Tooling

Abstract

The utility model discloses a tooling. Comprising a flange plate detachably connected with a mechanical arm, a main plate connected to one side of the flange plate, a first grabbing assembly detachably connected to the upper end of the main plate and used for picking up a workpiece, and a second grabbing assembly detachably connected to the lower end of the main plate and used for picking up a cover plate of a fixing jig. The second grabbing assembly comprises a plurality of buffers, after the second grabbing assembly picks up the cover plate and places the cover plate on the fixing jig base, the buffers can press and hold the cover plate at the upper end of the cover plate, an end picker installed on a mechanical arm only grabs the cover plate and a workpiece when grabbing back and forth, and the cover plate and the workpiece can be automatically grabbed. And the situation that the whole fixing jig clamps the workpiece and then is grabbed and moved to a CNC machine table is avoided, the carrying and bearing load of the robot is reduced, and the service life is prolonged.

Description

Technical Field

[0001] The utility model belongs to the technical field of notebook component processing, and in particular relates to an end picker. Background Art

[0002] When using CNC equipment to process notebooks, a fixed fixture is one of the indispensable tools. The fixed fixture includes a base and a cover that is detachably connected to the base, and the cover is provided with two spaced positioning sleeves. During production, the workpiece is usually manually clamped in the fixed fixture, and then moved to the CNC machine table by an end picker for subsequent processing. However, each time such an end picker moves the workpiece, it actually moves the entire fixed fixture together with the workpiece, which increases the load on the robot connected to the end picker. Utility Model Content

[0003] Aiming at the technical problem that the currently used end picker can only pick up and carry the fixed fixture together with the workpiece, thereby increasing the carrying load of the robot, the utility model provides an end picker.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] An end picker includes a flange detachably connected to a robot arm, a main board connected to one side of the flange, a first grasping assembly detachably connected to the upper end of the main board for picking up a workpiece, and a second grasping assembly detachably connected to the lower end of the main board for picking up a cover plate of a fixed fixture, wherein the second grasping assembly includes a plurality of buffers, and when the second grasping assembly picks up the cover plate and places it on a fixed fixture base, the buffers can press and hold the cover plate at the upper end of the cover plate.

[0006] Furthermore, the first grabbing assembly includes a first plate body connected to the upper end of the main board, two mounting plates vertically connected to the upper end of the first plate body, and a plurality of first suction cups that can be detachably connected to the mounting plates, the two mounting plates are arranged at intervals, and each mounting plate is connected to a plurality of the first suction cups.

[0007] Furthermore, a first hole group for screwing with the main board is provided in the middle of the first plate body, and a second hole group for connecting with the mounting plate is provided on both sides of the first hole group; the second hole group includes two first adjustment holes arranged at intervals along the length direction of the first plate body, and the mounting plate is connected to the first adjustment holes by bolts, and the mounting plate can be laterally adjusted along the first adjustment holes.

[0008] Furthermore, each of the mounting plates is provided with at least two second adjustment holes which are longitudinally spaced apart and perpendicular to the first adjustment holes, and a first suction cup is installed in each of the second adjustment holes, and the first suction cup can adjust its position longitudinally along the second adjustment hole.

[0009] Furthermore, the second grabbing assembly also includes a second plate body connected to the lower end of the main board, a positioning pin group provided on the second plate body for positioning the cover plate, a plurality of third hole groups opened on the second plate body, and a plurality of second suction cups connected to the third hole groups one by one, each of the third hole groups is connected to a buffer and a second suction cup.

[0010] Furthermore, the third hole group includes a third adjustment hole and a fourth adjustment hole which are arranged at intervals and penetrate the second plate body in a vertical direction, the buffer is connected to the third adjustment hole, and the buffer can adjust its position laterally along the third adjustment hole; the second suction cup is connected to the fourth adjustment hole, and the second suction cup can adjust its position laterally along the fourth adjustment hole.

[0011] Furthermore, the buffer is an oil pressure buffer.

[0012] Furthermore, the positioning pin group includes cylindrical pins and chamfered pins connected to the second plate body and arranged at intervals.

[0013] Furthermore, the second plate body is provided with two first weight-reducing holes distributed at intervals and a plurality of fourth hole groups, and the fourth hole groups include a plurality of second weight-reducing holes.

[0014] In summary, the beneficial effects of the utility model are as follows: 1. The upper and lower ends of the mainboard are respectively connected to the first gripper assembly and the second gripper assembly. The two gripper assemblies respectively grip the workpiece and the cover plate of the fixed fixture. When transporting, the entire fixture and the workpiece are no longer transported together, which reduces the load and helps to extend the service life of the robot. Moreover, more standardized clamping of workpieces can reduce the occurrence of scratches on products due to careless manual clamping in the past, thereby improving the yield rate. 2. The first suction cup and the second suction cup, as well as the buffer that can hold the cover plate, can all be adjusted in position according to actual conditions, and are more versatile. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The utility model is a structural schematic diagram of an end picker provided by the utility model.

[0016] Figure 2 It is a structural schematic diagram of the utility model after the middle end picker completes the transportation of workpieces and cover plates.

[0017] Figure 3It is a bottom view of the second grabbing assembly in the utility model.

[0018] Figure 4 It is a structural schematic diagram of a fixed fixture.

[0019] In the figure, 100-flange, 110-main board, 200-first grabbing assembly, 210-first plate body, 211-first hole group, 212-first adjustment hole, 220-mounting plate, 221-raised connecting portion, 2210-bolt assembly hole, 222-second adjustment hole, 230-first suction cup, 300-second grabbing assembly, 310-buffer, 320-second plate body, 321-first weight reduction hole, 322-second weight reduction hole, 330-third hole group, 330A-third adjustment hole, 330B-fourth adjustment hole, 340-second suction cup, 350-cylindrical pin, 360-chamfered pin, 400-fixing fixture, 410-base, 420-cover plate, 421-positioning sleeve. DETAILED DESCRIPTION

[0020] The present invention will be further described below in conjunction with specific drawings.

[0021] See also Figure 4 The fixture 400 for clamping and fixing the workpiece includes a base 410 and a cover plate 420 detachably connected to the base 410 , and two spaced positioning sleeves 421 are provided on the cover plate 420 , and the inner cavity of each positioning sleeve 421 is communicated with the interior of the cover plate 420 .

[0022] like Figure 1 and Figure 2As shown, the utility model provides an end picker, including a flange 100 detachably connected to a robot arm, a main board 110 connected to one side of the flange 100, a first gripping assembly 200 detachably connected to the upper end of the main board 110 for picking up a workpiece, and a second gripping assembly 300 detachably connected to the lower end of the main board 110 for picking up a cover plate 420 of a fixed fixture 400. The second gripping assembly 300 includes a plurality of buffers 310. When the second gripping assembly 300 picks up the cover plate 420 and places it on the base 410 of the fixed fixture 400, the buffers 310 can press and hold the cover plate 420 at the upper end of the cover plate 420. The base 410 of the detachable fixed fixture 400 is first fixed on the CNC machine, the flange 100 is connected to the robot's mechanical arm, the first grabbing assembly 200 set at the upper end of the main board 110 grabs the workpiece, the robot controls the main board 110 to turn over, and then uses the second grabbing assembly 300 set at the lower end of the main board 110 to grab the cover plate 420 in the fixed fixture 400. The robot moves the grabbed workpiece and the cover plate 420 together to the top of the CNC machine, first places the workpiece at the position corresponding to the base 410 for carrying the workpiece, then flips the main board 110 and places the cover plate 420 on the top of the workpiece, and after the placement is completed, the buffer 310 has a downward pressing function to prevent the cover plate 420 from shifting, and conveniently operates to completely lock the fixed fixture 400 to complete the workpiece clamping. The end picker installed on the mechanical arm will only grab the cover plate 420 and the workpiece when it is reciprocated, instead of the entire fixed fixture being grabbed and moved to the CNC machine together after the workpiece is clamped, which reduces the load of the robot's handling and carrying and extends its service life.

[0023] The first gripping assembly 200 includes a first plate body 210 connected to the upper end of the main board 110, two mounting plates 220 vertically connected to the upper end of the first plate body 210, and a plurality of first suction cups 230 detachably connected to the mounting plates 220. The two mounting plates 220 are arranged at intervals, and each mounting plate 220 is connected to a plurality of first suction cups 230. The first suction cups 230 can quickly absorb the workpiece, and can prevent the thin notebook workpiece from being deformed.

[0024] The first plate body 210 is provided with a first hole group 211 in the middle thereof for being screwed to the main board 110. The first hole group 211 is composed of a plurality of screw holes, and the first plate body 210 is connected to the main board 110 by bolts. A second hole group for connecting to the mounting plate 220 is provided on both sides of the first hole group 211. The second hole group includes two first adjustment holes 212 arranged at intervals along the length direction of the first plate body 210. The mounting plate 220 is connected to the first adjustment holes 212 by bolts, and the mounting plate 220 can be adjusted laterally along the first adjustment holes 212. The mounting plate 220 is provided with a protruding connection portion 221, and a plurality of bolt assembly holes 2210 are provided on the protruding connection portion 221. The bolts connect the bolt assembly holes 2210 and the first adjustment holes 212 together, and the second adjustment holes 222 are preferably long holes, so that the position of the mounting plate 220 can be adjusted laterally according to the different sizes of the workpiece, so that the position of the first suction cup 230 can be adjusted laterally.

[0025] Each of the mounting plates 220 is provided with at least two second adjustment holes 222 that are spaced apart longitudinally and are perpendicular to the first adjustment hole 212. A first suction cup 230 is installed in each of the second adjustment holes 222. The first suction cup 230 can be adjusted longitudinally along the second adjustment hole 222. The second adjustment hole 222 is preferably a long hole. The first suction cup 230 is locked with a nut after passing through the second adjustment hole 222, and the position of the first suction cup 230 can be adjusted longitudinally in the second adjustment hole 222 by loosening the nut. Through the first adjustment hole 212 and the second adjustment hole 222, what can actually be achieved is that the position of the first suction cup 230 can be adjusted in the horizontal and vertical directions, and can be adapted to more workpieces of different sizes.

[0026] See also Figure 3 The second grab assembly 300 also includes a second plate body 320 connected to the lower end of the main board 110, a positioning pin group provided on the second plate body 320 for positioning the cover plate 420, a plurality of third hole groups 330 provided on the second plate body 320, and a plurality of second suction cups 340 connected to the third hole groups 330 in a one-to-one correspondence, and each of the third hole groups 330 is connected to a buffer 310 and a second suction cup 340. The positioning pin group can be connected to the positioning sleeve 421 on the cover plate 420, and then the cover plate 420 is sucked by the second suction cup 340. The buffer 310 is elastic. After sucking the cover plate 420, the buffer 310 can be against the cover plate 420 to limit the cover plate 420. The buffer 310 is preferably a hydraulic buffer 310, which can reduce vibration and noise in automated mechanical operations, and when the cover plate 420 is placed on the base 410 of the fixed fixture 400, the buffer 310 has a downward pressing function to facilitate clamping.

[0027] The second plate 320 is also provided with a plurality of screw holes, which are screwed to the main board 110 by bolts. The second plate 320 is provided with two first weight-reducing holes 321 and a plurality of fourth hole groups distributed at intervals, and the fourth hole groups also have two. The fourth hole group includes a plurality of second weight-reducing holes 322, a plurality of first weight-reducing holes 321 and a plurality of second weight-reducing holes 322, which can reduce the weight of the second plate 320 itself, and further reduce the load of the robot's handling.

[0028] The positioning pin group includes cylindrical pins 350 and chamfered pins 360 connected to the second plate body 320 and arranged at intervals. The cylindrical pins 350 and chamfered pins 360 are respectively inserted into the inner cavities of the positioning sleeves 421 corresponding to the cover plate 420, and two holes are used to position the workpiece. The setting of the chamfered pins 360 can reduce the pin diameter and avoid over-positioning of the workpiece.

[0029] The third hole group 330 includes a third adjustment hole 330A and a fourth adjustment hole 330B which are arranged at intervals and vertically penetrate the second plate body 320. The buffer 310 is connected to the third adjustment hole, and the buffer 310 can adjust its position laterally along the third adjustment hole 330A. The second suction cup 340 is connected to the fourth adjustment hole 330B, and the second suction cup 340 can adjust its position laterally along the fourth adjustment hole 330B. The third adjustment hole and the fourth adjustment hole 330B are preferably long holes, which can adjust the position of the buffer 310 and the second suction cup 340 according to the size of the cover plate 420 of the fixing fixture 400, and flexibly adapt to the use of fixing fixtures 400 of more different sizes.

[0030] This end picker: 1. The upper and lower ends of the main board 110 are respectively connected to the first gripping component 200 and the second gripping component. The two gripping components respectively grab the workpiece and the cover plate 420 of the fixed fixture 400. During transportation, the entire fixture and the workpiece are no longer transported together, which reduces the load and helps to extend the service life of the robot. In addition, more standardized and automated clamping of workpieces can reduce the occurrence of product scratches due to careless manual clamping in the past, thereby improving the yield rate. 2. The first suction cup 230 and the second suction cup 340 and the buffer 310 that can hold the cover plate 420 can all be adjusted in position according to actual conditions, and are more versatile.

[0031] The above are only implementation methods of the present utility model, and are not intended to limit the patent scope of the present utility model. Any equivalent structure made using the contents of the specification and drawings of the present utility model, directly or indirectly used in other related technical fields, are also within the patent protection scope of the present utility model.

Claims

1. An end picker, characterized in that: It includes a flange detachably connected to a robot arm, a main board connected to one side of the flange, a first grasping assembly detachably connected to the upper end of the main board for picking up a workpiece, and a second grasping assembly detachably connected to the lower end of the main board for picking up a cover plate of a fixed fixture, wherein the second grasping assembly includes a plurality of buffers, and when the second grasping assembly picks up the cover plate and places it on a fixed fixture base, the buffers can press and hold the cover plate at the upper end of the cover plate.

2. The end tool according to claim 1, characterized in that: The first grabbing assembly includes a first plate body connected to the upper end of the main board, two mounting plates vertically connected to the upper end of the first plate body, and a plurality of first suction cups that can be detachably connected to the mounting plates, the two mounting plates are arranged at intervals, and each mounting plate is connected to a plurality of the first suction cups.

3. The end tool according to claim 2, characterized in that: A first hole group for screwing with the main board is provided in the middle of the first plate body, and a second hole group for connecting with the mounting plate is provided on both sides of the first hole group; the second hole group includes two first adjustment holes arranged at intervals along the length direction of the first plate body, and the mounting plate is connected to the first adjustment holes by bolts, and the mounting plate can be laterally adjusted along the first adjustment holes.

4. The end picker according to claim 3, characterized in that: Each of the mounting plates is provided with at least two second adjustment holes spaced longitudinally and perpendicular to the first adjustment hole, and each of the second adjustment holes is provided with a first suction cup, which can adjust its position longitudinally along the second adjustment hole.

5. The end tool according to claim 1, characterized in that: The second grabbing assembly also includes a second plate body connected to the lower end of the main board, a positioning pin group arranged on the second plate body for positioning the cover plate, a plurality of third hole groups opened on the second plate body, and a plurality of second suction cups connected to the third hole groups one by one, each of the third hole groups is connected to a buffer and a second suction cup.

6. The end tool according to claim 5, characterized in that: The third hole group includes a third adjustment hole and a fourth adjustment hole which are arranged at intervals and penetrate the second plate body in a vertical direction; the buffer is connected to the third adjustment hole, and the buffer can adjust its position laterally along the third adjustment hole; the second suction cup is connected to the fourth adjustment hole, and the second suction cup can adjust its position laterally along the fourth adjustment hole.

7. The end tool according to claim 6, characterized in that: The buffer is an oil pressure buffer.

8. The end tool according to claim 5, characterized in that: The positioning pin group includes cylindrical pins and chamfered pins which are connected to the second plate body and arranged at intervals.

9. An end tool according to any one of claims 5 to 8, characterized in that: The second plate body is provided with two first weight-reducing holes distributed at intervals and a plurality of fourth hole groups, wherein the fourth hole group includes a plurality of second weight-reducing holes.

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