CN115431293B - Quick change device for unstacking end picking device - Google Patents
Quick change device for unstacking end picking device Download PDFInfo
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- CN115431293B CN115431293B CN202211201276.7A CN202211201276A CN115431293B CN 115431293 B CN115431293 B CN 115431293B CN 202211201276 A CN202211201276 A CN 202211201276A CN 115431293 B CN115431293 B CN 115431293B
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- end effector
- rotating
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- 230000008859 change Effects 0.000 title claims abstract description 5
- 239000012636 effector Substances 0.000 claims abstract description 69
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 18
- 230000008569 process Effects 0.000 abstract description 14
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Abstract
The invention discloses a quick change device for unstacking end picking devices, which comprises a fixed base for rotating an end picking device body, wherein a supporting seat is fixed on the upper end face of the fixed base, a driving box is fixed on the upper end face of the supporting seat, a mounting 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 side wall around the mounting block, two protection frames are respectively fixed on the two sides of each long connecting rod, two supporting rods are symmetrically fixed on the side wall of each protection frame and close to the lower end, a sliding block is respectively arranged on each supporting rod in a sliding manner, a through groove is respectively formed on the side wall of each short connecting rod, and a connecting mechanism is arranged in the through groove; in the using process, the invention can firstly place each lower end of the end effector body on the sliding block, and the inserting block is level with the through groove at the moment, thus completing the preliminary positioning of the end effector body and being convenient for operators to move and place the end effector body.
Description
Technical Field
The invention relates to the technical field of replacement and installation of end picking devices, in particular to a quick-change device for unstacked end picking devices.
Background
After the unstacking end effector is used to a certain extent, the unstacking end effector needs to be taken down from the robot and replaced by a new unstacking end effector, the existing unstacking end effector is inconvenient to move in the replacing process, the operation is troublesome, the old unstacking end effector on the robot needs to be taken down firstly in the operating process, then the old unstacking end effector is removed, and then the new unstacking end effector is moved to finish the 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 above purpose, the present invention adopts the following technical scheme:
The utility model provides an end effector quick change device breaks a jam, includes the unable adjustment base that is used for rotating 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 guard frame, and be close to lower extreme position symmetry and be fixed with two bracing pieces on the lateral wall of every guard frame, all slide on every bracing piece and be provided with the slider, all set up logical groove on the lateral wall of every short connecting rod, be provided with coupling mechanism in the logical groove.
As a further technical scheme of the invention, the upper end face of each supporting rod is provided with a sliding groove, the sliding block is arranged in the sliding groove in a sliding way, and the inner bottom of each sliding groove is provided with a limiting groove matched with the sliding block for use.
As a further technical scheme of the invention, each connecting mechanism comprises a plurality of lower rollers which are rotatably arranged at the inner bottom of 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 pick-up body, and a threaded hole matched with the threaded rod for use is formed in the side wall of the inserting block.
As a further technical scheme of the invention, the inner wall of each through groove is provided with a lifting groove, a roller mounting seat is movably arranged in the 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 surface of each roller mounting seat and the inner top of the lifting groove.
As a further technical scheme of the invention, a motor is fixed on the inner wall of each through groove and one end 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 mode, 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 protection 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 a 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 driving box rotates to a degree, the end effector body to be replaced rotates 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; in the process of installing the end effector body to the short connecting rod, the slider can be placed on each lower end of the end effector body at first, the position parallel and level of the inserting block and the through groove is achieved, the preliminary positioning of the opposite end effector body is achieved, then the end effector body is moved forwards, the inserting block is made to be close to the through groove, in the process, the slider moves in the limiting groove, an operator can conveniently move to place the end effector body, the weight of the end effector body is supported through the supporting rod, and the stress of the connecting rod is reduced.
2. When the end effector body is close to the in-process of short connecting rod with the plug-in block, the plug-in block can be inserted into the through groove, and in this process, a plurality of upper rollers can conflict the up end of plug-in block to make the plug-in block contact with the lateral wall of roller down, then the plug-in block is under the guide of roller and upper roller down, be close to the threaded rod, then the threaded rod rotates, the threaded rod enters into threaded hole, spacing fixed is carried out to plug-in block and end effector body, avoid the end effector body to appear dropping along with installation piece pivoted in-process, influence the result of use, the cooperation through last roller and the lower roller of setting is led to the plug-in block, conveniently remove the end effector body.
Drawings
FIG. 1 is a schematic diagram of a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a second embodiment of the present invention;
FIG. 3 is a schematic view of the inner structure of the chute according to 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 illustration of the connection of the upper roller to the roller mount of the present invention;
FIG. 6 is a schematic diagram of the connection of the motor to the rotating rod according to the present invention;
fig. 7 is a schematic connection diagram of the end effector body and the plugging block according to the present invention.
In the figure: 1. an end effector body; 2. a fixed base; 3. a support base; 4. a drive box; 5. a mounting block; 6. a long connecting rod; 7. a short connecting rod; 8. a protective frame; 9. a support rod; 10. a slide block; 11. a through groove; 12. a chute; 13. a limit groove; 14. a lower roller; 15. an upper roller; 16. a threaded rod; 17. an inserting block; 18. a threaded hole; 19. a roller mounting seat; 20. a contact spring; 21. a motor; 22. a rotating lever; 23. a support block; 24. a rotating groove; 25. and rotating the block.
Detailed Description
In order to further describe the technical means and effects adopted by the present invention for achieving the intended purpose, the following detailed description will refer to the specific implementation, structure, characteristics and effects according to the present invention with reference to the accompanying drawings and preferred embodiments.
Referring to fig. 1-7, an unstacking end effector quick-change device comprises a fixed base 2 for rotating an end effector body 1, wherein the fixed base 2 is fixedly installed at a designated position of a workbench, a supporting seat 3 is fixed on the upper end face of the fixed base 2, a driving box 4 is fixed on the upper end face of the supporting seat 3, a mounting block 5 is fixed at the tail end of a driving shaft of the driving box 4, two long connecting rods 6 and two short connecting rods 7 are symmetrically fixed on the peripheral side wall of the mounting block 5, two protection frames 8 are respectively fixed on two sides of each long connecting rod 6, two supporting rods 9 are symmetrically fixed on the side wall of each protection frame 8 and close to the lower end, the length of each supporting rod 9 is long, a sliding block 10 is respectively and slidably arranged on each supporting rod 9, a through groove 11 is respectively formed in the side wall of each short connecting rod 7, and a connecting mechanism is arranged in the through groove 11.
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 rotates to a position close to the robot, the robot picks up a new end effector body 1, and the operator takes down the old end effector body 1 which is rotated.
In the process of installing the end effector body 1 to 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 through groove 11, the preliminary positioning of the end effector body 1 is completed, then the end effector body 1 is moved forwards, the inserting block 17 is close to the through groove 11, in the process, the sliding block 10 moves in the limiting groove 13, the end effector body 1 is conveniently placed by the movement of an operator, the weight of the end effector body 1 is supported through the set supporting rod 9, and the stress of the connecting rod 7 is reduced.
The up end of every bracing piece 9 has all seted up spout 12, and slider 10 slides and sets up in spout 12, and the spacing groove 13 that cooperation slider 10 used has all been seted up to the interior bottom of every spout 12, through the spacing groove 13 that sets up, limits the travel distance of slider 10, in inserting the block 17 and inserting logical inslot 11 completely, slider 10 just in time moves the one side inner wall of contradicting spacing groove 13.
Each connecting mechanism comprises a plurality of lower rollers 14 which are 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, an inserting block 17 is fixed on the side wall of the end effector body 1, a threaded hole 18 matched with the threaded rod 16 is formed in the side wall of the inserting block 17, when the end effector body 1 is close to the short connecting rod 7 with the inserting block 17, the inserting block 17 is inserted into the through groove 11, in the process, the plurality of upper rollers 15 can abut against the upper end face of the inserting block 17, so that the inserting block 17 is contacted with the outer side wall of the lower rollers 14, then the inserting block 17 is close to the threaded rod 16 under the guiding of the lower rollers 14 and the upper rollers 15, the threaded rod 16 is rotated, the threaded rod 16 is inserted into the threaded hole 18, the inserting block 17 and the end effector body 1 are limited and fixed, the falling of the end effector body 1 in the process of following the rotation of the mounting block 5 is avoided, the using effect is influenced, and the upper rollers 15 and the upper rollers 14 and the lower rollers 14 are matched with the inserting block 17 are convenient to move the end effector body 1.
Lifting grooves are formed in the inner wall of each through groove 11, roller installation seats 19 are movably arranged in the lifting grooves, a plurality of upper rollers 15 are rotatably arranged in the corresponding roller installation seats 19, a plurality of interference springs 20 are fixedly arranged between the upper end face of each roller installation seat 19 and the inner top of the lifting groove, when the inserting block 17 enters the through groove 11, the upper rollers 15 are contacted with the upper end face of the inserting block 17 at first, then downward force is applied to the inserting block 17, the lower end face of the inserting block 17 is contacted with the lower roller 14, further positioning is conducted on the inserting block 17, at the moment, the interference springs 20 are stressed to shrink, and the roller installation seats 19 move upwards with the upper rollers 15, so that the inserting block 17 can enter the through groove 11 to complete matched connection.
The motor 21 is fixed on the inner wall of each through groove 11 and is close to one end of the mounting block 5, the rotating rod 22 is fixed at the tail end of the driving shaft of the motor 21, the supporting block 23 is fixed on the inner wall of each through groove 11, the rotating rod 22 rotates to penetrate through the supporting block 23, the rotating rod 22 is fixedly connected with the tail end of the threaded rod 16, when the threaded hole 18 is close to the threaded rod 16, the motor 21 drives the rotating rod 22 to rotate so as to drive the threaded rod 16 to rotate, the threaded rod 16 can rotate to enter the threaded hole 18, and at the moment, the threaded rod 16 is in threaded connection with the threaded hole 18, so that the inserting block 17 and the end effector body 1 are limited and fixed.
The upper end face of unable adjustment base 2 has been seted up and has been rotated groove 24, the bottom of two adjacent protection frames 8 is fixed with same dwang 25, dwang 25 rotates and sets up in rotating groove 24, the bottom of dwang 25 is fixed with the rotor, through the cooperation of dwang 25 and rotor that sets up, support the weight of protection frame 8, also make protection frame 8 follow installation piece 5 pivoted in-process can be pivoted more smooth and easy simultaneously, avoid protection frame 8 to appear blocking at pivoted in-process, influence result of use.
When the invention is used, 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 at 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 rotates 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 installing 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 through groove 11, the preliminary positioning of the end effector body 1 is completed, then the end effector body 1 is moved forwards, the inserting block 17 is 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 connecting rod 7 is reduced;
When the end effector body 1 is close to the short connecting rod 7 with the inserting block 17, the inserting block 17 can be inserted into the through groove 11, in the process, the upper end faces of the inserting block 17 can be abutted against the upper end faces of the upper rollers 15, so that the inserting block 17 is contacted with the outer side walls of the lower rollers 14, then the inserting block 17 is close to the threaded rod 16 under the guiding of the lower rollers 14 and the upper rollers 15, then the threaded rod 16 rotates, the threaded rod 16 enters into the threaded hole 18, the inserting block 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 block 5, the using effect is affected, the inserting block 17 is guided through the cooperation of the upper rollers 15 and the lower rollers 14, and the end effector body 1 is convenient to move.
The present invention is not limited to the above embodiments, but is capable of modification and variation in detail, and other modifications and variations can be made by those skilled in the art without departing from the scope of the present invention.
Claims (1)
1. The utility model provides an end effector quick change device breaks a jam, includes unable adjustment base (2) that are used for rotating end effector body (1), its characterized in that, unable adjustment base (2) up end is fixed with supporting seat (3), the up end of supporting seat (3) is fixed with driving case (4), driving case (4) drive shaft's end is fixed with installation piece (5), symmetrically be fixed with two long connecting rod (6) and two short connecting rod (7) on installation piece (5)'s the lateral wall all around, the both sides of every long connecting rod (6) all are fixed with protection frame (8), on the lateral wall of every protection frame (8) and be close to lower extreme position symmetry be fixed with two bracing pieces (9), all slide on every bracing piece (9) and be provided with slider (10), all set up logical groove (11) on every short connecting rod (7) lateral wall, be provided with coupling mechanism in logical groove (11);
The upper end face of each supporting rod (9) is provided with a sliding groove (12), the sliding blocks (10) are arranged in the sliding grooves (12) in a sliding mode, and the inner bottom of each sliding groove (12) is provided with a limiting groove (13) matched with the sliding blocks (10) for use;
Each connecting mechanism comprises a plurality of lower rollers (14) which are rotatably arranged at the inner bottom of 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), an inserting block (17) is fixed on the side wall of the end pick-up body (1), and a threaded hole (18) matched with the threaded rod (16) is formed in the side wall of the inserting block (17);
lifting grooves are formed in the inner wall of each through groove (11), roller mounting seats (19) are movably arranged in the lifting grooves, a plurality of upper rollers (15) are rotatably arranged in the corresponding roller mounting seats (19), and a plurality of abutting springs (20) are fixed between the upper end face of each roller mounting seat (19) and the inner top of each lifting groove;
A motor (21) is fixed on the inner wall of each through groove (11) and is close to one end of the mounting block (5), a rotating rod (22) is fixed at the tail end of a driving shaft of the motor (21), a supporting block (23) is fixed on 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 tail end of the threaded rod (16);
The upper end face of the fixed base (2) is provided with a rotating groove (24), the bottoms of two adjacent protection frames (8) are fixed with the 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 | 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 | Quick change device for unstacking end picking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115431293A CN115431293A (en) | 2022-12-06 |
| CN115431293B true CN115431293B (en) | 2024-05-31 |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108621189A (en) * | 2018-04-27 | 2018-10-09 | 上海发那科机器人有限公司 | A kind of terminal-collecting machine holder device |
| CN109465845A (en) * | 2019-01-15 | 2019-03-15 | 济南奥图科技有限责任公司 | A kind of terminal-collecting machine automatic-exchanging system |
| CN109968403A (en) * | 2019-04-30 | 2019-07-05 | 扬力集团股份有限公司 | A kind of manipulator replaces the device and replacing options of terminal-collecting machine automatically |
| CN211440042U (en) * | 2019-11-08 | 2020-09-08 | 广州合纵智能设备有限公司 | Hand quick-change end picking device |
| 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 |
| CN214162818U (en) * | 2020-12-25 | 2021-09-10 | 济南昊中自动化有限公司 | Automatic change quick automatic change device of end effector of press line |
| 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 |
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108621189A (en) * | 2018-04-27 | 2018-10-09 | 上海发那科机器人有限公司 | A kind of terminal-collecting machine holder device |
| CN109465845A (en) * | 2019-01-15 | 2019-03-15 | 济南奥图科技有限责任公司 | A kind of terminal-collecting machine automatic-exchanging system |
| CN109968403A (en) * | 2019-04-30 | 2019-07-05 | 扬力集团股份有限公司 | A kind of manipulator replaces the device and replacing options of terminal-collecting machine automatically |
| CN211440042U (en) * | 2019-11-08 | 2020-09-08 | 广州合纵智能设备有限公司 | Hand quick-change end picking device |
| 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 |
| CN214162818U (en) * | 2020-12-25 | 2021-09-10 | 济南昊中自动化有限公司 | Automatic change quick automatic change device of end effector of press line |
| 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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