CN115431293A - Quick change device for unstacking end-effector - Google Patents
Quick change device for unstacking end-effector Download PDFInfo
- Publication number
- CN115431293A CN115431293A CN202211201276.7A CN202211201276A CN115431293A CN 115431293 A CN115431293 A CN 115431293A CN 202211201276 A CN202211201276 A CN 202211201276A CN 115431293 A CN115431293 A CN 115431293A
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- fixed
- groove
- end effector
- block
- rotating
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- 239000012636 effector Substances 0.000 title claims abstract description 81
- 238000009434 installation Methods 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 230000001681 protective effect Effects 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 18
- 238000003780 insertion Methods 0.000 description 6
- 230000037431 insertion Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a quick change device for an end effector for unstacking, which comprises a fixed base for rotating an end effector body, wherein a supporting seat is fixed on the upper end surface of the fixed base, a driving box is fixed on the upper end surface of the supporting seat, an installation block is fixed at the tail end of a driving shaft of the driving box, two long connecting rods and two short connecting rods are symmetrically fixed on the peripheral side wall of the installation block, two protection frames are fixed on two sides of each long connecting rod, two supporting rods are symmetrically fixed on the side wall of each protection frame and near the lower end of each protection frame, a sliding block is arranged on each supporting rod in a sliding manner, a through groove is formed in the side wall of each short connecting rod, and a connecting mechanism is arranged in the through groove; when the end effector is used, all the lower ends of the end effector body can be placed on the sliding block, the inserting blocks are flush with the through grooves, initial positioning of the end effector body is completed, and an operator can conveniently move and place the end effector body.
Description
Technical Field
The invention relates to the technical field of replacement and installation of end pickers, in particular to a quick replacement device for an end picker for unstacking.
Background
After the unstacking end-effector is used to a certain degree, the unstacking end-effector needs to be taken down from a robot and replaced by a new unstacking end-effector, the existing unstacking end-effector is inconvenient to move in the replacing process and is troublesome to operate, and in the operating process, the old unstacking end-effector on the robot needs to be taken down firstly, then the old unstacking end-effector is moved away, and then the new unstacking end-effector is moved over to complete installation.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a quick-change device for an unstacking end-effector.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an end effector quick change device breaks a jam, is including the unable adjustment base who is used for rotating the end effector body, unable adjustment base's up end is fixed with the supporting seat, the up end of supporting seat is fixed with the drive case, the end of drive case drive shaft is fixed with the installation piece, the symmetry is fixed with two long connecting rods and two short connecting rods on the lateral wall all around of installation piece, the both sides of every long connecting rod all are fixed with the protective frame, just be close to lower extreme position symmetry on the lateral wall of every protective frame and be fixed with two bracing pieces, it is provided with the slider all to slide on every bracing piece, logical groove has all been seted up on the lateral wall of every short connecting rod, it is provided with coupling mechanism to lead to the inslot.
As a further technical scheme of the invention, the upper end surface of each support rod is provided with a sliding groove, the sliding block is arranged in the sliding groove in a sliding manner, and the inner bottom of each sliding groove is provided with a limit groove matched with the sliding block for use.
As a further technical scheme, each connecting mechanism comprises a plurality of lower rollers rotatably arranged at the bottom in the through groove, a plurality of upper rollers are movably arranged at the inner top of the through groove, a threaded rod is rotatably arranged in the through groove, an inserting block is fixed on the side wall of the end effector body, and a threaded hole matched with the threaded rod is formed in the side wall of the inserting block.
As a further technical scheme, a lifting groove is formed in the inner wall of each through groove, a roller mounting seat is movably arranged in each lifting groove, a plurality of upper rollers are rotatably arranged in the corresponding roller mounting seats, and a plurality of abutting springs are fixed between the upper end face of each roller mounting seat and the inner top of each lifting groove.
As a further technical scheme of the invention, a motor is fixed at one end of the inner wall of each through groove, which is close to the mounting block, a rotating rod is fixed at the tail end of a motor driving shaft, a supporting block is fixed on the inner wall of each through groove, the rotating rod penetrates through the supporting block in a rotating manner, and the rotating rod is fixedly connected with the tail end of the threaded rod.
As a further technical scheme of the invention, the upper end face of the fixed base is provided with a rotating groove, the bottoms of two adjacent protective frames are fixed with the same rotating block, the rotating block is rotatably arranged in the rotating groove, and the bottom of the rotating block is fixed with a rotating wheel.
The invention has the beneficial effects that:
1. when the end effector body on the robot needs to be replaced, an operator only needs to install the end effector body to be replaced on the short connecting rod positioned on the outer side of the protective frame, then the robot places the end effector body to be replaced on the short connecting rod close to one side of the robot, then the box is driven to rotate, the end effector body to be replaced is rotated to a position close to the robot, the robot picks up a new end effector body, and the operator takes down the rotated old end effector body; at the in-process of installing the short connecting rod with the end effector body, at first can place the slider with each lower extreme of end effector body on, the position parallel and level of piece and logical groove of inserting this moment, accomplish the preliminary location to the end effector body, then move the end effector body forward, make the piece of inserting close to logical groove, at this in-process, the slider removes in the spacing inslot, make things convenient for operating personnel to remove and place the end effector body, and support the weight of end effector body through the bracing piece that sets up, subtract the atress of short connecting rod.
2. When the in-process that the piece is close to short connecting rod is inserted in the area of end effector body, the piece that inserts can insert logical inslot, at this in-process, a plurality of last rollers can be contradicted the up end of piece that inserts, thereby make the lateral wall contact of piece and lower roller that inserts, then insert the piece under the guide of roller and last roller down, be close to the threaded rod, then the threaded rod rotates, the threaded rod enters into the screwed hole, carry out spacing fixed to piece and end effector body that inserts, avoid the end effector body to appear dropping following installation piece pivoted in-process, influence the result of use, cooperation through last roller that sets up and lower roller, guide the piece that inserts, conveniently remove the end effector body.
Drawings
FIG. 1 is a first schematic structural diagram of the present invention;
FIG. 2 is a second schematic structural view of the present invention;
FIG. 3 is a schematic view of the inner structure of the chute of the present invention;
FIG. 4 is a schematic view of the internal structure of the through slot of the present invention;
FIG. 5 is a schematic view of the connection between the upper roller and the roller mounting seat of the present invention;
FIG. 6 is a schematic view of the motor of the present invention coupled to a rotatable shaft;
fig. 7 is a schematic view of the connection between the end effector body and the insertion block according to the present invention.
In the figure: 1. an end effector body; 2. a fixed base; 3. a supporting base; 4. a drive box; 5. mounting blocks; 6. a long connecting rod; 7. a short connecting rod; 8. a protective frame; 9. a support bar; 10. a slider; 11. a through groove; 12. a chute; 13. a limiting groove; 14. a lower roller; 15. a roller is arranged; 16. a threaded rod; 17. inserting a block; 18. a threaded hole; 19. a roller mounting seat; 20. against the spring; 21. a motor; 22. rotating the rod; 23. a support block; 24. a rotating groove; 25. and (6) rotating the block.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.
Referring to fig. 1-7, an end effector quick change device breaks a jam, including unable adjustment base 2 that is used for rotating end effector body 1, unable adjustment base 2 fixed mounting is in the assigned position of workstation, unable adjustment base 2's up end is fixed with supporting seat 3, the up end of supporting seat 3 is fixed with drive case 4, the end of drive case 4 drive shaft is fixed with installation piece 5, the symmetry is fixed with two long connecting rods 6 and two short connecting rods 7 on the lateral wall all around of installation piece 5, the both sides of every long connecting rod 6 all are fixed with protection frame 8, just be close to lower extreme position symmetry on the lateral wall of every protection frame 8 and be fixed with two bracing pieces 9, the length of bracing piece 9 is longer, all slide on every bracing piece 9 and be provided with slider 10, logical groove 11 has all been seted up on the lateral wall of every short connecting rod 7, it is provided with coupling mechanism to lead to the inslot 11.
When needing to change the end effector body 1 on the robot, operating personnel only need to treat that the end effector body 1 of changing is installed and is located the short connecting rod 7 in the protective frame 8 outside, then the robot will treat that the end effector body 1 of changing is placed on being close to the short connecting rod 7 of robot one side, then drive case 4 rotates 180 degrees, the end effector body 1 that will treat to change rotates the position that is close to the robot, the robot picks up new end effector body 1, operating personnel will rotate old end effector body 1 of coming and take off.
At the in-process of installing short connecting rod 7 with end effector body 1, at first can place slider 10 with each lower extreme of end effector body 1 on, the position parallel and level of piece 17 and logical groove 11 of inserting this moment, accomplish the preliminary location to end effector body 1, then forward movement end effector body 1, make the piece 17 of inserting close to logical groove 11, at this in-process, slider 10 removes in spacing groove 13, make things convenient for operating personnel to remove and place end effector body 1, and support end effector body 1's weight through bracing piece 9 that sets up, subtract the atress of short connecting rod 7.
Each connecting mechanism comprises a plurality of lower rollers 14 rotatably arranged at the bottom in the through groove 11, a plurality of upper rollers 15 are movably arranged at the inner top of the through groove 11, a threaded rod 16 is rotatably arranged in the through groove 11, inserting blocks 17 are fixed on the side walls of the end effector body 1, threaded holes 18 matched with the threaded rod 16 for use are formed in the side walls of the inserting blocks 17, when the end effector body 1 drives the inserting blocks 17 to be close to the short connecting rods 7, the inserting blocks 17 can be inserted into the through groove 11, in the process, the upper ends of the inserting blocks 17 can be abutted by the plurality of upper rollers 15, so that the inserting blocks 17 are contacted with the outer side wall of the lower roller 14, then the inserting blocks 17 are guided to be fed by the lower rollers 14 and the upper rollers 15, the inserting blocks are close to the threaded rod 16, then the threaded rod 16 rotates, the picking blocks 16 enter the threaded holes 18, the inserting blocks 17 and the end effector body 1 are limited and fixed, the end effector body 1 is prevented from falling in the process of following the rotation of the mounting blocks 5, the use effect is influenced, the cooperation of the upper rollers 15 and the picking blocks 14, and the end effector body 17 can be conveniently moved.
All seted up the lift groove on the inner wall of every logical groove 11, the lift inslot activity is provided with roller mount pad 19, a plurality of last rollers 15 rotate to set up in corresponding roller mount pad 19, all be fixed with a plurality of conflict springs 20 between the up end of every roller mount pad 19 and the interior top in lift groove, it enters into logical groove 11 to go up the roller 15 and at first with the up end contact of insertion piece 17, then will insert and close piece 17 and exert decurrent power, make the lower terminal surface and the lower roller 14 contact of insertion piece 17, thereby carry out further location to insertion piece 17, conflict spring 20 atress shrink this moment, roller mount pad 19 takes roller 15 rebound, make insertion piece 17 can enter into logical groove 11, accomplish the cooperation and connect.
Just all be fixed with motor 21 near the one end of installation piece 5 on the inner wall of every logical groove 11, the end of motor 21 drive shaft is fixed with dwang 22, be fixed with supporting shoe 23 on the inner wall of logical groove 11, dwang 22 rotates and runs through supporting shoe 23, dwang 22 and threaded rod 16's terminal fixed connection, when threaded hole 18 is close to threaded rod 16 soon, motor 21 drives dwang 22 and rotates, thereby drive threaded rod 16 and rotate, make threaded rod 16 can rotate and enter into threaded hole 18 in, threaded rod 16 and threaded hole 18 threaded connection this moment, thereby carry out spacing fixed to insertion block 17 and end effector body 1.
Rotating groove 24 has been seted up to unable adjustment base 2's up end, the bottom of two adjacent protecting frames 8 is fixed with same turning block 25, turning block 25 rotates and sets up in rotating groove 24, the bottom of turning block 25 is fixed with the runner, cooperation through the turning block 25 that sets up and the runner, support protecting frame 8's weight, it is more smooth and easy that also to make protecting frame 8 can the pivoted follow installation piece 5 pivoted in-process simultaneously, avoid protecting frame 8 to appear the card stopper at the pivoted in-process, influence the result of use.
When the end effector body 1 on the robot needs to be replaced, an operator only needs to install the end effector body 1 to be replaced on the short connecting rod 7 positioned on the outer side of the protective frame 8, then the robot places the end effector body 1 to be replaced on the short connecting rod 7 close to one side of the robot, then the driving box 4 rotates 180 degrees, the end effector body 1 to be replaced is rotated to a position close to the robot, the robot picks up a new end effector body 1, and the operator takes down the rotated old end effector body 1;
in the process of mounting the end effector body 1 on the short connecting rod 7, firstly, each lower end of the end effector body 1 can be placed on the sliding block 10, at the moment, the inserting block 17 is flush with the position of the through groove 11, the initial positioning of the end effector body 1 is completed, then the end effector body 1 is moved forwards, the inserting block 17 is made to be close to the through groove 11, in the process, the sliding block 10 moves in the limiting groove 13, an operator can conveniently move and place the end effector body 1, the weight of the end effector body 1 is supported through the arranged supporting rod 9, and the stress of the short connecting rod 7 is reduced;
when the in-process that end effector body 1 area inserted block 17 is close to short connecting rod 7, inserted block 17 can insert logical inslot 11, at this in-process, a plurality of last rollers 15 can contradict the up end of inserted block 17, thereby make the lateral wall contact of inserted block 17 and lower roller 14, then inserted block 17 is under the guide of lower roller 14 and last roller 15, be close to threaded rod 16, then threaded rod 16 rotates, threaded rod 16 enters into screw hole 18, carry out spacing fixed to inserted block 17 and end effector body 1, avoid end effector body 1 to appear dropping following installation piece 5 pivoted in-process, influence the result of use, cooperation through the last roller 15 that sets up and lower roller 14, guide the inserted block 17, conveniently remove end effector body 1.
Although the present invention has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present invention.
Claims (6)
1. The utility model provides a destacking end effector quick change device, is including unable adjustment base (2) that are used for rotating end effector body (1), a serial communication port, unable adjustment base's (2) up end is fixed with supporting seat (3), the up end of supporting seat (3) is fixed with drive case (4), the end of drive case (4) drive shaft is fixed with installation piece (5), the symmetry is fixed with two long connecting rods (6) and two short connecting rods (7) on the lateral wall all around of installation piece (5), the both sides of every long connecting rod (6) all are fixed with protective frame (8), just be close to lower extreme position symmetry and be fixed with two bracing pieces (9) on the lateral wall of every protective frame (8), all slide on every bracing piece (9) and be provided with slider (10), logical groove (11) have all been seted up on the lateral wall of every short connecting rod (7), it is provided with coupling mechanism to lead to groove (11).
2. The quick-change device for the unstacking end-effector according to claim 1, wherein each supporting rod (9) is provided with a sliding groove (12) on the upper end surface, each sliding block (10) is slidably arranged in the corresponding sliding groove (12), and each sliding groove (12) is provided with a limiting groove (13) at the inner bottom for matching with the corresponding sliding block (10).
3. The quick-change device for the unstacking end-effector according to claim 1, characterized in that each of said connecting mechanisms comprises a plurality of lower rollers (14) rotatably disposed at the bottom inside the through slot (11), a plurality of upper rollers (15) movably disposed at the top inside the through slot (11), a threaded rod (16) rotatably disposed in the through slot (11), an engaging block (17) fixed to the side wall of the end-effector body (1), and a threaded hole (18) disposed on the side wall of the engaging block (17) for engaging with the threaded rod (16).
4. A quick-change device for an end effector for unstacking according to claim 3, wherein each of the through slots (11) has an inner wall formed with a lifting slot, a roller mounting seat (19) is movably disposed in the lifting slot, a plurality of upper rollers (15) are rotatably disposed in the corresponding roller mounting seats (19), and a plurality of collision springs (20) are fixed between the upper end surface of each roller mounting seat (19) and the inner top of the lifting slot.
5. The quick-change device for the unstacking end-effector according to claim 3, characterized in that a motor (21) is fixed to one end of each through groove (11) close to the mounting block (5), a rotating rod (22) is fixed to the end of a driving shaft of the motor (21), a supporting block (23) is fixed to the inner wall of each through groove (11), the rotating rod (22) rotates to penetrate through the supporting block (23), and the rotating rod (22) is fixedly connected with the end of the threaded rod (16).
6. The quick-change device for the unstacking end-effector according to claim 1, characterized in that the upper end face of the fixed base (2) is provided with a rotating groove (24), the bottoms of two adjacent protective frames (8) are fixed with a same rotating block (25), the rotating block (25) is rotatably arranged in the rotating groove (24), and the bottom of the rotating block (25) is fixed with a rotating wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211201276.7A CN115431293B (en) | 2022-09-29 | 2022-09-29 | Quick change device for unstacking end picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211201276.7A CN115431293B (en) | 2022-09-29 | 2022-09-29 | Quick change device for unstacking end picking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115431293A true CN115431293A (en) | 2022-12-06 |
| CN115431293B CN115431293B (en) | 2024-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211201276.7A Active CN115431293B (en) | 2022-09-29 | 2022-09-29 | Quick change device for unstacking end picking device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114434480A (en) * | 2022-02-11 | 2022-05-06 | 济南昊中自动化有限公司 | Automatic change press line end effector and change device |
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| CN112548932A (en) * | 2020-12-25 | 2021-03-26 | 济南昊中自动化有限公司 | Automatic change quick automatic change device of end effector of press line |
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| CN114683307A (en) * | 2020-12-28 | 2022-07-01 | 无锡朗贤轻量化科技股份有限公司 | Automatic changing device for blanking end pick-up |
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| CN104759554A (en) * | 2015-04-02 | 2015-07-08 | 安徽江淮汽车股份有限公司 | Punch line and tooling thereof |
| EP3202541A2 (en) * | 2016-02-08 | 2017-08-09 | The Boeing Company | Robotic end effector quick change mechanism with switchable magnetic coupler with moment support |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114434480B (en) * | 2022-02-11 | 2023-12-15 | 济南昊中自动化有限公司 | Automatic change punching press line end effector and change device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115431293B (en) | 2024-05-31 |
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