Adjustable bending robot tail end tool

Abstract

The utility model discloses an adjustable bending robot tail end tool which comprises a tail end body, an adapter block is fixedly installed at the bottom end of the tail end body, a suction cup frame for adsorbing materials is fixedly installed at the bottom end of the adapter block, and suction pipes for vacuumizing a vacuum suction cup are evenly and symmetrically arranged at the bottom end of the suction cup frame. The exhaust pipe penetrates through the suction cup frame and is provided with a hose connector. When the tail end body needs to be used for clamping and machining a workpiece, firstly, according to the clamping face of the machined workpiece, an electric telescopic rod drives a first driven bevel gear to be close to a driving bevel gear to be in meshed connection with the driving bevel gear, and an electric rotating rod drives the driving bevel gear to rotate; and a first driven bevel gear or a second driven bevel gear is electrically connected with a driving bevel gear in a meshed mode through an electric telescopic rod, clamping machining can be conducted according to different workpiece angles, and the machining functionality of the tail end body is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of bending robot end tooling equipment, in particular to an adjustable bending robot end tooling. Background Art

[0002] The end tooling of the bending robot, commonly referred to as the "end effector" or "tool head" of the robot, is installed at the very end of the robot arm and is used to directly operate with the workpiece. The end tooling includes various types of clamping devices such as suction cups, pneumatic grippers, and clamping systems.

[0003] The vacuum suction cup of the bending robot's end fixture can quickly absorb and release the workpiece, and has high clamping efficiency and production efficiency. However, when the vacuum suction cup clamps the workpiece, the shape of the workpiece and the angle of the suction surface are different, and the suction angle cannot be adjusted according to the workpiece's suction surface. Utility Model Content

[0004] The purpose of the utility model is to provide an adjustable bending robot end tooling to solve the problem that the vacuum suction cup of the existing bending robot end tooling can quickly adsorb and release the workpiece and has high clamping efficiency and production efficiency, but when the vacuum suction cup clamps the workpiece, the adsorption angle cannot be adjusted according to the adsorption surface of the workpiece due to the different shapes of the workpiece and the angles of the adsorption surface.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an adjustable bending robot end tooling, including an end body, a transfer block is fixedly installed at the bottom end of the end body, a suction cup frame for adsorbing materials is fixedly installed at the bottom end of the transfer block, and an exhaust pipe for drawing a vacuum into a vacuum cup is evenly and symmetrically arranged at the bottom end of the suction cup frame, the exhaust pipe passes through the suction cup frame and is provided with a hose connector, and the hose connector is connected to the end body, an electric rotating rod is rotatably connected inside the transfer block, and the electric rotating rod passes through the transfer block and is connected to the end body, an active bevel gear is fixedly connected to the outer periphery of the electric rotating rod, the active bevel gear is meshingly connected with a driven bevel gear 1, one end of the driven bevel gear 1 is fixedly connected to an electric telescopic rod for controlling the distance of the driven bevel gear 1, and the electric telescopic rod is fixedly connected to the transfer block.

[0006] As a further solution of the utility model: the active bevel gear is meshingly connected with a driven bevel gear 2, and the driven bevel gear 2 is arranged on a side opposite to the driven bevel gear 1, and an electric telescopic rod is also fixedly installed at one end of the driven bevel gear 2.

[0007] As a further solution of the utility model: one end of the suction cup frame is slidably connected to a suction cup extension rod for increasing the suction distance, and the suction cup extension rod is symmetrically arranged at both ends of the suction cup frame; one end of the suction cup extension rod is fixedly provided with a limit slider slidably connected to the suction cup frame, and the limit sliders are symmetrically fixed at both ends of the suction cup extension rod.

[0008] As a further solution of the utility model: one end of the suction cup extension rod is rotatably connected to a rotating block, and one end of the rotating block is fixedly provided with a fixed block for installing the exhaust pipe, one end of the suction cup extension rod is fixedly provided with a connecting block rotatably connected to the rotating block, and both ends of the rotating block are symmetrically inserted with rotating shafts rotatably connected to the connecting block.

[0009] As a further solution of the utility model: a vacuum suction cup for adsorbing the material is fixedly installed at the bottom end of the exhaust pipe, and a rubber elastic sealing block for increasing the sealing performance is embedded at the bottom end of the vacuum suction cup.

[0010] As a further solution of the utility model: the bottom end of the vacuum suction cup is provided with an embedding groove which is embedded and fixed with the rubber elastic sealing block.

[0011] Compared with the prior art, the beneficial effects of the utility model are:

[0012] When the utility model needs to use the end body to clamp and process the workpiece, first, according to the clamping surface of the workpiece to be processed, the driven bevel gear 1 is driven by the electric telescopic rod to approach the active bevel gear and mesh with it, and the active bevel gear is driven to rotate by the electric rotating rod, driving the suction cup frame to rotate to the same angle as the workpiece to be processed, and the driven bevel gear 1 or the driven bevel gear 2 is meshed and connected with the active bevel gear through the electric telescopic rod, so that the clamping processing can be carried out according to different workpiece angles, thereby increasing the processing functionality of the end body;

[0013] The fixed block is pulled by the limit slider and the suction cup extension rod is pulled out of the suction cup frame. When the suction cup extension rod is pulled out, the fixed block changes the adsorption and clamping angle of the fixed block through the connecting block, the rotating block and the rotating shaft, and the vacuum suction cup at the bottom of the exhaust pipe is abutted against the workpiece, and the contact area between the vacuum suction cup and the workpiece is evacuated through the hose connector for processing. The terminal end body can be increased through the connecting block, the rotating block and the rotating shaft to process workpieces of different shapes;

[0014] When the vacuum suction cup contacts the workpiece, the rubber elastic sealing block at the bottom of the vacuum suction cup can contact and squeeze the uneven surface to increase the sealing performance of the uneven surface, and the rubber elastic sealing block can be replaced later through the embedding groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 It is a schematic diagram of the cross-sectional structure of the adapter block of the utility model;

[0017] Figure 3 It is a structural schematic diagram of the suction cup extension rod of the utility model;

[0018] Figure 4 This utility model Figure 3 Schematic diagram of the enlarged structure at point A in the middle.

[0019] In the figure: 1. terminal end body; 2. adapter block; 3. rotating rod; 4. driving bevel gear; 5. driven bevel gear 1; 6. electric telescopic rod; 7. driven bevel gear 2; 8. suction cup frame; 9. fixing block; 10. suction cup extension rod; 12. limit slider; 13. connecting block; 14. rotating block; 15. rotating shaft; 16. exhaust pipe; 17. vacuum suction cup; 18. embedding groove; 19. rubber elastic sealing block; 20. hose connector. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation of the present utility model. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. The following is an explanation of the embodiments of the present utility model based on the overall structure of the present utility model.

[0022] Reference Figures 1 to 4In the embodiment of the utility model, an adjustable bending robot end tooling includes an end body 1, a transfer block 2 is fixedly installed at the bottom of the end body 1, a suction cup frame 8 for adsorbing materials is fixedly installed at the bottom of the transfer block 2, and an exhaust pipe 16 for vacuuming a vacuum cup 17 is evenly and symmetrically arranged at the bottom of the suction cup frame 8, the exhaust pipe 16 passes through the suction cup frame 8 and is provided with a hose connector 20, and the hose connector 20 is connected to the end body 1, and an electric rotating rod 3 is rotatably connected inside the transfer block 2, and the electric The rotating rod 3 passes through the adapter block 2 and is connected to the terminal end body 1. A driving bevel gear 4 is fixedly connected to the outer periphery of the electric rotating rod 3. The driving bevel gear 4 is meshingly connected to a driven bevel gear 1 5. One end of the driven bevel gear 1 5 is fixedly connected to an electric telescopic rod 6 for controlling the distance of the driven bevel gear 1 5. The electric telescopic rod 6 is fixedly connected to the adapter block 2. The driving bevel gear 4 is meshingly connected to a driven bevel gear 2 7. The driven bevel gear 2 7 is arranged on the opposite side of the driven bevel gear 1 5. One end of the driven bevel gear 2 7 is also fixedly installed with an electric telescopic rod 6.

[0023] Reference Figure 3 and Figure 4 One end of the suction cup frame 8 is slidably connected to a suction cup extension rod 10 for increasing the suction distance, and the suction cup extension rod 10 is symmetrically arranged at both ends of the suction cup frame 8, one end of the suction cup extension rod 10 is fixedly provided with a limit slider 12 slidably connected to the suction cup frame 8, and the limit slider 12 is symmetrically fixed at both ends of the suction cup extension rod 10, one end of the suction cup extension rod 10 is rotatably connected to a rotating block 14, and one end of the rotating block 14 is fixedly provided with a fixed block 9 for installing an exhaust pipe 16, one end of the suction cup extension rod 10 is fixedly provided with a connecting block 13 rotatably connected to the rotating block 14, and both ends of the rotating block 14 are symmetrically plugged with rotating shafts 15 rotatably connected to the connecting block 13.

[0024] Reference Figure 3 A vacuum suction cup 17 for adsorbing the material is fixedly installed at the bottom of the exhaust pipe 16, and a rubber elastic sealing block 19 for increasing the sealing performance is embedded at the bottom of the vacuum suction cup 17. An embedding groove 18 is opened at the bottom of the vacuum suction cup 17 to be embedded and fixed with the rubber elastic sealing block 19.

[0025] The working principle of the utility model is as follows: when the end body 1 is needed to clamp the workpiece, first, according to the clamping surface of the workpiece to be processed, the driven bevel gear 1 5 is driven by the electric telescopic rod 6 to approach the active bevel gear 4 and mesh with it, and the active bevel gear 4 is driven to rotate by the electric rotating rod 3, driving the suction cup frame 8 to rotate to the same angle as the workpiece to be processed, and the driven bevel gear 1 5 or the driven bevel gear 2 7 is meshed with the active bevel gear 4 through the electric telescopic rod 6, so that the clamping processing can be carried out according to different workpiece angles, thereby increasing the processing functionality of the end body 1, and then the fixed block 9 is pulled by the limit slider 12 to pull the suction cup extension rod 10 out of the suction cup frame 8, when the suction cup When the extension rod 10 is pulled out, the fixed block 9 changes the adsorption and clamping angle of the fixed block 9 through the connecting block 13, the rotating block 14 and the rotating shaft 15, and the vacuum suction cup 17 at the bottom of the exhaust pipe 16 is abutted against the workpiece, and the contact area between the vacuum suction cup 17 and the workpiece is evacuated into a vacuum through the hose connector 20 for processing. The connecting block 13, the rotating block 14 and the rotating shaft 15 can increase the terminal end body 1 to process workpieces of different shapes. When the vacuum suction cup 17 abuts against the workpiece, the rubber elastic sealing block 19 at the bottom of the vacuum suction cup 17 can contact and squeeze the uneven surface to increase the sealing of the uneven surface, and the rubber elastic sealing block 19 can be replaced at a later time through the embedding groove 18.

[0026] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An adjustable bending robot end tooling, characterized in that: The invention comprises a terminal body (1), a transfer block (2) is fixedly mounted on the bottom end of the terminal body (1), a suction cup frame (8) for adsorbing materials is fixedly mounted on the bottom end of the transfer block (2), and an exhaust pipe (16) for evacuating a vacuum cup (17) is evenly and symmetrically arranged on the bottom end of the suction cup frame (8), the exhaust pipe (16) passes through the suction cup frame (8) and is provided with a hose connector (20), and the hose connector (20) is connected to the terminal body (1), an electric rotating rod (3) is rotatably connected inside the transfer block (2), and the electric rotating rod (3) passes through the transfer block (2) and is connected to the terminal body (1), an active bevel gear (4) is fixedly connected to the outer periphery of the electric rotating rod (3), the active bevel gear (4) is meshingly connected to a driven bevel gear 1 (5), one end of the driven bevel gear 1 (5) is fixedly connected to an electric telescopic rod (6) for controlling the distance of the driven bevel gear 1 (5), and the electric telescopic rod (6) is fixedly connected to the transfer block (2).

2. The adjustable bending robot end tooling according to claim 1, characterized in that: The active bevel gear (4) is meshingly connected with a driven bevel gear 2 (7), and the driven bevel gear 2 (7) is arranged on a side opposite to the driven bevel gear 1 (5), and an electric telescopic rod (6) is also fixedly mounted on one end of the driven bevel gear 2 (7).

3. The adjustable bending robot end tooling according to claim 1, characterized in that: One end of the suction cup frame (8) is slidably connected to a suction cup extension rod (10) for increasing the suction distance, and the suction cup extension rod (10) is symmetrically arranged at both ends of the suction cup frame (8); one end of the suction cup extension rod (10) is fixedly provided with a limit slider (12) slidably connected to the suction cup frame (8), and the limit slider (12) is symmetrically fixed at both ends of the suction cup extension rod (10).

4. The adjustable bending robot end tooling according to claim 3 is characterized in that: One end of the suction cup extension rod (10) is rotatably connected to a rotating block (14), and one end of the rotating block (14) is fixedly provided with a fixed block (9) for mounting an exhaust pipe (16); one end of the suction cup extension rod (10) is fixedly provided with a connecting block (13) rotatably connected to the rotating block (14), and two ends of the rotating block (14) are symmetrically plugged with rotating shafts (15) rotatably connected to the connecting block (13).

5. The adjustable bending robot end tooling according to claim 1, characterized in that: A vacuum suction cup (17) for adsorbing the material is fixedly mounted on the bottom end of the suction pipe (16), and a rubber elastic sealing block (19) for improving the sealing performance is embedded in the bottom end of the vacuum suction cup (17).

6. The adjustable bending robot end tooling according to claim 5, characterized in that: The bottom end of the vacuum suction cup (17) is provided with an embedding groove (18) for embedding and fixing with the rubber elastic sealing block (19).

Images