Telescopic adjustable tooling device

Abstract

The utility model relates to a telescopic adjustable tooling device which comprises a flange, an upper rod assembly fixedly installed on the lower portion of the flange, a middle connecting plate, a first lower support assembly, a second lower support assembly and a suction cup assembly. A first guide rail sliding block assembly and a width adjusting lead screw mechanism are arranged between the second lower support assembly and the middle connecting plate, meanwhile, a pair of side support assemblies is fixedly installed on the left side wall and the right side wall of the second lower support assembly, and inclined side angle adjusting air cylinder assemblies are installed on the side support assemblies. According to the tooling device, in the width direction, a motor drives a single-shaft driver, a precision ball screw and a linear guide rail, the rotation direction of the motor is controlled through a PLC, and increasing or decreasing in the width direction is achieved; the mode that an air cylinder drives a linear sliding rail is adopted in the angle direction, the movement of a pneumatic reversing valve is controlled through a PLC, extension or shortening of the two sides in the 45-degree angle direction is achieved, suction force generated by a vacuum generator is controlled through the PLC, and grabbing and stacking work of plates is achieved.

Description

Technical Field

[0001] The utility model relates to the utility model technology applied to the shearing of a hydraulic guillotine shearing machine, in particular to the automation of fine shearing of bevels through the cooperation of a robot and an end effector, and specifically relates to a telescopic and adjustable end effector device. Background Art

[0002] Some parts in automotive body panels need to be welded and then sheared at an angle, such as the inner front door panel and the inner rear door panel. The shearing generally needs to go through process flows such as grasping, detecting, centering, shearing, re-grasping, and stacking. When grasping the raw material for detection and centering, it is necessary to cover as much of the raw material as possible. When shearing, re-grasping, and stacking, it is necessary to be close to the bevel edge to ensure the flatness of the finished product. To meet the above requirements, the end effector needs to achieve high-precision and rapid adjustment functions in the width and angle directions.

[0003] Currently, the more commonly used methods are manual scribing and shearing and customizing robotic arms according to product dimensions, but the disadvantages are particularly obvious. Manual scribing and shearing mainly have problems such as low efficiency, poor quality, and great potential safety hazards. Customizing robotic arms according to dimensions can only meet a single product, with poor versatility, high consumables, and uneconomical. There is an urgent need for a telescopic and adjustable end effector device to improve production efficiency, product quality, personnel safety, and economic benefits. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a telescopic and adjustable end effector device, aiming to overcome the defects of the prior art and solve the problems of low precision, low production efficiency, and low product quality.

[0005] To this end, the utility model proposes a telescopic and adjustable end effector device, which includes a flange, an upper rod assembly fixedly installed below the flange, an intermediate connecting plate, and a lower support assembly one and a lower support assembly two; suction cup assemblies are respectively installed at the lower ends of the upper rod assembly, the lower support assembly one, and the lower support assembly two.

[0006] Wherein, a guide rail slider assembly one and a width adjustment lead screw mechanism are provided between the lower support assembly two and the intermediate connecting plate to increase or decrease the width direction of the end effector device; at the same time, a pair of side support assemblies are fixedly installed on the left and right side walls of the lower support assembly two, an inclined side angle adjustment cylinder assembly is installed on the side support assembly, and a suction cup assembly is installed on the slider of the side angle adjustment cylinder assembly; to extend or shorten the bevel direction of the end effector device so as to grasp plates of different sizes.

[0007] As a preferred technical solution of the present application, a linear guide rail is provided at the upper end of the lower support assembly two, a slider is installed on the bottom surface of the intermediate connecting plate, and the width adjustment lead screw mechanism has a motor and a precision ball screw.

[0008] As a preferred technical solution of the present application, the side-angle adjusting cylinder assembly includes a guide rail slider assembly II and a cylinder. There is a 45° angle between the guide rail slider assembly II and the outer end of the upper rod assembly, and the two side-angle adjusting cylinder assemblies are symmetrically distributed.

[0009] As a preferred technical solution of the present application, a guide rail slider assembly I and a width adjusting lead screw mechanism are also provided between the lower bracket assembly I and the intermediate connecting plate; and the two width adjusting lead screw mechanisms are symmetrically and reversely arranged.

[0010] As a preferred technical solution of the present application, the lower bracket assembly II is in a "U" shape, and the lower bracket assembly I is in a "π" shape.

[0011] As a preferred technical solution of the present application, reinforcing members are respectively provided on both sides of the lower bracket assembly I.

[0012] As a preferred technical solution of the present application, the side bracket assembly is integrally in an "L" shape.

[0013] As a preferred technical solution of the present application, "Z" - shaped processing parts are respectively provided at both ends of the upper rod assembly, so that the suction cup assemblies installed on the upper rod assembly and the lower bracket assembly I are at the same height.

[0014] As a preferred technical solution of the present application, multiple groups of adjustable U - shaped holes are provided at both ends of the upper rod assembly, and the "Z" - shaped processing parts and the adjustable U - shaped holes are fastened with shim bolts.

[0015] As a preferred technical solution of the present application, the upper part of the flange is connected to the six - axis robot joint head by means of pneumatic control of telescopic clamping.

[0016] For the telescopic adjustable end - effector device provided by the present utility model, in the width direction, it adopts the form of a motor driving a single - axis driver, a precision ball screw, and a linear guide rail. By controlling the rotation direction of the motor through a PLC, the increase or decrease in the width direction is realized; in the angle direction, it adopts the form of a cylinder driving a linear slide rail. By controlling the movement of the pneumatic reversing valve through a PLC, the elongation or shortening along the 45° angle direction on both sides is realized. By controlling the suction force generated by the vacuum generator through a PLC, the grasping and stacking of sheet materials are realized. In addition, the telescopic adjustable end - effector of the present utility model also has the following advantages:

[0017] 1. Improve efficiency: It is mainly manifested in two aspects. One is that the production beat of the robot cooperating with the end - effector for shearing the bevel angle is higher than that of manual scribing and shearing. The other is that the rest time and preparation time that workers must consume can be saved, and the single - shift working hours are increased.

[0018] 2. Improve quality: When cutting manually with a scribed line, the way of two or four people cooperating to drag is adopted, and it is inevitable to have scratches on the lower surface. When cutting, it mainly depends on human visual inspection and experience, and the finished products are prone to out-of-tolerance in size and angle. Moreover, when stacking manually, the stacks are often uneven. The end effector shears the bevel angle, drives the suction cup to adsorb the plate and rotates and translates it, effectively controlling the scratches. And the repeat positioning accuracy is high, and the cutting and stacking accuracy are better than that of manual work.

[0019] 3. Eliminate potential hazards: Workers perform the action of lifting the plate and shearing the bevel angle with high intensity and single action for a long time, which is extremely likely to cause personal injury incidents such as finger scratches and bruises. Moreover, restricted by factors such as high temperature in summer and personal mood fluctuations, there are many potential safety hazards. The robot cooperating with the end effector to shear the bevel angle can well avoid the above problems.

[0020] 4. Reduce costs: A telescopic adjustable end effector device has the characteristics of a large adjustable range and strong versatility. A single device can meet various bevel products currently involved in the enterprise, with low manufacturing and maintenance costs. Moreover, the number of operators can be reduced to one, reducing labor costs and improving economic benefits.

[0021] In addition to the purposes, features and advantages described above, the present application has other purposes, features and advantages. The following will refer to the drawings to further elaborate on the present application in detail. Description of the Drawings

[0022] The specification drawings forming a part of the present application are used to provide a further understanding of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0023] Figure 1 is a structural schematic diagram of the telescopic adjustable end effector device of the present utility model;

[0024] Figure 2 is a partial enlarged view of the telescopic adjustable end effector device of the present utility model;

[0025] Figure 3 is a schematic diagram of the adjustment of the gripping point in the telescopic adjustable end effector device of the present utility model;

[0026] Figure 4 is a structural diagram of the input sheet clamped by the telescopic adjustable end effector device of the present utility model;

[0027] Description of the Reference Numerals

[0028] 1. Flange; 2. Upper rod assembly; 3. Intermediate connecting plate; 4. Lower bracket assembly I; 5. Side bracket assembly; 6. Width adjustment lead screw mechanism; 7. Side angle adjustment cylinder assembly; 8. Reinforcing rod; 9. Suction cup assembly; 10. Lower bracket assembly II; 71. Guide rail slider assembly II; 72. Cylinder. Detailed implementation mode

[0029] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The following will refer to the drawings and combine with the embodiments to detail this application.

[0030] As Figures 1 to 2 shown, the telescopic and adjustable end effector device of the present utility model includes: flange 1, bracket, transmission assembly, suction cup assembly 9, etc.; and the bracket includes intermediate connecting plate 3, lower bracket assembly and side bracket assembly 5.

[0031] The upper part of flange 1 is connected to the six-axis robot joint head, and pneumatic control is used for telescopic clamping. The lower part of flange 1 is connected to upper rod assembly 2 and intermediate connecting plate 3 by means of bolts and positioning pins.

[0032] The lower bracket assembly is mainly composed of two longitudinal and four transverse aluminum alloy profiles, and is in the form of being narrow at the top and wide at the bottom. Half of it is the lower bracket assembly II 10 in a "U" shape, and half of it is the lower bracket assembly I 4 in a "π" shape. The two sides of the "π" - shaped lower bracket assembly I 4 are reinforced with reinforcing rods 8 to increase stability.

[0033] As Figure 1 shown, a guide rail slider assembly I and a width adjustment lead screw mechanism 6 are respectively provided between the lower bracket assembly I 4, the lower bracket assembly II 10 and the intermediate connecting plate 3; and the two width adjustment lead screw mechanisms 6 are symmetrically arranged in the reverse direction, that is, symmetrically distributed about a certain point.

[0034] Linear guides are respectively provided at the upper ends of the lower bracket assembly I 4 and the lower bracket assembly II 10. At the same time, sliders are installed on the bottom surface of the intermediate connecting plate 3. The width adjustment lead screw mechanism 6 has a motor and a precision ball screw; the motor of the width adjustment lead screw mechanism 6 is installed on the side of the lower bracket assembly II 10 through a fixing block; the motor drives the precision ball screw to rotate, and the slider moves linearly along the linear guide, so that the width of the end effector device increases or decreases to grasp workpieces with different widths.

[0035] The side bracket assembly 5 is in an overall "L" shape. A pair of side bracket assemblies 5 are fixedly installed on the left and right side walls of the lower bracket assembly II 10 and are bolt - connected through fixing angle parts.

[0036] The side angle adjustment cylinder assembly 7 includes a guide rail slider assembly II 71 and a cylinder 72. The guide rail slider assembly II 71 is fixedly installed on the side bracket assembly 5, and the included angle between the guide rail slider assembly II 71 and the outer end of the upper rod assembly 2 is 45°. And the two side angle adjustment cylinder assemblies 7 are symmetrically distributed. The cylinder 72 drives the slider to move linearly along the linear guide rail, extending or shortening in the oblique angle direction.

[0037] A suction cup assembly 9 is respectively installed at both ends of the upper rod assembly 2, at the left and right ends of the lower bracket assembly I 4, at the left and right ends of the front part of the lower bracket assembly II 10, and below the slider of the side angle adjustment cylinder assembly 7. Through the negative pressure generated by the vacuum generator, the grasping and stacking work is completed.

[0038] As Figure 3 shown, by rotating the precision ball screw driven by the motor in the width adjustment screw mechanism 6, the positions of the lower bracket assembly II 10 and the lower bracket assembly I 4 relative to the intermediate connecting plate 3 can be changed, and then the width between multiple suction cup assemblies 9 arranged on the two can be adjusted to achieve width direction adjustment; by changing the position of the suction cup assembly 9 installed on the side angle adjustment cylinder assembly 7 through the cylinder, the angle direction adjustment is achieved.

[0039] The height difference between the upper rod assembly 2 and the lower bracket assembly I 4 is leveled by the "Z" - shaped processed parts on both sides of the upper rod assembly 2 and fastened with shim bolts, so that the suction cup assemblies 9 installed on the upper rod assembly 2 and the lower bracket assembly I 4 are at the same height. In addition, multiple groups of adjustable U - shaped holes are provided at both ends of the upper rod assembly 2 to meet the fine adjustment in the length direction.

[0040] In an embodiment, the end - effector bracket is characterized in that: the end - effector bracket is connected to the six - axis robot joint head through a flange. The end - effector bracket is divided into upper and lower layers, and the height difference between the two layers is leveled in the form of adding pads to the "Z" - shaped processed parts, so that the installation of the suction cup rod is on the same horizontal plane. The bracket realizes the change in the width and angle directions respectively through two sets of transmission systems. The bracket body is made of aluminum alloy material, and the connection method of bolts is adopted. Local reinforcement and length fine adjustment are added to ensure its strength and light weight, and it is suitable for a variety of products with good effects.

[0041] The end - effector transmission assembly is characterized in that: the end - effector adopts two sets of transmission systems. One set mainly includes a motor, a single - axis driver, a precision ball screw, and a linear guide rail. According to the parameters of the input product, the rotation direction of the motor is controlled by the PLC to achieve a rapid increase or decrease in the width direction. One set adopts the form of a cylinder with a linear slide rail, and the movement of the pneumatic reversing valve is controlled by the PLC to achieve the extension or shortening along the 45° angle direction on both sides. The transmission has the characteristics of fast speed, high precision, stable operation, and low noise.

[0042] The characteristics of the end effector suction cup assembly are as follows: The end effector suction cup is installed on the bracket through a fixed block. The negative pressure generated by the vacuum generator is controlled by the PLC to realize the grasping and stacking of sheet materials. Cut-off valves are provided on the air pipes connected to the suction cups to facilitate maintenance and accommodate various specifications. The end effector suction cup can accurately pick up sheet materials of different specifications.

[0043] As Figure 3 , Figure 4 shown, the shearing process needs to include processes such as grasping, detecting, centering, shearing, re-grasping, and stacking. It is required that the end effector has the function of quickly and accurately switching the width and angle directions. Through the robot PLC program control, parameters such as the width of the input sheet material and shearing (A1, A2, B1, B2) are input. When grasping, detecting, and centering, the width direction and angle direction increase. When shearing, re-grasping, and stacking, the width direction decreases, and the technological process repeats. Accordingly, a telescopic adjustable end effector device can achieve high-precision, high-efficiency, and high-quality shearing of bevels.

[0044] The working principle and process of the telescopic adjustable end effector device of the present utility model are briefly described below.

[0045] A telescopic adjustable end effector of the present utility model is designed to meet the need of the robot shearing machine for shearing bevels of various specifications. By controlling the mechanical, electrical, and pneumatic components on the end effector through the PLC, high-precision and rapid adjustment of the width and angle can be achieved. According to the order specifications currently owned and the spatial position of the on-site robot shearing machine, a highly versatile end effector bracket is made. Starting from the perspectives of strength and light weight, the main body uses standard parts and processed parts made of aluminum alloy, mainly connected by bolts.

[0046] The telescopic adjustable end effector device of the present utility model replaces the original manual scribing and trimming and customizing the robotic arm according to the product size. The production efficiency is significantly improved. The average production cycle is less than 30 seconds per piece, and the daily output reaches 800 pieces. The shearing angle can meet all the products currently involved. The dimensional tolerance of the sheet material is ±1mm, the stacking tolerance is ±2mm, the scratch on the lower surface is effectively controlled, the rejection rate is greatly reduced, the operating efficiency is improved, and the customer satisfaction is enhanced. This device has the characteristics of being fast and telescopic adjustable, with a large adjustable range and strong versatility. During the shearing process, personnel do not need to directly contact the sheet material, and potential safety hazards are further controlled.

[0047] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A telescopic and adjustable end effector device, characterized in that, Comprising: A flange (1), an upper rod assembly (2) fixedly installed below the flange (1), an intermediate connecting plate (3), a lower support assembly one (4), and a lower support assembly two (10); suction cup assemblies (9) are respectively installed at the lower ends of the upper rod assembly (2), the lower support assembly one (4), and the lower support assembly two (10). Wherein, a guide rail slider assembly one and a width adjustment lead screw mechanism (6) are provided between the lower support assembly two (10) and the intermediate connecting plate (3) to increase or decrease the width direction of the end effector device. At the same time, a pair of side support assemblies (5) are fixedly installed on the left and right side walls of the lower support assembly two (10), an inclined side angle adjustment cylinder assembly (7) is installed on the side support assembly (5), and a suction cup assembly (9) is installed on the slider of the side angle adjustment cylinder assembly (7); to extend or shorten the diagonal direction of the end effector device for grasping plates of different sizes.

2. The telescopic and adjustable end effector device according to claim 1, wherein, A linear guide rail is provided at the upper end of the lower support assembly two (10), a slider is installed on the bottom surface of the intermediate connecting plate (3), and the width adjustment lead screw mechanism (6) has a motor and a precision ball screw.

3. The telescopic and adjustable end effector device according to claim 1, characterized in that, The side angle adjustment cylinder assembly (7) includes a guide rail slider assembly two (71) and a cylinder (72), the guide rail slider assembly two (71) forms a 45° angle with the outer end of the upper rod assembly (2), and the two side angle adjustment cylinder assemblies (7) are symmetrically distributed.

4. The telescopic and adjustable end effector device according to claim 1, characterized in that, A guide rail slider assembly one and a width adjustment lead screw mechanism (6) are also provided between the lower support assembly one (4) and the intermediate connecting plate (3); and the two width adjustment lead screw mechanisms (6) are symmetrically and reversely arranged.

5. The telescopic and adjustable end effector device according to claim 1, characterized in that, The lower support assembly two (10) is in a "U" shape, and the lower support assembly one (4) is in a "π" shape.

6. The telescopic and adjustable end effector device according to claim 5, characterized in that, Reinforcing rods (8) are respectively provided on both sides of the lower support assembly one (4).

7. The telescopic and adjustable end effector device according to claim 1, wherein, The side support assembly (5) is integrally in an "L" shape.

8. The telescopic and adjustable end effector device according to claim 1, characterized in that, "Z" - shaped processing parts are respectively provided at both ends of the upper rod assembly (2) to make the suction cup assemblies (9) installed on the upper rod assembly (2) and the lower support assembly one (4) at the same height.

9. The telescopic and adjustable end effector device according to claim 8, wherein Multiple groups of adjustable U - shaped holes are provided at both ends of the upper rod assembly (2), and the "Z" - shaped processing parts and the adjustable U - shaped holes are fastened with shim bolts.

10. The telescopic and adjustable end effector device according to claim 1, characterized in that, The upper part of the flange (1) is connected to the six - axis robot joint head by means of pneumatic control expansion and clamping.

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