CN208103329U - A kind of manipulator for assembly line joint strip operation - Google Patents
A kind of manipulator for assembly line joint strip operation Download PDFInfo
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- CN208103329U CN208103329U CN201820063701.3U CN201820063701U CN208103329U CN 208103329 U CN208103329 U CN 208103329U CN 201820063701 U CN201820063701 U CN 201820063701U CN 208103329 U CN208103329 U CN 208103329U
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- joint strip
- sucker
- manipulator
- assembly line
- storing
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- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 239000003463 adsorbent Substances 0.000 claims abstract description 7
- 238000010521 absorption reaction Methods 0.000 claims description 10
- 241000252254 Catostomidae Species 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 7
- 239000006052 feed supplement Substances 0.000 claims description 5
- 238000005192 partition Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000001179 sorption measurement Methods 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000007423 decrease Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
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Abstract
The utility model relates to technical field of industrial manipulator, and in particular to a kind of manipulator for assembly line joint strip operation.A kind of manipulator for assembly line joint strip operation, including joint strip grasping mechanism, it is arranged right below stock chest, stock chest and joint strip grasping mechanism are each attached in rack, joint strip grasping mechanism includes crawl cylinder and Suction cup assembly, connecting sucker component at its end after the guide rod of crawl cylinder extends downwardly, Suction cup assembly includes the sucker of suction tray downwards, the air-path interface of sucker connects up the adsorbent chamber interface of a vacuum generator, the guide rod of crawl cylinder advances downwardly Suction cup assembly after stretching out, the sucker disk for making thereon touches the upper surface of the joint strip in the stock chest being disposed below.Due to the adoption of the above technical scheme, the utility model uses compressed air for main power resources, realizes whole grasping movement as auxiliary using automatically controlled, realizes accurate positionin, consistent grabbing interval, effectively improve production efficiency.
Description
Technical field
The utility model relates to technical field of industrial manipulator, and in particular to a kind of machinery for assembly line joint strip operation
Hand.
Background technique
In production line operation, joint strip is often used to identify the circulation of material or product object.Using assembly line
When production method, joint strip was required using interval time it is relatively high, if interval time is unstable or setting position exists
The problems such as offset, may cause the disorder of continuous productive process, and the normal production of whole assembly line is even threatened when serious.It passes at present
It unites in operation structure, the crawl and adherency that joint strip is carried out frequently with the mechanical arm of finger-clipped are arranged, but the biography of finger-clipped
System mechanical arm has the disadvantage that the crawl of joint strip：
1, grasping movement is inflexible, makes it difficult to control the planarization after joint strip is crawled, thus after causing deformation
Joint strip is easy the problem of positional shift occurs in adhering to operation；
2, it is difficult to grab the joint strip quantity of plural grade, common mechanical arm is only capable of crawl one within the single operation period
Joint strip affects the efficiency of entire production stream so that operating speed is limited；
3, expensive, control is complicated, and not only device composition and control structure are complicated for finger-clipped structure, not convenient for safeguarding, and
And bring is the raising of cost and maintenance cost therewith, to limit popularization and application.
Utility model content
The purpose of the utility model is to provide a kind of manipulators for assembly line joint strip operation, solve the above technology
Problem.
The technical issues of the utility model is solved can be realized using following technical scheme：
A kind of manipulator for assembly line joint strip operation, including for grabbing the patch for carrying out joint strip sticking operation after joint strip
Grasping mechanism, is arranged right below stock chest, and joint strip required when sticking operation, the stock chest and institute are carried out for stacking
It states joint strip grasping mechanism to be each attached in rack, which is characterized in that the joint strip grasping mechanism includes crawl cylinder and sucker group
Part, the guide rod of the crawl cylinder connect the Suction cup assembly at its end after extending downwardly, the Suction cup assembly includes absorption
The downward sucker of disk, the air-path interface of the sucker connect up the adsorbent chamber interface of a vacuum generator, vacuum generator
It is passed through after compressed air and provides negative pressure to sucker, so that it be made to have certain adsorption capacity, incited somebody to action after grabbing the guide rod stretching of cylinder
Suction cup assembly advances downwardly, and the sucker disk for making thereon touches the upper surface of the joint strip in the stock chest being disposed below, from
And adsorb joint strip entirely by sucker.
The utility model by setting crawl cylinder, Suction cup assembly and vacuum generator replace conventional robot clamping jaw and
Its driving mechanism has to realize the joint strip grasp mode of sucker suction come the joint strip sticking operation for carrying out assembly line
Not in the finger-clipped joint strip grasp mode of conventional robot, sucker suction grasp mode not only ensures joint strip in sticking operation
Planarization, additionally it is possible to provide and accurately paste interval time, keep the entire beat of production line more compact.
The Suction cup assembly includes a sucker fixed plate, and the sucker is fixed in the sucker fixed plate, the sucker
Fixed plate is fixed on the end of the guide rod extension end of the crawl cylinder.
At least two suckers are equipped with along the length direction of the sucker fixed plate in the sucker fixed plate, at least
Two suckers are spaced apart between each other to be distributed in the sucker fixed plate.
The spacing distance between the sucker that the adjacent length direction along the sucker fixed plate is arranged is equal.
The utility model is by least two suckers spaced apart of setting, so that it is whole to be distributed in joint strip absorption point
On the length direction of a joint strip, to improve the effect for keeping planarization after joint strip is adsorbed.
Any sucker is connected to the adsorbent chamber interface of the vacuum generator by same pressure sensor, thus
Ensure that vacuum generator is supplied to the adsorption capacity of sucker and keeps constant, is arrived with the real-time detection value for the pressure sensor observed
Up to subject to certain standard value, when connection, upper tracheae is connected on the air-path interface of sucker, the other end of tracheae is connected to pressure biography
On the quick detection interface of sensor, then pressure sensor is connected on the air-path interface of vacuum generator, then starts vacuum
Generator carries out air-breathing, so that after chuck surface touches joint strip, negative pressure adsorbs joint strip to provide negative pressure at sucker disk
Firmly, at this point, variation takes place in the detection numerical value of pressure sensor, until the adsorption capacity of sucker is enough that joint strip is kept to be able to be mentioned
When rising, a steady pressure value will be presented in the detection numerical value of pressure sensor, show that the crawl operation of joint strip is completed at this time.
It is equipped at least two storing stations in the stock chest, is separated between adjacent storing station with partition room, it is any
A horizontal positioned storing plate is equipped in the storing station, storing trench bottom is equipped with convenient for setting up the shelf of the storing plate,
To make the storing plate rise overally or decline with the direction of holding level in stock chest, when joint strip heap the top
After joint strip is removed, by rising overally for storing plate, the joint strip of joint strip heap the top is made to be in a fixed level always
Highly, so that it is guaranteed that the crawl position of joint strip grasping mechanism remains same level height, which helps to improve joint strip
Crawl efficiency, opposite, if storing plate can not be promoted, the crawl stroke of joint strip grasping mechanism will be with the height of joint strip heap
Degree is reduced and is gradually increased, to increase the time of joint strip crawl, eventually leads to production efficiency reduction.
The setting area of the case where corresponding at least two storing station, the sucker fixed plate cover all storing stations,
So that it is guaranteed that the sucker being arranged thereon covers the joint strip heap on all storing plates.
Preferably, the sucker grouping setting in the sucker fixed plate is corresponding with any storing plate, i other words, it is any
The storing plate is correspondingly provided with one group of sucker, and any group of sucker is distributed in sucker along the length direction of corresponding storing plate and fixes
On plate.
The bottom of the stock chest is equipped with a push cylinder, for pushing storing plate to jack it upwards.
After the piston rod of the push cylinder stretches out upwards, end connects the storing plate.
Preferably, the push cylinder and the storing plate correspond, i.e., the underface of any storing plate is corresponding
Be equipped with a push cylinder.The end of the guide rod extension end of any push cylinder connects the corresponding storing
The lower surface of plate.
The utility model in setting, the quantity of sucker, distribution, spacing distance and stock chest length, with joint strip
Physical length is design considerations, and being arranged after at least two suckers according to joint strip length covers it on the surface of single joint strip to the greatest extent
Absorption position more than possible, so that it is guaranteed that the planarization of the joint strip after being grasped at.
The crawl cylinder is fixedly arranged in the rack by a crawl cylinder fixation kit.
Preferably, the crawl cylinder fixation kit uses the fixed plate of a plate-like structure, which is provided with convenient for passing through
The fastening hole location that the crawl cylinder is fixed thereon by fastener, in actual use using the fastening such as screw, nut or rivet
Part will grab cylinder and be fixed in crawl air cylinder fixed plate, then crawl air cylinder fixed plate is fixed on the rack.
The crawl cylinder is equipped with one first magnetic switch, for detecting whether crawl cylinder extend out to absorption initial bit
It sets, when the guide rod for grabbing cylinder reaches the absorption initial position of setting, the first magnetic switch is triggered, at this time push cylinder
It works and storing plate is pushed to jack；
Any sucker cooperation is equipped with a telescopic rod, and telescopic rod is set in the sucker fixed plate, and on it
Flexible up and down, telescopic rod is hollow rod-like structure, lower end connecting sucker, and lower ending opening penetrates through the disk of the sucker,
The upper end opening of telescopic rod is the air-path interface of the sucker, and the sucker fixed plate is equipped with one close to switch, for detecting
The flexible limit of telescopic rod, telescopic rod are equipped with for triggering the trigger unit close to switch,
The push cylinder is equipped with one for detecting the second magnetic switch whether joint strip heap needs feed supplement, by pushing away
The guide rod extended position of cylinder of supplying gas is detected, and when joint strip gradually decreases, the position that the guide rod of push cylinder stretches out can be gradually
Up, until being reduced to certain thickness to joint strip heap, then the guide rod of push cylinder at this time triggers the second magnetic switch, to touch
It sends out alarm set corresponding, prompts feed supplement.
Beneficial effect：Due to the adoption of the above technical scheme, the utility model uses compressed air for main power resources, with
Automatically controlled that whole grasping movement is realized as auxiliary, structure is simple, stable action, low noise are realized on the basis of cost reduction
It is accurately positioned, consistent grabbing interval, effectively improves production efficiency.
Detailed description of the invention
Fig. 1 is the main view of the utility model；
Fig. 2 is the axonometric drawing of the utility model.
Specific embodiment
In order to be easy to understand the technical means, creative features, achievement of purpose, and effectiveness of the utility model, under
Face, which combines to be specifically illustrating, is further described the utility model.
Referring to Fig.1, Fig. 2, a kind of manipulator for assembly line joint strip operation, including joint strip grasping mechanism, immediately below
Equipped with stock chest 15, stock chest 15 and joint strip grasping mechanism are each attached in rack 17, and joint strip grasping mechanism includes crawl cylinder 3
And Suction cup assembly, connecting sucker component at its end after the guide rod of crawl cylinder 3 extends downwardly.Suction cup assembly includes absorption disk
Downward sucker, the air-path interface of sucker connect up the adsorbent chamber interface of vacuum generator 2, and vacuum generator 2 is passed through compression
Negative pressure is provided to sucker after air, to make it have certain adsorption capacity, by Suction cup assembly after the guide rod stretching of crawl cylinder 3
It advances downwardly, sucker disk thereon is made to touch the upper surface of the joint strip in the stock chest 15 being disposed below, to make to paste
Item is entirely adsorbed by sucker.
Suction cup assembly includes sucker fixed plate 12, and sucker is fixed in sucker fixed plate 12, and sucker fixed plate 12 is fixed on
Grab the end of the guide rod extension end of cylinder 3.At least two suckers, each suction are alongst equipped in sucker fixed plate 12
Disk is spaced apart between each other to be distributed in sucker fixed plate 12.The adjacent length direction along sucker fixed plate 12 is set
The spacing distance between sucker set is equal.
Any sucker is connected to the adsorbent chamber interface of vacuum generator 2 by same pressure sensor 1, so that it is guaranteed that very
The adsorption capacity that empty generator 2 is supplied to sucker is kept constant, and reaches one with the real-time detection value for the pressure sensor 1 observed
Determine subject to standard value, when connection, upper tracheae is connected on the air-path interface of sucker, the other end of tracheae is connected to pressure sensor
On 1 quick detection interface, then pressure sensor 1 is connected on the air-path interface of vacuum generator 2, then starts vacuum hair
Raw device 2 carries out air-breathing, so that after chuck surface touches joint strip, negative pressure adsorbs joint strip to provide negative pressure at sucker disk
Firmly, at this point, variation takes place in the detection numerical value of pressure sensor 1, until the adsorption capacity of sucker be enough to keep joint strip be able to by
When lifting, a steady pressure value will be presented in the detection numerical value of pressure sensor 1, show that the crawl operation of joint strip is completed at this time.
It is equipped at least two storing stations in stock chest 15, is spaced apart between adjacent storing station with partition 16, it is any
A horizontal positioned storing plate is equipped in storing station, storing trench bottom is equipped with convenient for setting up the shelf of storing plate, to make to store up
Flitch is risen overally or is declined with the direction of holding level in stock chest, when the joint strip of joint strip heap the top is removed it
Afterwards, rising overally by storing plate makes the joint strip of joint strip heap the top be in a fixed level height always, so that it is guaranteed that
The crawl position of joint strip grasping mechanism remains same level height, which helps to improve the crawl efficiency of joint strip, phase
Pair, if storing plate can not be promoted, the crawl stroke of joint strip grasping mechanism will be reduced with the height of joint strip heap and gradually
Increase, to increase the time of joint strip crawl, eventually leads to production efficiency reduction.The both ends of storing plate are fixedly installed one respectively
Guide rail 11 straight up, in stock chest corresponding to the position of any guide rail 11 it is fixed be equipped with track base 10, on track base 10
Equipped with the perforation penetrated convenient for corresponding guide rail 11, guide rail 11 ensures the lifting action of storing plate always after penetrating perforation
Keep integral jacking or decline.
The setting area of the case where corresponding at least two storing station, sucker fixed plate 12 cover all storing stations, from
And the sucker for ensuring to be arranged thereon covers the joint strip heap on all storing plates.Preferably, the sucker in sucker fixed plate 12 point
Group setting is corresponding with any storing plate, i other words, any storing plate is correspondingly provided with one group of sucker, and any group of sucker is along corresponding
The length direction of storing plate is distributed in sucker fixed plate 12.
The bottom of stock chest is equipped with push cylinder 8, for pushing storing plate to jack it upwards.The piston of push cylinder 8
After bar stretches out upwards, end connects storing plate.Preferably, push cylinder 8 and storing plate correspond, i.e., any storing plate
Underface is corresponding to be equipped with push cylinder 8.The end of the guide rod extension end of any push cylinder 8 connects corresponding storing plate
Lower surface.
Crawl cylinder 3 is fixedly arranged in rack 17 by grabbing cylinder fixation kit.Preferably, crawl cylinder is fixed
Component use a plate-like structure fixed plate 13, which is provided with convenient for by fastener will grab cylinder 3 be fixed thereon it is tight
Solid hole position is fixed on crawl air cylinder fixed plate for cylinder 3 is grabbed using fasteners such as screw, nut or rivets in actual use
On 13, then by crawl air cylinder fixed plate 13 be fixed in rack 17.
It grabs cylinder 3 and is equipped with the first magnetic switch 4, for detecting whether crawl cylinder extend out to absorption initial position,
When the guide rod for grabbing cylinder 3 reaches the starting position of absorption movement of setting, the first magnetic switch 4 is triggered, and pushes away at this time
Cylinder 8 of supplying gas works and storing plate is pushed to jack；Any sucker cooperation is equipped with a telescopic rod 6, and telescopic rod is set to sucker and fixes
On plate 12, and it is flexible up and down on it, telescopic rod 6 is that hollow rod-like structure, lower end connecting sucker, and lower ending opening penetrate through
The disk of sucker, the upper end opening of telescopic rod 6 are the air-path interface of sucker, and sucker fixed plate 12 is equipped with close to switch 5, is used for
The flexible limit of telescopic rod is detected, telescopic rod 6 is equipped with for triggering the trigger unit close to switch, and trigger unit uses an iron
Piece is fixed by the bracket on the shaft of the telescopic rod 6 of a wherein sucker, and the surface of the upper surface of iron plate is close
The sensitive surface of switch 5.Push cylinder 8 is equipped with the second magnetic switch 9 that feed supplement whether is needed for detecting joint strip heap, passes through
The guide rod extended position of push cylinder 8 is detected, when joint strip gradually decreases, the position meeting of the guide rod stretching of push cylinder 8
Gradually up, until being reduced to certain thickness to joint strip heap, then the guide rod of push cylinder at this time triggers the second magnetic switch 9,
To trigger corresponding alarm set, feed supplement is prompted.
The utility model by setting crawl cylinder, Suction cup assembly and vacuum generator replace conventional robot clamping jaw and
Its driving mechanism has to realize the joint strip grasp mode of sucker suction come the joint strip sticking operation for carrying out assembly line
Not in the finger-clipped joint strip grasp mode of conventional robot, sucker suction grasp mode not only ensures joint strip in sticking operation
Planarization, additionally it is possible to provide and accurately paste interval time, keep the entire beat of production line more compact.
The utility model in setting, the quantity of sucker, distribution, spacing distance and stock chest length, with joint strip
Physical length is design considerations, and being arranged after at least two suckers according to joint strip length covers it on the surface of single joint strip to the greatest extent
Absorption position more than possible, so that it is guaranteed that the planarization of the joint strip after being grasped at.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above.Current row
The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments
Only illustrate the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, the utility model is also
It will have various changes and improvements, these various changes and improvements fall within the scope of the claimed invention.The utility model
Claimed range is defined by the appending claims and its equivalent thereof.
Claims (10)
1. a kind of manipulator for assembly line joint strip operation, including for grabbing the joint strip for carrying out joint strip sticking operation after joint strip
Grasping mechanism is arranged right below stock chest, and the stock chest and the joint strip grasping mechanism are each attached in rack, feature
Be, the joint strip grasping mechanism includes crawl cylinder and Suction cup assembly, the guide rod of the crawl cylinder extend downwardly after at it
End connects the Suction cup assembly, and the Suction cup assembly includes the sucker of suction tray downwards, the air-path interface of the sucker to
The adsorbent chamber interface of one vacuum generator of upper connection.
2. a kind of manipulator for assembly line joint strip operation according to claim 1, which is characterized in that the sucker group
Part includes a sucker fixed plate, and the sucker is fixed in the sucker fixed plate, and the sucker fixed plate is fixed on described grab
Take the end of the guide rod extension end of cylinder.
3. a kind of manipulator for assembly line joint strip operation according to claim 2, which is characterized in that the sucker is solid
At least two mutual suckers spaced apart are equipped with along the length direction of the sucker fixed plate on fixed board.
4. a kind of manipulator for assembly line joint strip operation according to claim 3, which is characterized in that it is adjacent along
Spacing distance between the sucker of the length direction setting of the sucker fixed plate is equal.
5. a kind of manipulator for assembly line joint strip operation according to any one of claims 1 to 4, which is characterized in that
Any sucker is connected to the adsorbent chamber interface of the vacuum generator by same pressure sensor, and the gas circuit of sucker connects
Mouth connection tracheae, the other end of tracheae are connected on the quick detection interface of pressure sensor, then pressure sensor are connected to
On the air-path interface of vacuum generator.
6. a kind of manipulator for assembly line joint strip operation according to claim 2, which is characterized in that the stock chest
At least two storing stations are inside equipped with, are separated between adjacent storing station with partition room, are equipped in any storing station
One horizontal positioned storing plate, storing trench bottom are equipped with to set up the shelf of the storing plate.
7. a kind of manipulator for assembly line joint strip operation according to claim 6, which is characterized in that the sucker is solid
The setting area of fixed board covers all storing stations.
8. a kind of manipulator for assembly line joint strip operation according to claim 6 or 7, which is characterized in that the storage
The bottom of hopper is equipped with a push cylinder for pushing storing plate to jack it upwards, and the piston rod of the push cylinder is upward
After stretching, end connects the storing plate.
9. a kind of manipulator for assembly line joint strip operation according to any one of claims 1 to 4, which is characterized in that
The crawl cylinder is fixedly arranged in the rack by a crawl cylinder fixation kit.
10. a kind of manipulator for assembly line joint strip operation according to claim 8, which is characterized in that the crawl
Cylinder is equipped with first magnetic switch for whether extending out to the initial position of absorption for detecting crawl cylinder；
Any sucker cooperation is equipped with a telescopic rod, and telescopic rod is set in the sucker fixed plate, and on it up and down
Flexible, telescopic rod is hollow rod-like structure, lower end connecting sucker, and lower ending opening penetrates through the disk of the sucker, stretches
The upper end opening of bar is the air-path interface of the sucker, and the sucker fixed plate is equipped with one for detecting the flexible limit of telescopic rod
Position close to switch, telescopic rod is equipped with for triggering the trigger unit close to switch；
The push cylinder is equipped with one for detecting the second magnetic switch whether joint strip heap needs feed supplement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820063701.3U CN208103329U (en) | 2018-01-16 | 2018-01-16 | A kind of manipulator for assembly line joint strip operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820063701.3U CN208103329U (en) | 2018-01-16 | 2018-01-16 | A kind of manipulator for assembly line joint strip operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208103329U true CN208103329U (en) | 2018-11-16 |
Family
ID=64129192
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820063701.3U Active CN208103329U (en) | 2018-01-16 | 2018-01-16 | A kind of manipulator for assembly line joint strip operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208103329U (en) |
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2018
- 2018-01-16 CN CN201820063701.3U patent/CN208103329U/en active Active
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