocating transport according to claim 1, characterized in that: The component mounting frame is made of carbon fiber.

5. A lightweight end effector for high-speed reciprocating transport according to claim 1, characterized in that: The carbon fiber mounting plate is provided with a plurality of weight-reducing holes.

6. A lightweight end effector for high-speed reciprocating transport according to claim 1, characterized in that: The first vacuum pipe joint is externally connected to a vacuum generator.

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