Lifting tooling device

Abstract

The utility model provides a lifting tooling device and relates to the technical field of automatic production lines. The lifting tooling device comprises a supporting rod support, the supporting rod support is connected with the working end of the robot through a main rod, and tooling moving subassemblies are arranged on the two sides of the supporting rod support respectively. The tooling moving subassembly is connected with the supporting rod bracket in a sliding manner, and a driving piece for driving the tooling moving subassembly to slide up and down relative to the supporting rod bracket is arranged between the tooling moving subassembly and the supporting rod bracket. The tooling moving subassembly comprises a mounting plate and a mounting rod arranged on the mounting plate, and a plurality of picking components are arranged on the mounting rod in the axial direction. According to the lifting tooling device, two workpieces of different sizes can be picked up at the same time, the production efficiency is improved, and the cost input is not increased.

Description

Technical Field

[0001] This utility model relates to the field of automated production line technology, specifically to a liftable end-feeder device. Background Technology

[0002] In automated production lines, robots are often used for material handling, but currently, the end effectors on these robots can only pick up a single workpiece at a time. When used with equipment that can form multiple workpieces at once (such as a press), using only one robot will slow down the production cycle and reduce efficiency; while using multiple robots can speed up the production cycle, it will increase costs. Utility Model Content

[0003] To address the aforementioned issues, this application provides a liftable end-feeder device that can simultaneously pick up two workpieces of different sizes, thereby improving production efficiency without increasing costs.

[0004] The technical solution adopted by this utility model to solve its technical problem is:

[0005] A liftable end effector device includes a support rod bracket, which is connected to the working end of a robot via a main rod, and end effector moving parts are respectively provided on both sides of the support rod bracket.

[0006] The end effector moving part is slidably connected to the support rod bracket, and a driving member for driving the end effector moving part to slide up and down relative to the support rod bracket is provided between the end effector moving part and the support rod bracket.

[0007] The end effector moving assembly includes a mounting plate and a mounting rod disposed on the mounting plate, wherein a plurality of pickup components are disposed on the mounting rod along the axial direction.

[0008] Furthermore, guide posts are respectively provided on both sides of the driving component on the mounting plate, and guide sleeves that cooperate with the guide posts are provided on the support rod bracket.

[0009] Furthermore, the mounting rod is fixedly connected to the mounting plate in a detachable manner.

[0010] Furthermore, the mounting rod is connected to the mounting plate via a manual quick-release mechanism.

[0011] Furthermore, the mounting plate is provided with two mounting rods, and the two mounting rods are arranged symmetrically about the driving component.

[0012] Furthermore, the manual quick-change socket is detachably fixed to the lower side of the mounting plate.

[0013] Furthermore, the mounting rod is provided with a first connecting component corresponding to each of the pickup components. Each of the first connecting components is provided with a connecting rod perpendicular to the mounting rod. The pickup component is ball-jointed with the corresponding connecting rod through a second connecting component, and the ball-joint axis is perpendicular to the connecting rod.

[0014] The first connecting component includes a first locking mechanism and a second locking mechanism;

[0015] When the first locking mechanism is in the locked state, the first connecting component is fixedly connected to the mounting rod. When the first locking mechanism is in the open state, the first connecting component can rotate and move axially relative to the mounting rod.

[0016] When the second locking mechanism is in the locked state, the connecting rod is fixedly connected to the first connecting component. When the second locking mechanism is in the open state, the connecting rod can slide and rotate relative to the first connecting component.

[0017] The second connecting component includes a third locking mechanism. When the third locking mechanism is in the locked state, the magnetic chuck is fixedly connected to the connecting rod. When the third locking mechanism is in the open state, the picking component can rotate around the ball joint axis.

[0018] Furthermore, the first connecting component includes a first clamping block and a second clamping block. First screws are respectively provided on both sides of the mounting rod between the second clamping block and the first clamping block. The first clamping block is provided with a first arc-shaped groove that mates with the mounting rod, and the second clamping block is provided with a second arc-shaped groove that mates with the mounting rod.

[0019] Furthermore, one end of the first clamping block facing away from the mounting rod is provided with a first mounting hole for accommodating the connecting rod, the first clamping block is provided with a first elastic clamping notch communicating with the first mounting hole, and a second screw is provided on the first clamping block at the first elastic clamping notch.

[0020] Furthermore, the second connecting component includes a male connector and a female connector. The female connector has a ball joint hole through it and a second elastic clamping notch communicating with the ball joint hole. A third screw is provided on the female connector at the second elastic clamping notch.

[0021] The beneficial effects of this utility model are:

[0022] 1. The liftable end effector device provided in this application embodiment can pick up two workpieces at the same time by setting two end effector moving parts, thereby realizing the picking and unloading of two workpieces at one time. This not only effectively speeds up the production cycle and improves production efficiency, but also does not increase cost investment because it is still completed by a robot.

[0023] 2. The two end effector moving parts of the liftable end effector device provided in this application embodiment can move up and down relative to the support rod bracket, and the lifting and lowering of the two end effector moving parts can be controlled independently. On the one hand, when picking up materials, the height of the two end effector moving parts can be adjusted according to the height of the workpiece, so as to pick up two workpieces of different heights at the same time, realize one-time gripping, and speed up the production cycle; on the other hand, when unloading materials, it can avoid the end effector moving part on one side interfering with the material frame or the workpiece on the material frame during the unloading process, so as to realize the picking and unloading of workpieces of different sizes. Attached Figure Description

[0024] Figure 1 A three-dimensional structural diagram of a liftable end-feeder device provided in an embodiment of this application;

[0025] Figure 2 for Figure 1 A magnified structural diagram of part A in the middle;

[0026] Figure 3 for Figure 1 A magnified structural diagram of part B in the middle section;

[0027] Figure 4 for Figure 1 A magnified structural diagram of section C;

[0028] Figure 5 for Figure 1 A magnified structural diagram of section D in the middle;

[0029] Figure 6 Cross-section of the second connecting component Figure 1 ;

[0030] Figure 7 Cross-section of the second connecting component Figure 2 ;

[0031] Figure 8 This is a schematic diagram illustrating the working process of a liftable end-feeder device provided in an embodiment of this application.

[0032] In the diagram: 1. Support rod bracket;

[0033] 2. Main rod;

[0034] 3. End effector moving assembly; 31. Mounting plate; 311. Nut; 32. Mounting rod; 33. Magnetic chuck; 34. First connecting assembly; 341. First clamping block; 3411. First elastic clamping notch; 342. Second clamping block; 343. First screw; 344. Second screw; 35. Connecting rod; 36. Second connecting assembly; 361. Male connector; 3611. Connecting plate; 3612. Support column; 3613. Connecting ball; 362. Female connector; 3621. Ball joint; 3622. Second elastic clamping notch; 363. Third screw; 37. Manual quick-change; 371. Quick-change socket; 372. Quick-change plug;

[0035] 41. Guide post; 42. Guide sleeve;

[0036] 5. Cylinder; 51. Cylinder seat;

[0037] 61. Workbench; 62. First workpiece; 63. Second workpiece; 64. First material frame; 65. Above the second material frame. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings. The described embodiments are merely a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort should fall within the protection scope of this application.

[0039] To facilitate understanding of the specific embodiments of this application, a coordinate system is now defined. Figure 1 As shown, the left and right directions are horizontal, the front and back directions are vertical, and the up and down directions are vertical.

[0040] Example 1

[0041] like Figure 1 As shown, a liftable end effector device includes a support rod 1 and a main rod 2. The lower end of the main rod 2 is fixedly connected to the support rod 1, and the upper end of the main rod 2 is connected to the working end of the robot.

[0042] In one specific implementation, the lower end of the main rod 2 is detachably connected to the middle part of the support rod bracket 1. Here, the middle part refers to the geometric center of the projection of the support rod bracket 1 onto the horizontal plane.

[0043] In one specific embodiment, the main rod 2 in this embodiment includes a main tube body with a cylindrical structure. An upper end plate is fixedly installed at the upper end of the main tube body by welding. The upper end plate is connected to the working end of the robot by a bolt assembly. A lower end plate is fixedly installed at the lower end of the main tube body by welding. The lower end plate is fixedly connected to the support rod bracket 1 by a bolt assembly.

[0044] As one specific implementation, the support rod bracket 1 described in this embodiment is a frame structure welded from profiles and plates, and the projection of the support rod bracket 1 in the horizontal plane is a rectangular structure.

[0045] according to Figure 1 In the coordinate system shown, end effector moving parts 3 are respectively provided on the left and right sides of the main rod 2 on the support rod 1. The end effector moving parts 3 are slidably connected to the support rod 1 through a sliding component. The end effector moving parts 3 can slide up and down relative to the support rod 1. A driving component for driving the end effector moving parts 3 to slide up and down relative to the support rod 1 is provided between the end effector moving parts 3 and the support rod 1.

[0046] As one specific implementation method, such as Figure 4 As shown, the sliding assembly in this embodiment includes a guide post 41, the lower end of which is fixedly connected to the end effector moving part 3. A guide sleeve 42 that cooperates with the guide post 41 is provided on the support rod bracket 1. For example, each end effector moving part 3 is provided with two guide posts 41, the guide sleeve 42 is a linear bearing, and four linear bearings are respectively located at the four corners of the support rod bracket 1.

[0047] The driving component can be a hydraulic cylinder, a pneumatic cylinder, an electric push rod, or a screw jack.

[0048] In one specific embodiment, the driving component in this example is a cylinder 5. The cylinder body of the cylinder 5 is located above the support rod bracket 1 and is fixedly connected to the support rod bracket 1 in a detachable manner. The piston rod end of the cylinder 5 is connected to the end effector moving part 3 through a cylinder seat 51. Exemplarily, two guide posts 41 provided on the end effector moving part 3 are respectively located on both sides of the cylinder 5 and are symmetrically arranged about the cylinder 5. The support rod bracket 1 is provided with a clearance hole for avoiding the piston rod of the cylinder 5.

[0049] like Figure 1As shown, the end effector moving assembly 3 includes a mounting plate 31 and a mounting rod 32 disposed on the mounting plate 31. A plurality of picking components are arranged axially on the mounting rod 32. For example, the picking components are magnetic chucks 33. The picking components can also be vacuum chucks, grippers, etc., to pick up the workpiece.

[0050] Furthermore, the mounting rod 32 is fixedly connected to the mounting plate 31 in a detachable manner.

[0051] In this way, in actual work, the mounting rod 32 and the magnetic chuck 33 set on the mounting rod 32 can be treated as a whole component, so as to make adaptive replacement according to the size of the workpiece and improve the adaptability of the whole device.

[0052] Furthermore, the mounting rod 32 is provided with a first connecting component 34 corresponding to each magnetic chuck 33. Each first connecting component 34 is provided with a connecting rod 35, and the connecting rod 35 is perpendicular to the mounting rod 32. The magnetic chuck 33 is ball-jointed to the lower end of the corresponding connecting rod 35 through a second connecting component 36, and the ball-joint axis is perpendicular to the connecting rod 35.

[0053] The first connecting assembly 34 includes a first locking mechanism and a second locking mechanism. When the first locking mechanism is in the locked state, the first connecting assembly 34 is fixedly connected to the mounting rod 32. When the first locking mechanism is in the open state, the first connecting assembly 34 can move axially relative to the mounting rod 32 and rotate around the mounting rod 32. When the second locking mechanism is in the locked state, the connecting rod 35 is fixedly connected to the first connecting assembly 34. When the second locking mechanism is in the open state, the connecting rod 35 can slide axially relative to the first connecting assembly 34 and rotate around its own axis relative to the first connecting assembly 34.

[0054] The second connecting component 36 includes a third locking mechanism. When the third locking mechanism is in the locked state, the magnetic chuck 33 is connected and fixed to the connecting rod 35. When the third locking mechanism is in the open state, the magnetic chuck 33 can rotate around the ball joint axis, thereby adjusting the angle of the magnetic chuck 33.

[0055] As one specific implementation method, such as Figure 2 and Figure 3As shown, the first connecting component 34 in this embodiment includes a first clamping block 341 and a second clamping block 342. First screws 343 are respectively disposed on both sides of the mounting rod 32 between the second clamping block 342 and the first clamping block 341. When the first screws 343 are tightened, the second clamping block 342 is fixedly connected to the first clamping block 341 via the first screws 343, and the mounting rod 32 is clamped and fixed between the first clamping block 341 and the second clamping block 342 under the locking action of the first screws 343. When the first screws 343 are loosened, the position of the first connecting component 34 on the mounting rod 32 can be adjusted.

[0056] Furthermore, the first clamping block 341 has a first arc-shaped groove at one end facing the mounting rod 32, and the second clamping block 342 has a second arc-shaped groove on its side facing the mounting rod 32. The mounting rod 32 is located between the first and second arc-shaped grooves, and under the locking action of the first screw 343, the first clamping block 341 and the second clamping block 342 are clamped onto the mounting rod 32.

[0057] As one specific implementation method, such as Figure 2 and Figure 3 As shown, in this embodiment, one end of the back mounting rod 32 of the first clamping block 341 is provided with a first mounting hole for accommodating the connecting rod 35, and the axis of the first mounting hole is perpendicular to the axis of the first arc-shaped groove. The first clamping block 341 is provided with a first elastic clamping notch 3411 communicating with the first mounting hole, and a second screw 344 is provided on the first clamping block 341 at the first elastic clamping notch 3411. When the second screw 344 is tightened, the connecting rod 35 is clamped and fixed in the first mounting hole under the locking action of the second screw 344; when the second screw 344 is loosened, the connecting rod 35 can slide or rotate relative to the first connecting assembly 34, thereby adjusting the height position of the magnetic chuck 33.

[0058] Furthermore, the first elastic clamping notch 3411 is located at one end of the back mounting rod 32 of the first clamping block 341.

[0059] As one specific implementation method, such as Figure 6 and Figure 7As shown, the second connecting component 36 in this embodiment includes a male connector 361 and a female connector 362. The lower end of the connecting rod 35 is fixedly connected to the female connector 362 by welding. The female connector 362 is provided with a ball joint hole 3621, which penetrates the female connector 362 along the ball joint axis. The female connector 362 is provided with a second elastic clamping notch 3622 communicating with the ball joint hole 3621, and a third screw 363 is provided on the female connector 362 at the second elastic clamping notch 3622. When the third screw 363 is tightened, the connecting ball 3613 of the male connector 361 is clamped and fixed in the ball joint hole 3621 under the locking action of the third screw 363. At this time, the male connector 361 is in a fixed state and cannot be rotated or adjusted around the ball joint axis. When the third screw 363 is loosened, the male connector 361 is in a movable state, and the angle of the male connector 361 can be adjusted as needed, thereby adjusting the angle of the magnetic chuck 33. The male connector 361 includes a connecting plate 3611, and the connecting plate 3611 is fixedly connected to the magnetic chuck 33 by a bolt assembly. A support column 3612 is provided on the side of the connecting plate 3611 facing the female connector 362, and a connecting ball 3613 is provided on the suspended end of the support column 3612.

[0060] By setting the first connecting component 34, the second connecting component 36, and the connecting rod 35, not only can the front-back, left-right, and up-down positions of the magnetic chuck 33 be adjusted, but also the orientation angle of the magnetic chuck 33 can be adjusted to adapt to the picking requirements of different workpieces.

[0061] Furthermore, by providing a detachable first connecting component 34, the first connecting component 34, connecting rod 35, second connecting component 36, and magnetic chuck 33 can be integrated into a single pickup unit. In actual operation, the appropriate length of the mounting rod 32 can be selected based on the workpiece size, and a corresponding number of pickup components can be installed on the mounting rod 32. The position and angle of the pickup components can be adjusted according to the actual shape of the workpiece. In this way, the mounting rod 32 and the pickup components can be stored separately, effectively reducing the storage space occupied.

[0062] Furthermore, such as Figure 5 As shown, one end of the mounting rod 32 is connected to the mounting plate 31 via a manual quick-change 37. The manual quick-change 37 includes a quick-change socket 371 and a quick-change plug 372. The quick-change socket 371 is detachably and fixedly connected to the mounting plate 31, and the quick-change plug 372 is detachably and fixedly disposed at one end of the mounting rod 32.

[0063] In one specific implementation, the quick-change socket 371 of the manual quick-change 37 in this embodiment is fixedly mounted on the lower side of the mounting plate 31 in a detachable manner.

[0064] Furthermore, in order to maintain force balance and prevent the center of gravity from shifting and affecting the driving components, thereby impacting their lifespan, such as... Figure 1 As shown, the mounting plate 31 is provided with two mounting rods 32, which are coaxial and symmetrically arranged about the drive component. The inner ends of the mounting rods 32 (with the opposite ends of the two mounting rods 32 as the inner ends) are connected to the mounting plate 31 via a manual quick-connect 37.

[0065] Furthermore, the number of magnetic chucks 33 provided on the two mounting rods 32 is the same.

[0066] In one specific implementation, each mounting rod 32 in this embodiment is provided with two magnetic suction cups 33.

[0067] Furthermore, such as Figure 4 As shown, the lower end of the guide post 41 is fixedly connected to the mounting plate 31 by a threaded connection.

[0068] In one specific embodiment, a nut 311 is fixedly provided on the upper side of the mounting plate 31 by welding, and the lower end of the guide post 41 is provided with an internal thread that mates with the nut 311.

[0069] like Figure 8 As shown, taking the stacking of the first workpiece 62 and the second workpiece 63 by the robot as an example, the main working method of this utility model is as follows:

[0070] First, the robot moves the end effector moving assembly 3 above the worktable 61 and then moves it down. At the same time, the height of the two end effector moving assemblies 3 is adjusted so that the height difference between the two end effector moving assemblies 3 is equal to the height difference between the first workpiece 62 and the second workpiece 63. Then, the robot picks up the first workpiece 62 and the second workpiece 63 through the magnetic chuck 33 of the end effector moving assembly 3.

[0071] Second, the robot moves the first workpiece 62 to above the first material frame 64, and the end effector moving part 3 that picks up the first workpiece 62 moves downward to a suitable position under the drive of the cylinder 5, and places the first workpiece 62 on the first material frame 64.

[0072] Third, the end effector moving unit 3, which has released the first workpiece 62, moves upward to its initial position under the drive of the cylinder 5. At the same time, the robot moves the second workpiece 63 to above the second material frame 65. Then, the end effector moving unit 3, which picks up the second workpiece 63, moves downward to a suitable position under the drive of the cylinder 5 and places the second workpiece 63 on the second material frame.

[0073] Fourth, the end effector moving assembly 3, which has already released the second workpiece 63, moves upward to its initial position under the drive of the cylinder 5. At the same time, the robot moves the end effector moving assembly 3 again above the worktable 61, ready to pick up the next two workpieces.

[0074] Example 2

[0075] A mounting base is provided on the lower side of the mounting plate 31, and the mounting base is provided with a through hole for accommodating the mounting rod 32. Figure 1 In the coordinate system shown, the through hole extends through the mounting base along the front-to-back direction. The mounting rod 32 is inserted into the through hole, and the distances from the end faces of both ends of the mounting rod 32 to the driving component are equal. The mounting base is provided with set screws for tightening the mounting rod 32, and the mounting rod 32 is fixedly connected to the mounting base by the set screws.

[0076] The mounting rod 32 is provided with two magnetic suction cups 33 on the front and rear sides of the mounting plate 31, respectively.

[0077] The rest of the structure is the same as in Example 1.

[0078] Other embodiments obtained by those skilled in the art based on the embodiments provided in this application by combining, splitting, or reorganizing the embodiments of this application do not exceed the protection scope of this application.

[0079] The above detailed embodiments have provided a detailed explanation of the purpose, technical solutions, and beneficial effects of the embodiments of this application. The above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. That is, any modifications, equivalent substitutions, improvements, etc., made on the basis of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A liftable end effector device comprising a support strut (1) connected to the working end of a robot by a main strut (2), characterised in that: The support rod bracket (1) is provided with end effector moving parts (3) on both sides; The end effector moving part (3) is slidably connected to the support rod bracket (1), and a driving member for driving the end effector moving part (3) to slide up and down relative to the support rod bracket (1) is provided between the end effector moving part (3) and the support rod bracket (1). The end effector moving assembly (3) includes a mounting plate (31) and a mounting rod (32) disposed on the mounting plate (31), wherein a plurality of picking-up components are disposed on the mounting rod (32) along the axial direction.

2. A liftable pick-up device according to claim 1, characterized in that: The mounting plate (31) is provided with guide posts (41) on both sides of the driving component, and the support rod bracket (1) is provided with guide sleeves (42) that cooperate with the guide posts (41).

3. The liftable pick-up device according to claim 1, characterized in that: The mounting rod (32) is fixedly connected to the mounting plate (31) in a detachable manner.

4. A liftable pick-up device according to claim 3, characterized in that: The mounting rod (32) is connected to the mounting plate (31) via a manual quick-change (37).

5. A liftable pick-up device according to claim 4, characterized in that: The mounting plate (31) is provided with two mounting rods (32), and the two mounting rods (32) are arranged symmetrically with respect to the driving component.

6. A liftable pick-up device according to claim 4, characterized in that: The quick-change socket (371) of the manual quick-change (37) is fixedly mounted on the lower side of the mounting plate (31) in a detachable manner.

7. The liftable pick-up device according to claim 1, characterized in that: The mounting rod (32) is provided with a first connecting component (34) corresponding to the pickup component. Each first connecting component (34) is provided with a connecting rod (35) perpendicular to the mounting rod (32). The pickup component is ball-jointed with the corresponding connecting rod (35) through a second connecting component (36), and the ball-joint axis is perpendicular to the connecting rod (35). The first connecting component (34) includes a first locking mechanism and a second locking mechanism; When the first locking mechanism is in the locked state, the first connecting component (34) is connected and fixed to the mounting rod (32). When the first locking mechanism is in the open state, the first connecting component (34) can rotate and move axially relative to the mounting rod (32). When the second locking mechanism is in the locked state, the connecting rod (35) is connected and fixed to the first connecting component (34). When the second locking mechanism is in the open state, the connecting rod (35) can slide and rotate relative to the first connecting component (34). The second connecting component (36) includes a third locking mechanism. When the third locking mechanism is in the locked state, the pickup component is fixedly connected to the connecting rod (35). When the third locking mechanism is in the open state, the pickup component can rotate around the ball joint axis.

8. A liftable pick-up device according to claim 7, characterized in that: The first connecting component (34) includes a first clamping block (341) and a second clamping block (342). The second clamping block (342) and the first clamping block (341) are respectively provided with first screws (343) on both sides of the mounting rod (32). The first clamping block (341) is provided with a first arc-shaped groove that cooperates with the mounting rod (32), and the second clamping block (342) is provided with a second arc-shaped groove that cooperates with the mounting rod (32).

9. A liftable pick-up device according to claim 8, characterized in that: One end of the back mounting rod (32) of the first clamping block (341) is provided with a first mounting hole for accommodating the connecting rod (35). The first clamping block (341) is provided with a first elastic clamping notch (3411) that communicates with the first mounting hole. A second screw (344) is provided on the first clamping block (341) at the first elastic clamping notch (3411).

10. The liftable pick-up device according to claim 7, characterized in that: The second connecting component (36) includes a male connector (361) and a female connector (362). The female connector (362) has a ball joint hole (3621) through it. The female connector (362) has a second elastic clamping notch (3622) communicating with the ball joint hole (3621). The female connector (362) has a third screw (363) located at the second elastic clamping notch (3622).

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