Quick-change separation variable-pitch adsorption device for end effector of industrial robot

Abstract

The utility model provides a quick-change variable-pitch adsorption device for an end effector of an industrial robot, which can be applied to the tail end of the industrial robot. In automatic production, products are usually machined in groups, the distance needs to be adjusted, and a part of work stations need to be switched to be compatible with different products. In the prior art, the defects of complex structure, low precision, poor universality and inconvenience in switching exist in pitch changing, quick changing and adsorption functions. The device has the advantages that high-precision pitch changing can be achieved, products are made to be neat, the pitch is changed, universality is high, and the device can adapt to various products; the quick-change function is quick, convenient and high in stability, and time and labor are saved; the single up-and-down adsorption function is achieved, products of special shapes or uneven weights are firmly adsorbed, and the device is particularly suitable for carrying round bars of about 10 Kg; the whole structure is simple, the principle is clear, manufacturing cost and maintenance difficulty are reduced, operation and troubleshooting are facilitated, production efficiency and product quality are effectively improved, and diversified production requirements are met.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, and more specifically, to a quick-change variable-pitch adsorption device for an end effector of an industrial robot. Background Technology

[0002] In modern automated manufacturing, to significantly improve production efficiency, products are typically processed in groups of multiple products simultaneously during various processes. This group processing model requires flexible adjustment of the spacing between products within the same group according to different subsequent processing needs. Furthermore, some workstations need the ability to automatically switch between entire operating systems to accommodate a wider variety of products.

[0003] Currently, existing technologies have many shortcomings in addressing the needs for product spacing adjustment and rapid device switching. Regarding product spacing adjustment, existing pitch-changing devices suffer from complex structures. These complex mechanical structures not only increase manufacturing costs and maintenance difficulty but also significantly raise the probability of malfunctions during operation due to the large number of structural components. Furthermore, the complex structure makes it difficult to guarantee the device's operational accuracy. When adjusting product spacing, it is impossible to achieve high-precision spacing changes, easily leading to uneven product arrangement and affecting subsequent processing steps. Moreover, existing pitch-changing devices have poor versatility, often only able to adjust the spacing of products of specific sizes and types, making it difficult to adapt to diverse production needs.

[0004] Regarding rapid equipment changeover, existing quick-change devices suffer from inconvenient operation and low switching efficiency. When switching the entire equipment to adapt to different products, existing quick-change methods may require extensive manual operation and debugging, wasting time and increasing labor costs. Moreover, the stability and reliability of existing quick-change devices after switching are difficult to guarantee, and loosening or displacement problems may occur in subsequent production processes, affecting product processing quality and production efficiency.

[0005] Furthermore, existing adsorption devices also have certain limitations. Some adsorption devices cannot achieve independent vertical adsorption, and when handling products with special shapes or uneven weight distribution, the adsorption is prone to be weak and the products may fall. Moreover, existing adsorption devices have a narrow range of applications; their handling capacity for specific products such as round bars weighing around 10 kg is insufficient, making it difficult to meet the diverse handling needs in actual production. Therefore, we propose a quick-change variable-pitch adsorption device for industrial robot end effectors. Utility Model Content

[0006] The purpose of this utility model is to address the problems raised in the existing background technology. To achieve the above-mentioned utility model objective, this utility model provides the following technical solution: a quick-change variable-pitch adsorption device for an end effector of an industrial robot, comprising a mounting frame, a variable-pitch component, and separate upper and lower adsorption components, wherein the separate upper and lower adsorption components are fixed on the variable-pitch component, and the variable-pitch component is fixed on the mounting frame.

[0007] As a preferred technical solution of this utility model, the mounting frame includes a positioning bushing, a base plate, a vertical plate, a quick-change disc, an electrical quick-change module, a vision camera, a camera mounting plate, and a mounting plate. The vision camera is fixed on the camera mounting plate, the camera mounting plate is fixed on the mounting plate, the mounting plate and the electrical quick-change module are both fixed on the quick-change disc, the quick-change disc is fixed on the vertical plate, and the vertical plate and the positioning bushing are both fixed on the base plate.

[0008] As a preferred technical solution of this utility model, the variable pitch assembly includes a mounting base plate, an assembly upright plate, a guide rail mounting block, a linear guide rail, a bearing, an origin sensor, a cam variable pitch shaft, a protective cover, a servo motor mounting plate, a servo motor, a synchronous belt, a synchronous pulley, a belt tensioning sheet metal, a cam follower, and a tooling mounting plate. The protective cover is fixed to the servo motor mounting plate. The synchronous pulleys are respectively fixed to the cam variable pitch shaft and the end of the servo motor, and the two are connected by a synchronous belt. The belt tensioning sheet metal is located near the synchronous belt. The origin sensor, the servo motor mounting plate, and the bearing are all fixed to the assembly upright plate. The cam variable pitch shaft passes through the bearings on both sides. The cam follower is fixed to the tooling mounting plate and embedded in the slot opened in the cam variable pitch shaft. The tooling mounting plate is fixed to the linear guide rail. The linear guide rail is fixed to the guide rail mounting block. The guide rail mounting block and the assembly upright plate are both fixed to the mounting base plate.

[0009] As a preferred technical solution of this utility model, the separate upper and lower adsorption components include a suction cup, a suction cup mounting plate, and upper and lower cylinders. The suction cup is fixed on the suction cup mounting plate, and the suction cup mounting plate is fixed on the upper and lower cylinders.

[0010] As a preferred technical solution of this utility model, the cam follower is embedded in the slot opened in the cam pitch shaft and is fixedly connected to the tooling mounting plate.

[0011] As a preferred embodiment of this utility model, the linear guide rail is disposed on the guide rail mounting block, and the tooling mounting plate is slidably connected to the linear guide rail.

[0012] As a preferred technical solution of this utility model, the synchronous pulleys are respectively fixed to the output end of the servo motor and both ends of the cam pitch shaft, and are connected by synchronous belt transmission.

[0013] As a preferred technical solution of this utility model, the servo motor mounting plate is fixedly connected to the protective cover, and the servo motor mounting plate is fixed to the component upright plate.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows: The fast-change variable-gap adsorption device disclosed in this utility model has the following significant beneficial effects compared with the prior art:

[0015] This device enables high-precision adjustment of product spacing, ensuring that products are neatly and orderly arranged after the spacing is changed. Through a clear working principle and relatively simple structural design, it reduces the accumulation of errors caused by complex structures, ensuring the accuracy of the spacing adjustment operation. This provides a solid foundation for subsequent processing steps and improves the processing quality and consistency of the products.

[0016] This device can accommodate products of various sizes and types. Whether for small parts or larger products, the spacing can be adjusted using this device, greatly satisfying diverse production needs. This allows companies to produce products of different specifications without frequent equipment changes, reducing equipment investment costs and improving equipment utilization.

[0017] In terms of equipment switching, the system enables automatic and rapid switching of the entire set of equipment, greatly improving switching efficiency during the production process. When compatibility with different types of products is required, operators can quickly complete equipment switching without extensive manual operations and complex debugging, saving time and labor costs and improving production efficiency.

[0018] High stability: The quick-change structure is rationally designed, ensuring the device maintains good stability and reliability after switching. During subsequent production, there will be no loosening or displacement issues, ensuring production continuity and product quality stability, and reducing production failures and defect rates caused by device instability.

[0019] The device features independent top and bottom adsorption capabilities, a characteristic that gives it a significant advantage when handling products with unusual shapes or uneven weight distribution. Adsorption and release at each adsorption point can be flexibly controlled according to the actual condition of the product, ensuring a firm grip during handling, effectively preventing products from falling, and improving the safety and reliability of the handling process.

[0020] Wide range of applications: Particularly suitable for handling round bars weighing around 10 kg, expanding the application range of adsorption devices. Whether in machining, electronics manufacturing, or other industries, it can meet the handling needs of such round bar products, demonstrating strong practicality and adaptability. Simple overall structure reduces the number of parts, lowering manufacturing costs and maintenance difficulty. The simple structure also makes installation and commissioning easier and faster, shortening the time to commissioning and improving enterprise production efficiency. Attached Figure Description

[0021] Figure 1 This is a structural schematic diagram of the present invention;

[0022] Figure 2 This is a partial structural schematic diagram of the present invention;

[0023] Figure 3 This is a partial structural schematic diagram of the present invention;

[0024] Figure 4 This is a partial structural schematic diagram of the present invention;

[0025] Figure 5 This is a partial structural schematic diagram of the present invention;

[0026] Figure 6 This is a partial structural schematic diagram of the present invention.

[0027] The image shows:

[0028] 1. Mounting frame; 101. Positioning bushing; 102. Base plate; 103. Vertical plate; 104. Quick-change plate; 105. Electrical quick-change module; 106. Vision camera; 107. Camera mounting plate; 108. Mounting plate;

[0029] 2. Pitch Variable Assembly; 201. Mounting Base Plate; 202. Assembly Vertical Plate; 203. Guide Rail Mounting Block; 204. Linear Guide Rail; 205. Bearing; 206. Origin Sensor; 207. Cam Pitch Variable Shaft; 208. Protective Cover; 209. Servo Motor Mounting Plate; 210. Servo Motor; 211. Synchronous Belt; 212. Synchronous Pulley; 213. Belt Tensioner Sheet Metal; 214. Cam Follower; 215. Tooling Mounting Plate;

[0030] 3. Separate upper and lower suction components; 301. Suction cup; 302. Suction cup mounting plate; 303. Upper and lower cylinders. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model.

[0032] Therefore, the following detailed description of the embodiments of this utility model is not intended to limit the scope of the claimed utility model, but merely illustrates some embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model. It should be noted that, in the absence of conflict, the embodiments and features and technical solutions in the embodiments of this utility model can be combined with each other. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0033] Example 1: A quick-change variable-pitch adsorption device for an end effector of an industrial robot includes a mounting frame 1, a variable-pitch component 2, and separate upper and lower adsorption components 3. The separate upper and lower adsorption components 3 are fixed on the variable-pitch component 2, and the variable-pitch component 2 is fixed on the mounting frame 1.

[0034] The mounting frame 1 includes a positioning bushing 101, a base plate 102, a vertical plate 103, a quick-change plate 104, an electrical quick-change module 105, a vision camera 106, a camera mounting plate 107, and a mounting plate 108. The vision camera 106 is fixed to the camera mounting plate 107, the camera mounting plate 107 is fixed to the mounting plate 108, the mounting plate 108 and the electrical quick-change module 105 are both fixed to the quick-change plate 104, the quick-change plate 104 is fixed to the vertical plate 103, and the vertical plate 103 and the positioning bushing 101 are both fixed to the base plate 102.

[0035] The variable pitch assembly 2 includes a mounting base plate 201, an assembly upright plate 202, a guide rail mounting block 203, a linear guide rail 204, a bearing 205, a origin sensor 206, a cam variable pitch shaft 207, a protective cover 208, a servo motor mounting plate 209, a servo motor 210, a synchronous belt 211, a synchronous pulley 212, a belt tensioning sheet metal 213, a cam follower 214, and a tooling mounting plate 215. The protective cover 208 is fixed to the servo motor mounting plate 209, and the synchronous pulley 212 is fixed to the end of the cam variable pitch shaft 207 and the servo motor 210, respectively, and the two are connected by a synchronous belt. 211 connection, belt tensioning sheet metal 213 is set near synchronous belt 211, origin sensor 206, servo motor mounting plate 209, bearing 205 are all fixed on component upright plate 202, cam variable pitch shaft 207 passes through the bearings 205 on both sides, cam follower 214 is fixed on tooling mounting plate 215 and embedded in the slot opened in cam variable pitch shaft 207, tooling mounting plate 215 is fixed on linear guide rail 204, linear guide rail 204 is fixed on guide rail mounting block 203, guide rail mounting block 203 and component upright plate 202 are both fixed on mounting base plate 201.

[0036] The separate upper and lower adsorption assembly 3 includes a suction cup 301, a suction cup mounting plate 302, and upper and lower cylinders 303. The suction cup 301 is fixed to the suction cup mounting plate 302, and the suction cup mounting plate 302 is fixed to the upper and lower cylinders 303. The cam follower 214 is embedded in the slot opened in the cam pitch shaft 207 and is fixedly connected to the tooling mounting plate 215. The linear guide rail 204 is set on the guide rail mounting block 203, and the tooling mounting plate 215 is slidably connected to the linear guide rail 204. The synchronous pulleys 212 are respectively fixed to the output end of the servo motor 210 and both ends of the cam pitch shaft 207, and are connected by a synchronous belt 211. The servo motor mounting plate 209 is fixedly connected to the protective cover 208 and is fixed to the assembly upright plate 202.

[0037] Example 2: A quick-change variable-pitch adsorption device for an end effector of an industrial robot. The overall structure of this device is as follows: Figure 1 As shown, the device comprises: a mounting frame 1, a pitch-changing assembly 2, and a separate upper and lower adsorption assembly 3; the separate upper and lower adsorption assembly 3 is fixed on the pitch-changing assembly 2; the pitch-changing assembly 2 is fixed on the mounting frame 1.

[0038] like Figure 2As shown, the mounting frame consists of a positioning bushing 101, a base plate 102, a vertical plate 103, a quick-change disc 104, an electrical quick-change module 105, a vision camera 106, a camera mounting plate 107, and a mounting plate 108. The camera 106 is fixed to the camera mounting plate 107; the camera mounting plate 107 is fixed to the mounting plate 108; the mounting plate 108 and the electrical quick-change module 105 are fixed to the quick-change disc 104, which is fixed to the vertical plate 103; the vertical plate 103 and the positioning bushing 101 are fixed to the base plate 102.

[0039] like Figure 3 , Figure 4 , Figure 5 As shown, the variable pitch assembly consists of a mounting base plate 201, an assembly upright plate 202, a guide rail mounting block 203, a linear guide rail 204, a bearing 205, an origin sensor 206, a cam variable pitch shaft 207, a protective cover 208, a servo motor mounting plate 209, a servo motor 210, a synchronous belt 211, a synchronous pulley 212, a belt tensioning sheet metal 213, a cam follower 214, and a tooling mounting plate 215. The protective cover 208 is fixed to the servo motor mounting plate 209 to isolate the rotation area. The synchronous pulley 212 is fixed to the cam variable pitch shaft 207 and the end of the servo motor 210, and the two are connected and rotate through the synchronous belt 211. The belt tensioning sheet metal 213 is used to tension the synchronous belt 211 to ensure its proper function. Stable rotation operation; the origin sensor 206, servo motor mounting plate 209, and bearing 205 are respectively fixed on the component upright plate 202; the cam pitch shaft 207 passes through the bearings 205 on both sides and rotates in suspension supported by the component upright plate 202; the cam follower 214 is fixed on the tooling mounting plate 215 and embedded in the slot opened in the cam pitch shaft 207; the tooling mounting plate 215 is fixed on the linear guide rail 204; the linear guide rail 204 is fixed on the guide rail mounting block 203; the guide rail mounting block 203 and the component upright plate 202 are fixed on the mounting base plate 201.

[0040] like Figure 6 As shown, the individual upper and lower adsorption assembly 3 consists of a suction cup 301, a suction cup mounting plate 302, and upper and lower cylinders 303; the suction cup 301 is fixed on the suction cup mounting plate 302; the suction cup mounting plate 302 is fixed on the upper and lower cylinders 303.

[0041] As shown in the figure, in this example, the quick-change disc 104 is used to achieve quick fixture changes. The function of the origin sensor 206 is to locate the origin position when multiple fixtures share a servo motor driver, after power failure and power restoration, by sensing the sensor position and moving to the set position interval.

[0042] The positioning bushing 101 at the mounting frame 1 is used for positioning when the industrial robot changes grippers, so as to ensure the repeatability accuracy of the next time it can be successfully changed back to the original gripper.

[0043] The pitch-changing assembly 2 is engaged in the slot of the cam pitch-changing shaft 207 via a cam follower 214, and the connecting piece is connected to the linear guides 204 on both sides to limit oscillation. Whenever the servo motor 210 rotates, the cam follower 214 slides along the slot of the cam pitch-changing shaft 207, thereby enabling multiple stations to simultaneously increase or decrease the pitch. The assembly is also equipped with positive and negative limits to protect against over-limit pitch changes.

[0044] The individual upper and lower components 3 are driven by upper and lower cylinders 303 to lower the suction cup 301, creating a vacuum that allows for product adsorption. The vision camera 106 can accurately capture and locate the product position, enabling precise suction and handling even in disordered environments.

[0045] This utility model discloses a quick-change variable-distance adsorption device, which features independent upper and lower adsorption and is suitable for handling round bars weighing around 10 kg, with a wide range of applications. The overall structure is simple, the principle is clear, the precision is relatively high, and the versatility is strong, allowing for orderly and neat changes in distance for the entire product.

[0046] The above embodiments are only used to illustrate the present utility model and are not intended to limit the technical solutions described in the present utility model. Although the present utility model has been described in detail with reference to the above embodiments, the present utility model is not limited to the specific embodiments described above. Therefore, any modifications or substitutions to the present utility model, and all technical solutions and improvements that do not depart from the spirit and scope of the utility model, are covered within the scope of the claims of the present utility model.

Claims

1. A quick-change variable-pitch adsorption device for an end effector of an industrial robot, characterized in that, It includes an installation frame (1), a pitch component (2), and a separate upper and lower adsorption component (3), wherein the separate upper and lower adsorption component (3) is fixed on the pitch component (2), and the pitch component (2) is fixed on the installation frame (1).

2. The quick-change variable-pitch adsorption device for an industrial robot end effector according to claim 1, characterized in that, The mounting frame (1) includes a positioning bushing (101), a base plate (102), a vertical plate (103), a quick-change plate (104), an electrical quick-change module (105), a vision camera (106), a camera mounting plate (107), and a mounting plate (108). The vision camera (106) is fixed on the camera mounting plate (107), the camera mounting plate (107) is fixed on the mounting plate (108), the mounting plate (108) and the electrical quick-change module (105) are both fixed on the quick-change plate (104), the quick-change plate (104) is fixed on the vertical plate (103), and the vertical plate (103) and the positioning bushing (101) are both fixed on the base plate (102).

3. The quick-change variable-pitch adsorption device for an industrial robot end effector according to claim 1, characterized in that, The variable pitch assembly (2) includes a mounting base plate (201), an assembly upright plate (202), a guide rail mounting block (203), a linear guide rail (204), a bearing (205), an origin sensor (206), a cam variable pitch shaft (207), a protective cover (208), a servo motor mounting plate (209), a servo motor (210), a synchronous belt (211), a synchronous pulley (212), a belt tensioning sheet metal (213), a cam follower (214), and a tooling mounting plate (215). The protective cover (208) is fixed on the servo motor mounting plate (209), and the synchronous pulley (212) is fixed to the ends of the cam variable pitch shaft (207) and the servo motor (210), respectively. The two are connected by a synchronous belt (203). 11) Connection, the belt tensioning sheet metal (213) is set near the synchronous belt (211), the origin sensor (206), the servo motor mounting plate (209), and the bearing (205) are all fixed on the component upright plate (202), the cam pitch shaft (207) passes through the bearings (205) on both sides, the cam follower (214) is fixed on the tooling mounting plate (215) and embedded in the slot opened in the cam pitch shaft (207), the tooling mounting plate (215) is fixed on the linear guide (204), the linear guide (204) is fixed on the guide rail mounting block (203), and the guide rail mounting block (203) and the component upright plate (202) are both fixed on the mounting base plate (201).

4. The quick-change variable-pitch adsorption device for an industrial robot end effector according to claim 1, characterized in that, The separate upper and lower adsorption assembly (3) includes a suction cup (301), a suction cup mounting plate (302), and an upper and lower cylinder (303). The suction cup (301) is fixed on the suction cup mounting plate (302), and the suction cup mounting plate (302) is fixed on the upper and lower cylinder (303).

5. A quick-change variable-pitch adsorption device for an industrial robot end effector according to claim 3, characterized in that, The cam follower (214) is embedded in the slot opened in the cam pitch shaft (207) and is fixedly connected to the tooling mounting plate (215).

6. The quick-change variable-pitch adsorption device for an industrial robot end effector according to claim 3, characterized in that, The linear guide (204) is mounted on the guide rail mounting block (203), and the tooling mounting plate (215) is slidably connected to the linear guide (204).

7. A quick-change variable-pitch adsorption device for an industrial robot end effector according to claim 3, characterized in that, The synchronous pulley (212) is fixed to the output end of the servo motor (210) and both ends of the cam pitch shaft (207), and is connected by a synchronous belt (211).

8. A quick-change variable-pitch adsorption device for an industrial robot end effector according to claim 3, characterized in that, The servo motor mounting plate (209) is fixedly connected to the protective cover (208), and the servo motor mounting plate (209) is fixed on the component upright plate (202).

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