Energy-saving self-adaptive tooling structure

Abstract

The utility model discloses an energy-saving self-adaptive tooling structure, and mainly relates to the technical field of automatic manufacturing. Comprising a top cover assembly, a body and sucker assemblies. According to the energy-saving self-adaptive tooling, a proper number of suckers are automatically started according to the weight of a picked workpiece, so that the problem of low operation efficiency caused by frequent manual adjustment of the use number of the suckers due to the fact that a traditional tooling cannot adapt to the weight change of the sucked workpiece can be effectively solved, and meanwhile, the situation of excessive use of the suckers is completely eradicated; the usage amount of compressed air in the picking process is reduced, and the effects of energy conservation and emission reduction are achieved.

Description

Technical Field

[0001] This utility model relates to the field of automated manufacturing technology, and in particular to an energy-saving adaptive end effector structure. Background Technology

[0002] In automated pick-up operations of thin sheet metal workpieces, the suction force required for the end effector varies depending on the workpiece's weight, thus affecting the number of suction cups needed. Traditional end effectors do not consider this, meaning the number of suction cups in operation cannot be dynamically adjusted based on the workpiece's weight. Using traditional end effectors necessitates frequent manual adjustments to the number of suction cups, leading to low efficiency. Furthermore, when picking up lighter workpieces, traditional end effectors consume excessive compressed air due to the excessive number of suction cups, hindering energy conservation and emission reduction. Therefore, designing an end effector that automatically adapts to different workpiece weights is essential for improving efficiency and saving energy. Utility Model Content

[0003] The purpose of this invention is to design an energy-saving adaptive end effector, which aims to solve the problems of low work efficiency and high energy consumption caused by the inability of traditional end effectors to automatically adjust the number of working suction cups, and ultimately improve work efficiency and save energy.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] This utility model provides an energy-saving adaptive end effector structure, including a top cover assembly, a main body, and a suction cup assembly;

[0006] The top cover assembly includes an air pipe connector and a top cover;

[0007] The main body includes an outer shell, a rotary valve body assembly, a gravity conversion assembly, a second air pipe connector, a third air pipe connector, and a fourth air pipe connector;

[0008] The suction cup assembly includes suction cup one, suction cup two, suction cup three, suction cup four, suction cup five, connecting pins, and suction cup mounting brackets;

[0009] The top cover assembly is installed on top of the main body and is connected to the main body by threads; the air pipe connector is connected to the top cover by threads.

[0010] Furthermore, the outer casing has three vents on its side and a hexagonal hole on its bottom; air pipe connectors two, three, and four are threaded to the outer casing and are respectively connected to air vents one, two, and three; the rotary valve body assembly includes a rotary valve body and a sealing strip, which fits against the outer casing to form a seal; the rotary valve body has a spiral groove; the gravity conversion assembly includes a transmission rod, a slide rod, and a spring; the lower end of the transmission rod is machined into a hexagonal shape to cooperate with the hexagonal hole for limiting its... The relative rotation of the outer shell; the slide rod can slide in the spiral groove, and the slide rod can convert the up and down linear motion of the transmission rod into the rotational motion of the rotary valve body assembly; the movement distance s of the transmission rod corresponds one-to-one with the rotation angle θ of the rotary valve body assembly. When the transmission rod moves a distance X, the rotation angle of the rotary valve body assembly is α, and when the transmission rod moves a distance Y, the rotation angle of the rotary valve body assembly is β; before use, the energy-saving adaptive end effector needs to determine the appropriate elastic coefficient k of the spring, so as to automatically activate the appropriate number of suction cups to achieve the purpose of adapting to workpieces of different qualities.

[0011] Furthermore, the rotary valve assembly can change the number of covered air holes by rotating, thereby changing the number of air holes connected to the first air pipe connector. The process is as follows: When the rotary valve assembly is not rotated, it covers air hole two and air hole two, and only air hole one is connected to the first air pipe connector; when the rotation angle θ of the rotary valve assembly is greater than angle α and less than or equal to angle β, the rotary valve assembly cannot completely cover air hole two, and thus air hole one and air hole two are simultaneously connected to the first air pipe connector; when the rotation angle θ of the rotary valve assembly is greater than angle β, the rotary valve assembly cannot completely cover air hole three, and thus air hole one, air hole two, and air hole three are simultaneously connected to the first air pipe connector.

[0012] Furthermore, suction cup 1, suction cup 2, suction cup 3, suction cup 4 and suction cup 5 are connected to the suction cup mounting bracket via threads; suction cup 1 is connected to air pipe connector 2 via an air pipe, suction cup 2 and suction cup 3 are connected to air pipe connector 3 via an air pipe, and suction cup 4 and suction cup 5 are connected to air pipe connector 4 via an air pipe; the suction cup mounting bracket is connected to the transmission rod via a connecting pin.

[0013] Furthermore, the spring constant k can be measured as follows: Assuming the maximum suction force of suction cup one is F, divide F by the distance X to obtain the spring constant k.

[0014] This invention has the following advantages: It can automatically activate the corresponding number of suction cups according to the weight of the workpiece being picked up, which can effectively solve the problem of low production efficiency caused by the inability of traditional end effectors to adapt to changes in the weight of the workpiece being picked up, which requires frequent manual adjustment of the number of suction cups. At the same time, this energy-saving adaptive end effector automatically activates an appropriate number of suction cups by matching the weight of the workpiece being picked up, which eliminates the use of too many suction cups, reduces the amount of compressed air used in the picking process, and ultimately achieves the effect of energy saving and emission reduction. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the energy-saving adaptive end effector of this utility model;

[0016] Figure 2 This is an exploded view of the structure of the energy-saving adaptive end effector of this utility model;

[0017] Figure 3 For the structural details of the outer shell Figure 1 ;

[0018] Figure 4 For the structural details of the outer shell Figure 2 ;

[0019] Reference numerals: 1. Top cover assembly; 2. Main body; 21. Outer shell; 211. Air hole one; 212. Air hole two; 213. Air hole three; 214. Hexagonal hole; 22. Rotary valve body assembly; 221. Rotary valve body; 2211. Spiral groove; 222. Sealing strip; 23. Gravity conversion assembly; 231. Transmission rod; 232. Slide rod; 233. Spring; 24. Air pipe connector two; 25. Air pipe connector three; 26. Air pipe connector four; 3. Suction cup assembly; 31. Suction cup one; 32. Suction cup two; 33. Suction cup three; 34. Suction cup four; 35. Suction cup five; 36. Connecting pin; 37. Suction cup mounting bracket; 4. Workpiece Detailed Implementation

[0020] 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.

[0021] like Figure 1 As shown, the structure of this utility model's energy-saving adaptive end effector includes: a top cover assembly 1, a main body 2, and a suction cup assembly 3. The top cover 1 is mounted on top of the main body 2 and is connected to the main body 2 via threads.

[0022] like Figure 2-4As shown, the slide bar 232 can convert the up-and-down linear motion of the transmission rod 231 into the rotational motion of the rotary valve body assembly 22; the movement distance s of the transmission rod 231 corresponds one-to-one with the rotation angle θ of the rotary valve body assembly 22. When the movement distance X of the transmission rod 231 is X, the rotation angle α of the rotary valve body assembly 22 is α, and when the movement distance Y of the transmission rod 231 is Y, the rotation angle β of the rotary valve body assembly 22 is β.

[0023] The rotary valve assembly 22 can change the number of air holes it covers by rotating, thereby changing the number of air holes connected to the air pipe connector 11. The process is as follows: When the rotary valve assembly 22 is not rotating, it covers air hole 212 and air hole 313, and only air hole 1211 is connected to the air pipe connector 11; when the rotation angle θ of the rotary valve assembly 22 is greater than angle α and less than or equal to angle β, the rotary valve assembly 22 cannot completely cover air hole 212, and thus air hole 1211 and air hole 212 are simultaneously connected to the air pipe connector 11; when the rotation angle θ of the rotary valve assembly 22 is greater than angle β, the rotary valve assembly 22 cannot completely cover air hole 313, and thus air hole 211, air hole 212 and air hole 313 are simultaneously connected to the air pipe connector 11.

[0024] Suction cup 1 31 is connected to air pipe connector 24 via an air pipe; suction cup 2 32 and suction cup 33 are connected to air pipe connector 3 25 via an air pipe; suction cup 4 34 and suction cup 5 35 are connected to air pipe connector 4 26 via an air pipe; suction cup mounting bracket 37 is connected to transmission rod 231 via connecting pin 36.

[0025] Before picking up workpiece 4, the suction cup assembly 3 presses firmly onto workpiece 4. At this time, the transmission rod 231 is in its upper limit position, the spring 233 is not compressed, and only suction cup 31 is working. When picking up workpiece 4 begins, the energy-saving adaptive end effector lifts upward, and workpiece 4 pulls suction cup 31 under gravity. Suction cup 31 moves downward, driving suction cup mounting bracket 37 downward. Subsequently, suction cup mounting bracket 37 drives the transmission rod 231 downward and compresses spring 233. Due to the different masses of different workpieces, their gravity is also different, resulting in different compression lengths of spring 233, which in turn causes different rotation angles θ of the rotary valve body assembly 22. When the mass of workpiece 4 is greater than the preset mass A and less than or equal to the preset mass B, the sliding rod 232 moves a distance greater than distance X and less than or equal to distance Y, and the rotation angle θ is greater than angle α and less than or equal to angle β. At this time, suction cup 31, suction cup 32, and suction cup 33 work simultaneously. When the mass of workpiece 4 is greater than the preset mass B, the sliding rod 232 moves a distance greater than the distance Y and rotates at an angle θ greater than the angle β. At this time, suction cup 1 31, suction cup 2 32, suction cup 33, suction cup 4 34 and suction cup 5 35 work simultaneously.

[0026] Before using the energy-saving adaptive end effector, it is necessary to determine the appropriate elastic coefficient k of spring 233 so as to automatically activate the appropriate number of suction cups to achieve the purpose of adapting to workpieces of different masses.

[0027] The elastic coefficient k can be measured as follows: Assuming the maximum suction force of suction cup 31 is F, divide F by the distance X to get the elastic coefficient k of spring 233.

[0028] The above embodiments and figures are not intended to limit the product form and style of this utility model. Any appropriate changes or modifications made by those skilled in the art should be considered as not departing from the patent scope of this utility model.

Claims

1. An energy saving self adaptive end effector structure, characterized by, include: Top cover assembly (1), main body (2), and suction cup assembly (3); The top cover assembly (1) includes an air pipe connector (11) and a top cover (12); The main body (2) includes a shell (21), a rotary valve body assembly (22), a gravity conversion assembly (23), a second tracheal connector (24), a third tracheal connector (25), and a fourth tracheal connector (26); The suction cup assembly (3) includes suction cup one (31), suction cup two (32), suction cup three (33), suction cup four (34), suction cup five (35), connecting pin (36), and suction cup mounting bracket (37); The top cover assembly (1) is installed above the main body (2) and is connected to the main body (2) by threads; the air pipe connector (11) is connected to the top cover (12) by threads.

2. The energy-efficient self-adapting end-pickup structure of claim 1, wherein: The outer shell (21) has air holes 1 (211), 2 (212), and 3 (213) on its side and a hexagonal hole (214) on its bottom; the air pipe connectors 2 (24), 3 (25), and 4 (26) are threaded to the outer shell (21), and the air pipe connectors 2 (24), 3 (25), and 4 (26) are respectively connected to air holes 1 (211), 2 (212), 3 (213), and 4 (213). (212) and air vent three (213) are connected; the rotary valve body assembly (22) includes a rotary valve body (221) and a sealing strip (222), the sealing strip (222) is fitted with the outer shell (21) to form a seal; the rotary valve body (221) has a spiral groove (2211); the gravity conversion assembly (23) includes a transmission rod (231), a slide rod (232) and a spring (233); the transmission rod (231) The lower end is machined into a hexagonal feature to cooperate with the hexagonal hole (214) to limit its rotation relative to the outer shell (21); the slide rod (232) can slide in the spiral groove (2211), and the slide rod (232) can convert the up and down linear motion of the transmission rod (231) into the rotational motion of the rotary valve body assembly (22); the movement distance s of the transmission rod (231) corresponds one-to-one with the rotation angle θ of the rotary valve body assembly (22). When the movement distance X of the transmission rod (231) is X, the rotation angle α of the rotary valve body assembly (22) is α, and when the movement distance Y of the transmission rod (231) is Y, the rotation angle β of the rotary valve body assembly (22) is β; the energy-saving adaptive end effector needs to determine the appropriate elastic coefficient k of the spring (233) before use, so as to automatically activate the appropriate number of suction cups to achieve the purpose of adapting to workpieces of different qualities.

3. The energy-saving adaptive end effector structure according to claim 1 or claim 2, characterized in that: The rotary valve assembly (22) can change the number of air holes it covers by rotating, thereby changing the number of air holes connected to the first air pipe connector (11). The process is as follows: When the rotary valve assembly (22) is not rotating, it covers the second air hole (212) and the third air hole (213), and only the first air hole (211) is connected to the first air pipe connector (11); when the rotation angle θ of the rotary valve assembly (22) is greater than the angle α and less than or equal to the angle β, the rotary valve assembly... When component (22) cannot completely cover the second air hole (212), the first air hole (211) and the second air hole (212) are simultaneously connected to the first air pipe connector (11); when the rotation angle θ of the rotary valve body assembly (22) is greater than the angle β, the rotary valve body assembly (22) cannot completely cover the third air hole (213), and the first air hole (211), the second air hole (212) and the third air hole (213) are simultaneously connected to the first air pipe connector (11).

4. The energy-efficient self-adapting pick-up structure according to claim 1 or claim 2, characterized in that: The suction cup 1 (31), suction cup 2 (32), suction cup 3 (33), suction cup 4 (34), and suction cup 5 (35) are connected to the suction cup mounting bracket (37) by threads; suction cup 1 (31) is connected to the air pipe connector 2 (24) by an air pipe, suction cup 2 (32) and suction cup 3 (33) are connected to the air pipe connector 3 (25) by an air pipe, suction cup 4 (34) and suction cup 5 (35) are connected to the air pipe connector 4 (26) by an air pipe; the suction cup mounting bracket (37) is connected to the transmission rod (231) by the connecting pin (36).

5. The energy-saving adaptive end-feeder structure according to claim 2, characterized in that: The elastic coefficient k can be measured by the following method: assuming that the maximum suction force of the suction cup (32) is F, the elastic coefficient k of the spring (233) is obtained by dividing F by the distance X.

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