Tail end clamp for transfer robot

Abstract

The utility model relates to the technical field of transfer robots, in particular to a tail end clamp for a transfer robot. Comprising a supporting frame connected with a robot, a suction cup mechanism and a clamping jaw mechanism, the sucking disc mechanism comprises a pneumatic sucking disc mechanism and an unpowered sucking disc mechanism; the pneumatic suction cup mechanism and the clamping jaw mechanism are arranged on one side of the supporting frame in a spaced mode. The suction cup mechanism is used for horizontally sucking raw materials or foot pads from the upper side, when the raw materials are carried, the power suction cup mechanism and the unpowered suction cup mechanism jointly horizontally suck and lift the raw materials from the upper side, and when the foot pads need to be separated from a mold, the pneumatic suction cup mechanism sucks the side positions of one sides of the foot pads. The clamping jaw mechanism clamps one side of the foot pad and lifts the foot pad upwards, the foot pad is gradually separated from the mold from one side, the situation that the suction force between the foot pad and the mold is too large when the foot pad is flatly sucked is avoided, and the separation difficulty of the foot pad and the mold is reduced.

Description

Technical Field

[0001] This utility model relates to the field of handling robot technology, specifically to an end effector for handling robots. Background Technology

[0002] Currently, in the process of producing floor mats using vulcanizing machines, manual handling of raw materials and finished floor mats is required, which consumes a lot of manpower. This is because the raw materials and finished floor mats are relatively soft and thin, and the finished floor mats are tightly attached to the floor mat mold. Current automated robotic loading and unloading devices cannot separate the floor mats from the floor mat molds, and cannot handle the raw materials and finished floor mats. Therefore, there is an urgent need for a specialized robotic end-effector for handling raw materials and finished floor mats during the floor mat production process. Summary of the Invention

[0003] In view of the above situation and to overcome the defects of the prior art, this utility model provides an end effector for a handling robot to solve the problems involved in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: an end effector for a handling robot, comprising a support frame connected to the robot, a suction cup mechanism and a gripper mechanism disposed on the support frame; the suction cup mechanism includes a pneumatic suction cup mechanism and a non-powered suction cup mechanism;

[0005] The pneumatic suction cup mechanism and the gripper mechanism are spaced apart on one side of the support frame.

[0006] Furthermore, the gripper mechanism includes a gripper positioning seat on the support frame, a transverse cylinder fixed on the gripper positioning seat, a pneumatic finger cylinder connected to the output end of the transverse cylinder, an upper gripper and a lower gripper on the pneumatic finger cylinder, and clamping plates on the upper gripper and the lower gripper.

[0007] Furthermore, the gripper positioning seat is an L-shaped plate, with one side fixed to the support frame and the other side fixedly connected to one side of the transverse cylinder;

[0008] A pneumatic finger cylinder seat is fixed to the end of the cylinder shaft of the transverse cylinder. The pneumatic finger cylinder seat is an L-shaped plate, with one side fixed to the end of the cylinder shaft of the transverse cylinder and the other side fixed to the side of the pneumatic finger cylinder.

[0009] Furthermore, the transverse cylinder is a dual-axis cylinder, the upper and lower grippers are connected to the output shaft of the pneumatic finger cylinder, and the clamping plates on the upper and lower grippers are non-stick plates.

[0010] Furthermore, the pneumatic suction cup mechanism includes a Z-shaped bracket, one end of which is fixedly connected to a support frame, and the other end is fixed with a telescopic cylinder, the end of which is provided with a suction cup.

[0011] The output end of the telescopic cylinder is provided with a suction cup seat, and the suction cup is fixed on the suction cup seat.

[0012] Furthermore, the non-powered suction cup mechanism includes a non-powered suction cup bracket, with a suction cup fixed to the end of the non-powered suction cup bracket, and the non-powered suction cup bracket is fixedly connected to the support frame.

[0013] Furthermore, the Z-shaped bracket includes a first support fixed to the support frame, a second support fixed to the telescopic cylinder, and a support plate disposed between the first support and the second support.

[0014] Furthermore, the suction cup is a double-layer silicone suction cup; the end of the suction cup is provided with an air inlet, which is connected to an external air source.

[0015] Furthermore, the support frame includes two transverse frames and a longitudinal frame located between the two transverse frames. The pneumatic suction cup mechanism and the gripper mechanism are located on any one of the transverse frames. The non-powered suction cup mechanism is located on the other transverse frame and the two longitudinal frames. A top plate is also provided between the two transverse frames, and the robot is fixedly connected to the top plate.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] The suction cup mechanism of this utility model is used to suction raw materials or foot pads from the top. When transporting raw materials, the powered suction cup mechanism and the unpowered suction cup mechanism work together to lift the raw materials from the top. When it is necessary to separate the foot pad from the mold, the pneumatic suction cup mechanism sucks on one side of the foot pad near the edge, and the gripper mechanism clamps one side of the foot pad and lifts it upward, gradually separating the foot pad from the mold from one side. This avoids the suction force between the foot pad and the mold being too large when the foot pad is suctioned flat, and reduces the difficulty of separating the foot pad from the mold. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of Embodiment 1 of the present utility model;

[0019] Figure 2 This is a schematic diagram of the gripper mechanism structure of Embodiment 1 of this utility model;

[0020] Figure 3 This is a schematic diagram of the pneumatic suction cup mechanism of Embodiment 1 of this utility model;

[0021] Figure 4 This is a schematic diagram of the non-powered suction cup mechanism of Embodiment 1 of this utility model;

[0022] In the picture:

[0023] Support frame 1, horizontal frame 11, vertical frame 12, top plate 13.

[0024] Gripper mechanism 2, gripper positioning seat 21, transverse cylinder 22, pneumatic finger cylinder 23, upper gripper 24, lower gripper 25, clamping plate 26, pneumatic finger cylinder seat 27.

[0025] Pneumatic suction cup mechanism 3, Z-shaped bracket 31, first support 311, second support 312, support plate 313, telescopic cylinder 32, suction cup 33, air inlet 331, suction cup base 34.

[0026] Non-powered suction cup mechanism 4, suction cup bracket 41. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0028] Example 1:

[0029] Depend on Figure 1-4 As shown, an end effector for a handling robot includes a support frame 1 connected to the robot, a suction cup mechanism and a gripper mechanism 2 disposed on the support frame 1; the suction cup mechanism includes a pneumatic suction cup mechanism 3 and a non-powered suction cup mechanism 4; the pneumatic suction cup mechanism 3 and the gripper mechanism 2 are spaced apart on one side of the support frame 1.

[0030] The support frame 1 includes two transverse frames 11 and a longitudinal frame 12 located between the two transverse frames 11. The pneumatic suction cup mechanism 3 and the gripper mechanism 2 are located on any one of the transverse frames 11. The non-powered suction cup mechanism 5 is located on the other transverse frame 11 and the two longitudinal frames 12. A top plate 13 is also provided between the two transverse frames 11, and the robot is fixedly connected to the top plate 13.

[0031] The gripper mechanism 2 includes a gripper positioning seat 21 mounted on a support frame 1, a transverse cylinder 22 fixed on the gripper positioning seat 21, a pneumatic finger cylinder 23 connected to the output end of the transverse cylinder 22, and an upper gripper 24 and a lower gripper 25 mounted on the pneumatic finger cylinder 23. The upper gripper 24 and the lower gripper 25 are provided with clamping plates 26. The gripper positioning seat 21 is an L-shaped plate, fixed to the support frame 1 on one side and fixedly connected to one side of the transverse cylinder 22 on the other side. A pneumatic finger cylinder seat 27 is fixed to the end of the cylinder shaft of the transverse cylinder 22. The pneumatic finger cylinder seat 27 is an L-shaped plate, fixed to the end of the cylinder shaft of the transverse cylinder 22 on one side and fixed to the side of the pneumatic finger cylinder 23 on the other side. The lateral cylinder 22 is a dual-axis cylinder. The upper gripper 24 and lower gripper 25 are connected to the output shaft of the pneumatic finger cylinder 23. The clamping plates 26 on the upper gripper 24 and lower gripper 25 are non-stick plates. The lateral cylinder 22 is used to control the lateral position of the gripper, and the pneumatic finger cylinder 23 is used to control the opening and closing of the upper gripper 24 and lower gripper 25.

[0032] The pneumatic suction cup mechanism 3 includes a Z-shaped bracket 31, one end of which is fixedly connected to the support frame 1, and the other end is fixed with a telescopic cylinder 32. A suction cup 33 is provided at the end of the telescopic cylinder 32; a suction cup seat 34 is provided at the output end of the telescopic cylinder 32, and the suction cup 33 is fixed to the suction cup seat 34. The Z-shaped bracket 31 includes a first support 311 fixed to the support frame 1, a second support 312 fixed to the telescopic cylinder 32, and a support plate 313 disposed between the first support 311 and the second support 312. The telescopic cylinder 32 is used to control the vertical position of the suction cup.

[0033] The non-powered suction cup mechanism 4 includes a non-powered suction cup bracket 41, with a suction cup 33 fixed at the end of the non-powered suction cup bracket 41, and the non-powered suction cup bracket 41 is fixedly connected to the support frame 1.

[0034] The suction cup 33 is a double-layer silicone suction cup; the end of the suction cup 33 is provided with an air inlet 331, which is connected to an external air source.

[0035] When handling the raw materials for the foot pads, since the raw materials are lightweight and thin flat materials, they can be lifted from the top by the suction of the pneumatic suction cup mechanism 3 and the non-powered suction cup mechanism 4 and placed into the mold. After the foot pads are formed in the mold, it is necessary to separate the foot pad products from the mold. At this time, the suction between the foot pads and the mold is relatively strong, and the suction cup alone cannot separate them. The pneumatic suction cup mechanism 3 is used to lift the foot pads from one side near the edge, so that one side of the foot pad is separated from the mold. Then, the gripper mechanism 2 is used to grasp the side of the foot pad, so that the foot pad is gradually peeled off from the mold from one side to the other, reducing the difficulty of separating the foot pads from the mold and improving work efficiency.

[0036] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An end effector for a handling robot, characterized in that: It includes a support frame connected to the robot, a suction cup mechanism and a gripper mechanism mounted on the support frame; the suction cup mechanism includes a pneumatic suction cup mechanism and a non-powered suction cup mechanism; The pneumatic suction cup mechanism and the gripper mechanism are spaced apart on one side of the support frame.

2. The end effector for a handling robot according to claim 1, characterized in that: The gripper mechanism includes a gripper positioning seat on a support frame, a transverse cylinder fixed on the gripper positioning seat, a pneumatic finger cylinder connected to the output end of the transverse cylinder, an upper gripper and a lower gripper on the pneumatic finger cylinder, and clamping plates on the upper gripper and the lower gripper.

3. The end effector for a handling robot according to claim 2, characterized in that: The gripper positioning seat is an L-shaped plate, with one side fixed to the support frame and the other side fixedly connected to one side of the transverse cylinder. A pneumatic finger cylinder seat is fixed to the end of the cylinder shaft of the transverse cylinder. The pneumatic finger cylinder seat is an L-shaped plate, with one side fixed to the end of the cylinder shaft of the transverse cylinder and the other side fixed to the side of the pneumatic finger cylinder.

4. An end effector for a handling robot according to claim 2, characterized in that: The transverse cylinder is a dual-axis cylinder, and the upper and lower grippers are connected to the output shaft of the pneumatic finger cylinder. The clamping plates on the upper and lower grippers are non-stick plates.

5. An end effector for a handling robot according to claim 1, characterized in that: The pneumatic suction cup mechanism includes a Z-shaped bracket, one end of which is fixedly connected to a support frame, and the other end is fixed with a telescopic cylinder, the end of which is provided with a suction cup. The output end of the telescopic cylinder is provided with a suction cup seat, and the suction cup is fixed on the suction cup seat.

6. An end effector for a handling robot according to claim 1, characterized in that: The non-powered suction cup mechanism includes a non-powered suction cup bracket, with a suction cup fixed to the end of the non-powered suction cup bracket, and the non-powered suction cup bracket is fixedly connected to the support frame.

7. An end effector for a handling robot according to claim 5, characterized in that: The Z-shaped bracket includes a first support fixed to the support frame, a second support fixed to the telescopic cylinder, and a support plate disposed between the first support and the second support.

8. An end effector for a handling robot according to any one of claims 5 or 6, characterized in that: The suction cup is a double-layer silicone suction cup; the end of the suction cup is provided with an air inlet, which is connected to an external air source.

9. An end effector for a handling robot according to claim 1, characterized in that: The support frame includes two transverse frames and a longitudinal frame located between the two transverse frames. The pneumatic suction cup mechanism and the gripper mechanism are located on any one of the transverse frames. The non-powered suction cup mechanism is located on the other transverse frame and the two longitudinal frames. A top plate is also provided between the two transverse frames, and the robot is fixedly connected to the top plate.

Images