High-precision feeding tooling

Abstract

The utility model relates to the technical field of production line feeding, in particular to a high-precision feeding tooling which comprises a stabilizing frame, a first adjusting mechanism, a second adjusting mechanism and a suction cup. The first adjusting mechanism is composed of a sliding piece connected with the sliding cavity in a sliding mode and a first limiting assembly arranged on the sliding piece. The second adjusting mechanism is composed of a connecting base installed on the first adjusting mechanism and a clamping assembly movably connected with the connecting base. The suction cup is detachably installed at the end, away from the connecting base, of the clamping assembly. The second adjusting mechanism can drive the suction cup to be adjusted at any suitable angle so as to adapt to adsorption of to-be-fed parts in different shapes; the first adjusting mechanism can drive the suction cup to be adjusted at any suitable position in the horizontal direction of the stabilizing frame, the suction cup can be driven to be adjusted in height so as to adapt to adsorption of to-be-fed parts of different shapes and sizes, disassembly and assembly are convenient and rapid, refined adjustment is facilitated, adsorption of the to-be-fed parts is more stable, and the feeding efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of production line feeding technology, specifically a high-precision feeding end effector. Background Technology

[0002] End effectors are commonly used devices installed on robots to assist them in moving workpieces. They come in various structural forms, such as clamping and adsorption types, depending on the shape, size, weight, material, and operational requirements of the workpiece being gripped. They utilize vacuum suction cups or clamps to contact the workpiece and move it from one position to a designated position.

[0003] Chinese patent CN222587925U discloses an end effector for a stamping production line, including a robotic arm. An adjustment component is fixedly connected to the end of the connecting arm, and a stabilizing component is fixedly connected to the lower part of the slider. Multiple support rods are slidably connected to the stabilizing component, and several adsorption units are fixedly connected to the corresponding support rods. This invention, by setting up the adjustment component, fundamentally solves a series of problems caused by adsorbing metal workpieces with different shapes and contours. It can better adsorb metal workpieces with different shapes and contours, greatly improving work efficiency and economic benefits. At the same time, it can reduce the labor intensity of operators and avoid injuries during workpiece adjustment.

[0004] However, the above-mentioned disclosed solutions have the following shortcomings: when the shape of the workpiece being gripped is irregular, the above-mentioned end effector cannot make adaptive adjustments according to the shape of the workpiece, resulting in low gripping accuracy and reduced feeding efficiency. Utility Model Content

[0005] The purpose of this invention is to address the problems existing in the background technology by proposing a high-precision feeding end effector.

[0006] The technical solution of this utility model is as follows: A high-precision feeding end-feeder includes a stabilizer frame with two sets of symmetrically arranged sliding cavities, and multiple sets of insertion holes evenly arranged above the sliding cavities and on the stabilizer frame; a first adjustment mechanism, which is provided with multiple sets, the first adjustment mechanism is composed of a sliding member slidably connected to the sliding cavity and a first limiting component provided on the sliding member, the sliding member is adjustablely connected to the sliding cavity through the first limiting component, and the first limiting component is inserted into the insertion hole; a second adjustment mechanism, which is composed of a connecting seat installed on the first adjustment mechanism and a clamping component movably connected to the connecting seat, the connecting seat is provided with a second limiting component, and the clamping component is adjustablely connected to the connecting seat through the second limiting component; and a suction cup, which is detachably installed on the clamping component and at one end away from the connecting seat.

[0007] Preferably, the first limiting component consists of a vertical rod mounted on a sliding member, a plug rod slidably sleeved outside the vertical rod, and a spring sleeved outside the vertical rod. The spring is installed between the top of the plug rod and the top of the vertical rod. The vertical rod is slidably connected to the stabilizer, and the plug end of the plug rod is plugged into the corresponding plug hole.

[0008] Preferably, the sliding member is composed of an L-shaped plate and a T-shaped seat, with the T-shaped seat slidably connected to the sliding cavity. The first adjustment mechanism also includes a lifting member, which is composed of a first threaded rod rotatably connected to the L-shaped plate and a lifting rod slidably connected to the T-shaped seat in the height direction. The first threaded rod is threadedly connected to the inner wall of the lifting rod, and the bottom end of the lifting rod is connected to the connecting seat.

[0009] Preferably, the clamping assembly consists of a clamping assembly and a crossbar mounted on the clamping assembly. A ball is mounted on the crossbar at the end away from the clamping assembly, and the ball is movably connected to a ball groove inside the connecting seat.

[0010] Preferably, the second limiting component includes a fixed seat mounted on the top of the connecting seat, with a second threaded rod rotatably connected to the fixed seat; an adjusting seat threaded onto the outside of the second threaded rod, with two sets of transmission rods symmetrically hinged to the adjusting seat; and two limiting rods, which are provided in two sets, with the limiting rods slidably connected to the fixed seat, and the two sets of limiting rods respectively hinged to the corresponding transmission rods, the bottom end of the limiting rod extending into the inner cavity of the connecting seat and abutting against the ball, and the limiting rod slidingly connected to the connecting seat.

[0011] Preferably, the inner wall of the fixed base is provided with a guide groove, and a sliding rod is installed on the limiting rod, with the sliding rod slidably connected to the guide groove.

[0012] Compared with the prior art, the above-mentioned technical solution of this utility model has the following beneficial technical effects: The second adjustment mechanism facilitates the quick assembly and disassembly of the suction cup, and can drive the suction cup to be adjusted at any suitable angle to adapt to the adsorption of different shaped parts; the first adjustment mechanism can drive the suction cup on the second adjustment mechanism to be adjusted at any suitable position along the horizontal direction of the stabilizer, and can also drive the suction cup to be adjusted in height to adapt to the adsorption of different shapes and sizes of parts. Assembly and disassembly are convenient and quick, and fine adjustment is easy, making the adsorption of the parts more stable and improving the loading efficiency. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0014] Figure 2 This is a schematic diagram of the first adjustment mechanism of this utility model;

[0015] Figure 3 This is a schematic diagram showing the connection between the suction cup and the second adjustment mechanism of this utility model;

[0016] Figure 4 This is a schematic diagram of the installation method of the second limiting component and the connecting seat of this utility model.

[0017] Reference numerals: 1. Stabilizer; 101. Slide cavity; 102. Insertion hole; 2. Sliding component; 3. Upright rod; 301. Insertion rod; 302. Spring; 4. Lifting rod; 401. First threaded rod; 5. Connecting seat; 501. Ball; 502. Clamping assembly; 6. Suction cup; 7. Fixed seat; 701. Second threaded rod; 702. Adjusting seat; 703. Transmission rod; 704. Limiting rod; 705. Slide rod. Detailed Implementation

[0018] Example 1

[0019] like Figures 1 to 4 As shown, this utility model proposes a high-precision feeding end effector, including a stabilizing frame 1, a first adjusting mechanism, a second adjusting mechanism, and a suction cup 6. Two sets of sliding cavities 101 are symmetrically arranged on the stabilizing frame 1. Multiple sets of insertion holes 102 are evenly arranged above the sliding cavities 101 and on the stabilizing frame 1. The stabilizing frame 1 is an I-shaped frame, with the two sets of sliding cavities 101 symmetrically arranged on it. A mounting hole for connecting to a robotic arm is provided in the middle of the stabilizing frame 1. The first adjusting mechanism has multiple sets, and the first adjusting mechanism is formed by sliding connections to the sliding cavities 101. The moving part 2 and the first limiting component disposed on the sliding part 2 are constituted. The sliding part 2 is adjustablely connected to the sliding cavity 101 through the first limiting component, and the first limiting component is inserted into the insertion hole 102. The second adjustment mechanism is composed of the connecting seat 5 installed on the first adjustment mechanism and the clamping component 502 that is movably connected to the connecting seat 5. The connecting seat 5 is provided with the second limiting component, and the clamping component 502 is adjustablely connected to the connecting seat 5 through the second limiting component. The suction cup 6 is detachably installed on the clamping component 502 and at one end away from the connecting seat 5.

[0020] Furthermore, the first limiting component consists of a vertical rod 3 mounted on the sliding member 2, an insert rod 301 slidably sleeved outside the vertical rod 3, and a spring 302 sleeved outside the vertical rod 3. The vertical rod 3 is a square rod, and the spring 302 is installed between the top of the insert rod 301 and the top of the vertical rod 3. The vertical rod 3 is slidably connected to the stabilizer 1. The stabilizer 1 has a first slide rail corresponding to the vertical rod 3. The first slide rail is connected to the slide cavity 101, and the insertion end of the insert rod 301 is inserted into the corresponding insertion hole 102.

[0021] Furthermore, the clamping assembly 502 consists of a clamping assembly and a crossbar mounted on the clamping assembly. The suction cup 6 is detachably mounted on the clamping assembly. A ball 501 is mounted on the crossbar at the end away from the clamping assembly. The ball 501 is movably connected to the ball groove inside the connecting seat 5.

[0022] Furthermore, the second limiting component includes a fixed seat 7, an adjusting seat 702, and a limiting rod 704. The fixed seat 7 is installed on the top of the connecting seat 5, and a second threaded rod 701 is rotatably connected to the fixed seat 7. Rubber seats are engaged on the outer circumferential surfaces of both the second threaded rod 701 and the first threaded rod 401. The rubber seats abut against the top of the fixed seat 7 or the top of the sliding member 2 to prevent the second threaded rod 701 and the first threaded rod 401 from easily rotating under non-external force adjustment, thereby improving stability. The adjusting seat 702 is threaded onto the second threaded rod 704. Externally, two sets of transmission rods 703 are symmetrically hinged to the adjusting seat 702; two sets of limiting rods 704 are provided, and the limiting rods 704 are L-shaped. The limiting rods 704 are slidably connected to the fixed seat 7. The two sets of limiting rods 704 are respectively hinged to the corresponding transmission rods 703. The bottom end of the limiting rod 704 extends into the inner cavity of the connecting seat 5 and abuts against the ball 501. The limiting rod 704 is slidably connected to the connecting seat 5. The abutting end of the limiting rod 704 is provided with a rubber pad to increase the friction at the abutting point with the ball 501 and improve stability.

[0023] Furthermore, the inner wall of the fixed base 7 is provided with a guide groove, and a slide rod 705 is installed on the limiting rod 704. The slide rod 705 is slidably connected to the guide groove, and the slide rod 705 is T-shaped.

[0024] In this embodiment, the stabilizer 1 is connected to the robotic arm, and the insertion rod 301 is slid upward along the upright rod 3, causing the spring 302 to be compressed. Then, the T-shaped seat on the sliding member 2 is aligned with the sliding cavity 101 and slid in. After the first adjustment mechanism slides along the stabilizer 1 to a suitable position, the insertion rod 301 is released. Under the restoring force of the spring 302, the insertion end of the insertion rod 301 is driven to insert into the corresponding insertion hole 102, thereby limiting the first adjustment mechanism on the stabilizer 1. According to the above method, an appropriate number of first adjustment mechanisms are installed on the two sets of sliding cavities 101 according to the shape and size of the workpiece to be loaded. Then, each set of suction cups 6 is installed on the corresponding clamping assembly 502, and the second threaded rod 701 is rotated so that the adjustment seat 702 moves along the second threaded rod. 701 moves upward, and then drives two sets of limiting rods 704 to move away from each other along the guide groove through two sets of transmission rods 703. At this time, the ball 501 is no longer restricted relative to the connecting seat 5. The clamping assembly 502 drives the ball 501 to rotate at a suitable angle in the inner wall of the connecting seat 5, thereby driving the suction cup 6 on the clamping assembly 502 to match the different shapes of the parts to be loaded. The second threaded rod 701 is rotated in the opposite direction so that the two sets of limiting rods 704 move closer to each other along the guide groove until the abutting ends of the two sets of limiting rods 704 slide into the interior of the connecting seat 5 and clamp the clamping assembly 502, thus completing the limiting of the suction cup 6. Finally, the external vacuum pump mechanism is connected to each set of suction cups 6 through the air guide pipe, and the loading can be completed by the cooperation of the robotic arm and this end effector.

[0025] Example 2

[0026] like Figure 1 and Figure 2 As shown, the high-precision feeding end-feeder proposed in this utility model, compared with the first embodiment, has a sliding member 2 composed of an L-shaped plate and a T-shaped seat. The T-shaped seat is slidably connected to the sliding cavity 101. A second slide rail is provided on the stabilizer 1, which is connected to the sliding cavity 101. The T-shaped seat is slidably connected to the second slide rail. The first adjustment mechanism also includes a lifting member. The lifting member is composed of a first threaded rod 401 rotatably connected to the L-shaped plate and a lifting rod 4 slidably connected to the T-shaped seat in the height direction. The first threaded rod 401 is threadedly connected to the inner wall of the lifting rod 4. The lifting rod 4 is L-shaped, and the bottom end of the lifting rod 4 is connected to the connecting seat 5.

[0027] In this embodiment, since a guide bar is provided on the outer wall of the lifting rod 4, rotating the first threaded rod 401 causes the lifting rod 4 to slide up or down along the T-shaped seat under the action of the guide bar, thereby driving the second adjustment mechanism at the bottom of the lifting rod 4 to adjust the height to adapt to the material to be loaded, making the adjustment more precise and improving the loading efficiency.

[0028] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A high-precision pick-up device for feeding, characterized in that, include The stabilizer (1) has two sets of sliding cavities (101) symmetrically opened on it, and multiple sets of insertion holes (102) are evenly opened above the sliding cavities (101) and on the stabilizer (1). The first adjustment mechanism is provided in multiple sets. The first adjustment mechanism consists of a sliding member (2) that is slidably connected to the sliding cavity (101) and a first limiting component provided on the sliding member (2). The sliding member (2) is tunably connected to the sliding cavity (101) through the first limiting component, and the first limiting component is inserted into the socket (102). The second adjustment mechanism consists of a connecting seat (5) installed on the first adjustment mechanism and a clamping assembly (502) that movably connects to the connecting seat (5). A second limiting assembly is provided on the connecting seat (5), and the clamping assembly (502) is tunably connected to the connecting seat (5) through the second limiting assembly. And a suction cup (6), which is detachably mounted on the clamping assembly (502) and at one end away from the connector (5).

2. The high-precision end feeder according to claim 1, wherein The first limiting component consists of a vertical rod (3) mounted on a sliding member (2), a plug rod (301) slidably sleeved outside the vertical rod (3), and a spring (302) sleeved outside the vertical rod (3). The spring (302) is installed between the top of the plug rod (301) and the top of the vertical rod (3). The vertical rod (3) is slidably connected to the stabilizer (1). The plug end of the plug rod (301) is plugged into the corresponding plug hole (102).

3. The high-precision end-of-feed pick-up according to claim 2, characterized in that The sliding member (2) is composed of an L-shaped plate and a T-shaped seat. The T-shaped seat is slidably connected to the sliding cavity (101). The first adjustment mechanism also includes The lifting component consists of a first threaded rod (401) that is rotatably connected to the L-shaped plate and a lifting rod (4) that is slidably connected to the T-shaped seat in the height direction. The first threaded rod (401) is threadedly connected to the inner wall of the lifting rod (4), and the bottom end of the lifting rod (4) is connected to the connecting seat (5).

4. The high-precision end-of-feed pick-up according to claim 1, characterized in that The clamping assembly (502) consists of a clamping assembly and a crossbar mounted on the clamping assembly. A ball (501) is mounted on the crossbar at the end away from the clamping assembly. The ball (501) is movably connected to the ball groove inside the connecting seat (5).

5. The high-precision end-of-feed pick-up according to claim 4, characterized in that The second limiting component includes A fixed seat (7) is installed on the top of the connecting seat (5), and a second threaded rod (701) is rotatably connected to the fixed seat (7); The adjusting seat (702) is threaded outside the second threaded rod (701), and two sets of transmission rods (703) are symmetrically hinged on the adjusting seat (702); And a limiting rod (704), which is provided in two sets. The limiting rod (704) is slidably connected to the fixed seat (7). The two sets of limiting rods (704) are respectively hinged to the corresponding transmission rods (703). The bottom end of the limiting rod (704) extends into the inner cavity of the connecting seat (5) and abuts against the ball (501). The limiting rod (704) is slidably connected to the connecting seat (5).

6. The high-precision end-of-feed pick-up according to claim 5, characterized in that The inner wall of the fixed base (7) is provided with a guide groove, and a slide rod (705) is installed on the limiting rod (704). The slide rod (705) is slidably connected to the guide groove.

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