CN209737655U - Device for automatically replacing end effector by manipulator - Google Patents
Device for automatically replacing end effector by manipulator Download PDFInfo
- Publication number
- CN209737655U CN209737655U CN201920615684.4U CN201920615684U CN209737655U CN 209737655 U CN209737655 U CN 209737655U CN 201920615684 U CN201920615684 U CN 201920615684U CN 209737655 U CN209737655 U CN 209737655U
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- Prior art keywords
- end effector
- change
- quick
- claw
- manipulator
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Abstract
The utility model provides a device for automatically replacing an end effector of a manipulator in the technical field of machinery, which comprises a frame, wherein a plurality of supporting claws for supporting the end effector are distributed at the periphery of the frame, at least two groups of replacing mechanisms are arranged on the frame, each replacing mechanism comprises a claw which can rotate and do reciprocating linear movement in the left and right direction and a movable plate which can be lifted, when the end effector is supported and arranged on the supporting claws, the claw can block the upper part of the end effector, and the movable plate is hinged with a claw which extends upwards and can rotate; the utility model discloses it is convenient to change, and work efficiency is high.
Description
Technical Field
The utility model belongs to the technical field of machinery, in particular to change device of end effector.
Background
The end effector is the device of erection joint on industrial robot or manipulator, the end effector utilizes vacuum chuck or clamp and is snatched the thing contact, carry it to another assigned position from a position, along with the development of modern science and technology, mechanical automation degree is higher and higher, utilize the manipulator to drive the end effector and carry out snatching of work piece, the mode of auxiliary production such as placing is by more and more applied to in the production, in order to use manpower sparingly, and the production efficiency is improved, but along with the robot production line to many varieties, high-speed, automatic, the flexible orientation develops, how quick replacement end effector becomes the bottleneck of restricting high-efficient production, especially to the production line of frequently changing the end effector, the time of manual change end effector is longer, efficiency is lower.
At present, the internal main quick die change mode is divided into ball lock quick change and manual quick change, but because ball lock quick change is expensive, hardly promotes by a large scale, and artifical quick change end effector can gain the effect of changing the end effector, nevertheless extravagant manpower and inefficiency hardly satisfy the rhythm of the high-efficient production of production line, and simultaneously, operating personnel gets into the personal safety of the assurance equipment personnel that frequent change end effector of production line can not be fine.
In the Chinese patent database, the patent name 'automatic device for replacing an end pick-up by a mechanical arm', the application publication date is 20180629, and the application publication number is CN207548059U, the device comprises a moving trolley, a mounting seat frame and a mounting chuck, the mounting seat frame is fixed on the moving trolley, the mounting chuck comprises a fixed support plate, a positioning block, a clamp hook head and a positioning pin, when the end pick-up needs to be replaced, the device needs to fix the mounting seat frame on the moving trolley, the end pick-up needing to be replaced is installed on the chuck by workers before mold replacement, the clamp hook head automatically recovers and locks the end pick-up to prevent the end pick-up from falling off, then the moving trolley of the end pick-up and a moving worktable of a press synchronously enter the device, the clamp hook head is opened after the end pick-up is pressed close to the end pick-up by the mechanical arm according to an edited track, the end pick-up is taken off, the trolley is taken out of a production, the replacement is inconvenient, and the trolley moving track needs to be laid on the production line basis of production in the replacement mode, so that the construction is complex and the replacement is inconvenient.
SUMMERY OF THE UTILITY MODEL
To the defect among the prior art, the utility model discloses an aim at solves the weak point among the prior art, has solved and has changed inconveniently among the prior art, and technical problem that work efficiency is high provides a device of automatic change end effector of manipulator, and this device is changed conveniently, and is efficient.
The purpose of the utility model is realized like this: the utility model provides an automatic device of changing end effector of manipulator, includes the frame, a plurality of having arranged in the periphery of frame is used for supporting the support claw of end effector, be equipped with two sets of at least replacement mechanisms in the frame, change the mechanism and include rotatable and can be on the left and right sides direction reciprocating linear motion's jack catch and the movable plate of liftable, end effector supports when setting up on supporting the claw, the jack catch can block the upper portion of end effector, it has upwards to extend and rotatable hook to articulate on the movable plate.
In the utility model, the replacing mechanism for separating the manipulator and the end effector is a replacing mechanism I, the replacing mechanism for connecting the manipulator and the end effector to be replaced is a replacing mechanism II, the end effector is arranged on the manipulator, the manipulator is a device for driving the end effector to move towards the direction of the frame or away from the direction of the frame, the end effector to be replaced is placed on a supporting claw close to the replacing mechanism II, the manipulator drives the end effector to move towards the direction of the supporting claw close to the replacing mechanism I, the end effector is placed on the supporting claw, a clamping claw of the replacing mechanism I moves towards the direction of the end effector in the left and right directions and rotates, the clamping claw fixes the end effector on the frame, the clamping claw rotates towards the direction of the manipulator, so that the clamping claw blocks the manipulator, the moving plate drives the clamping claw to move upwards, the clamping claw pushes the manipulator, the manipulator is separated from the end effector, and then the clamping claw rotates towards the direction away from the manipulator, the hook claw is separated from the mechanical arm, the mechanical arm moves to the designated position on the end effector to be replaced, the mechanical arm stops moving, the support claw of the replacing mechanism II rotates and moves towards the direction of the end effector to be replaced, so that the end effector to be replaced is fixed on the frame, the movable plate drives the hook claw to move upwards to the designated position, the hook claw rotates towards the direction of the mechanical arm, the hook claw blocks the mechanical arm, then the movable plate drives the hook claw to move downwards, the hook claw pulls the mechanical arm to connect the mechanical arm with the end effector, finally the hook claw rotates towards the direction far away from the mechanical arm to separate the hook claw from the mechanical arm, the hook claw, the movable plate and the support claw return to the initial position, the automatic replacement of the end effector is finally completed, the mechanical arm drives the end effector to be replaced to leave the frame to continue working, the automatic replacement of the mechanical arm and the end effector can be realized through the setting, the work is reliable, the replacement is convenient, and the efficiency is high; the automatic replacing device can be applied to automatic replacing work of the end pick-up.
But just change the end effector automatically in order to realize the manipulator, still include the quick change frock, the quick change frock is including connecting the female head of quick change on the manipulator and connecting the public head of quick change on the end effector, be equipped with in the female head of quick change and hold the chamber, the public head of quick change is kept away from the one end of end effector and is upwards inserted and hold the intracavity, open the outside of the relative end effector setting of the female head of quick change has at least one and leads the spout, be equipped with the tight round pin of clamp on the public head of quick change, the outside of the female head of quick change articulates there is at least one to press from both sides tight hook, press from both sides the tight hook and can catch the tight round pin of clamp that stretches out guide chute, press from both sides.
In order to realize that the jack catch is rotatable and can be reciprocating linear motion in the left and right directions, the upper end of frame is equipped with corner down-pressing cylinder, be equipped with on the rotatory down-pressing cylinder and can be reciprocating motion and rotatable telescopic link in the left and right directions, the one end and the telescopic link one end fixed connection outwards of jack catch, the other end of jack catch can block the end effector.
In order to realize that the moving plate can move up and down in the height direction, the replacing mechanism further comprises a linear driver I fixedly connected to the rack, a moving body capable of moving up and down in the height direction is arranged on the linear driver I, and the moving plate is fixedly connected with the moving body.
In order to realize that the claw can hook or separate from the handle, the moving plate is hinged with a linear driver II, a push-pull rod which can reciprocate up and down in the height direction and extends upwards is arranged on the linear driver II, and the upward end of the push-pull rod is hinged with the claw.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a perspective structural view of the present invention.
Fig. 3 is a partial enlarged view of a portion a in fig. 2 according to the present invention.
Fig. 4 is an exploded view of the quick-change female head and the quick-change male head of the present invention.
Fig. 5 is a perspective view of the middle pick-up according to the present invention.
The quick-change tool comprises a machine frame 1, a 101 supporting claw, a 2 end effector, a 3 replacing mechanism, a 301 corner pressing cylinder, a 302 telescopic rod, a 303 claw, a 304 linear driver I, a 305 moving body, a 306 moving plate, a 307 linear driver II, a 308 push-pull rod, a 309 claw, a 4 quick-change tool, a 401 quick-change female head, a 401a accommodating cavity, a 401b guide chute, a 401c clamping hook, a 401d handle, a 402 quick-change male head and a 402a clamping pin.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 to 5, a device for automatically replacing an end effector of a manipulator comprises a frame 1, a plurality of supporting claws 101 for supporting an end effector 22 are arranged at the periphery of the frame 1, at least two sets of replacing mechanisms 3 are arranged on the frame 1, each replacing mechanism 3 comprises a claw 303 capable of rotating and performing reciprocating linear movement in the left-right direction and a movable plate 306 capable of lifting, when the end effector 22 is supported and arranged on the supporting claw 101, the claw 303 can clamp the upper part of the end effector 22, an upwardly extending and rotatable claw 309 is hinged on the movable plate 306, an angle pressing cylinder 301 is arranged at the upper end of the frame 1, a telescopic rod 302 capable of performing reciprocating movement in the left-right direction and capable of rotating is arranged on the rotating pressing cylinder, one end of the claw 303 is fixedly connected with the outward end of the telescopic rod 302, the other end of the claw 303 can clamp the end effector 22, the replacing mechanism 3 further comprises a linear driver 304 fixedly connected to the frame 1, a moving body 305 capable of vertically reciprocating in the height direction is arranged on the linear driver I304, the moving plate 306 is fixedly connected with the moving body 305, a linear driver II 307 is hinged on the moving plate 306, a push-pull rod 308 capable of vertically reciprocating in the height direction and extending upwards is arranged on the linear driver II 307, and the upward end of the push-pull rod 308 is hinged with the claw 309; still include quick change frock 4, quick change frock 4 is including connecting the female head 401 of quick change on the manipulator and connecting the public head 402 of quick change on end effector 22, be equipped with in the female head 401 of quick change and hold chamber 401a, the public head 402 of quick change is kept away from the one end of end effector 22 and is upwards inserted and hold in chamber 401a, the outside of the relative end effector 22 setting of the female head 401 of quick change has at least one guide chute 401b, be equipped with on the public head 402 of quick change and press from both sides tight round pin 402a, the outside of the female head 401 of quick change articulates there is at least one to press from both sides tight hook 401c, press from both sides tight hook 401c and can catch the tight round pin 402a that stretches out guide chute 401b, the handle 401d that fixedly connected with on the tight hook 401c outwards stretches.
In the utility model, the replacing mechanism 3 for separating the manipulator and the end effector 2 is a replacing mechanism 3I, the replacing mechanism 3 for connecting the manipulator and the end effector 2 to be replaced is a replacing mechanism 3 II, the end effector 2 is installed on the manipulator, the manipulator is a device for driving the end effector 2 to move towards the direction of the frame 1 or away from the direction of the frame 1, the end effector 2 to be replaced is placed on the supporting claw 101 close to the replacing mechanism 3 II, the manipulator drives the end effector 2 to move, the end effector 2 is placed on the supporting claw 101 of the frame 1 close to the replacing mechanism 3I, the corner pressing cylinder 301 of the replacing mechanism 3I acts, the telescopic rod 302 of the corner pressing cylinder 301 drives the jack catch 303 to rotate towards the direction of the end effector 2, the end effector 2 is fixed on the frame 1, the push-pull rod 308 of the linear driver II 307 pushes the jack catch 309 to rotate towards the direction of the handle 401d, the hook 309 is made to block the handle 401d, the linear actuator I304 operates the moving body 305 to move upwards, the moving body 305 drives the moving plate 306 to move upwards, the moving plate 306 moves, the hook 309 pushes the handle 401d upwards, the handle 401d transmits pushing force to the clamping hook 401c, the clamping hook 401c is separated from the clamping pin 402a, the clamping pin 402a can move along the guide chute 401b, the quick-change male head 402 is separated from the quick-change female head 401, namely the manipulator is separated from the end effector 2, then the push-pull rod 308 of the linear actuator II 307 drives the hook 309 to rotate in the direction away from the handle 401d, the hook 309 is separated from the handle 401d, the clamping pin 402a can move along the guide chute 401b, the manipulator drives the quick-change female head 401 to move in the direction of the end effector 2 to be replaced, the quick-change male head 402 is inserted into the accommodating cavity 401a of the quick-change female head 401, and the manipulator stops moving, the corner pressing cylinder 301 of the second replacing mechanism 3 is operated, the telescopic rod 302 of the corner pressing cylinder 301 drives the claw 303 to rotate towards the direction of the end effector 2, so that the end effector 2 to be replaced is fixed on the rack 1, the first linear driver 304 operates the moving body 305 to move upwards to a specified position, the push-pull rod 308 of the second linear driver 307 pushes the claw 309 to rotate towards the handle 401d, so that the claw 309 blocks the handle 401d, the first linear driver 304 operates the moving body 305 to move downwards, the moving body 305 drives the moving plate 306 to move downwards, the moving plate 306 moves, so that the claw 309 pulls the handle 401d downwards, the handle 401d transmits the pulling force to the clamping hook 401c, so that the clamping hook 401c hooks the clamping pin 402a, and finally the push-pull rod 308 of the second linear driver 307 pushes the claw 309 to rotate towards the direction far away from the handle 401d, so that the claw 309 is separated from the handle 401d, the automatic replacement of the end effector 2 is finally completed, the manipulator drives the end effector 2 to be replaced to leave the rack 1 for continuous work, the arrangement of the replacement mechanism 3 on the rack 1 of the utility model can realize the automatic replacement of the manipulator and the end effector 2, the work is reliable, the replacement is convenient, and the work efficiency is high; can be applied to automatic replacement work of the end effector 2.
The present invention is not limited to the above-mentioned examples, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some replacements and transformations for some technical features without creative labor according to the disclosed technical contents, and these replacements and transformations are all within the protection scope of the present invention.
Claims (5)
1. The utility model provides an automatic device of changing end effector of manipulator, a serial communication port, which comprises a frame, a plurality of having arranged of frame is used for supporting the support claw of end effector, be equipped with two sets of change mechanisms at least in the frame, change the mechanism and include rotatable and can be on the left and right sides direction reciprocating linear motion's jack catch and the movable plate of liftable, end effector supports when setting up on supporting the claw, the jack catch can block the upper portion of end effector, it has upwards to extend and rotatable hook to articulate on the movable plate.
2. The device for automatically replacing an end effector of a manipulator according to claim 1, further comprising a quick-change tool, wherein the quick-change tool comprises a quick-change female head connected to the manipulator and a quick-change male head connected to the end effector, a containing cavity is arranged in the quick-change female head, one end, far away from the end effector, of the quick-change male head is upwards inserted into the containing cavity, at least one guide chute is formed in the outer side of one end, opposite to the end effector, of the quick-change female head, a clamping pin is arranged on the quick-change male head, at least one clamping hook is hinged to the outer side of the quick-change female head, the clamping pin extending out of the guide chute can be hooked by the clamping hook, a handle extending outwards is fixedly connected to the clamping hook, and the handle can be hooked by the hook.
3. The device for automatically replacing the end effector of the manipulator according to claim 1, wherein a corner pressing cylinder is arranged at the upper end of the frame, a telescopic rod capable of reciprocating and rotating in the left-right direction is arranged on the corner pressing cylinder, one end of the jaw is fixedly connected with the outward end of the telescopic rod, and the other end of the jaw can clamp the end effector.
4. The apparatus according to claim 1, wherein the replacing mechanism further comprises a first linear actuator fixedly connected to the frame, the first linear actuator being provided with a movable body vertically reciprocable in a height direction, the movable body being fixedly connected to the movable body.
5. The apparatus according to claim 1, wherein the moving plate is hinged to a second linear actuator, the second linear actuator is provided with a push-pull rod which can reciprocate up and down in the height direction and extend upward, and an upward end of the push-pull rod is hinged to the claw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920615684.4U CN209737655U (en) | 2019-04-30 | 2019-04-30 | Device for automatically replacing end effector by manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920615684.4U CN209737655U (en) | 2019-04-30 | 2019-04-30 | Device for automatically replacing end effector by manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209737655U true CN209737655U (en) | 2019-12-06 |
Family
ID=68722275
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920615684.4U Withdrawn - After Issue CN209737655U (en) | 2019-04-30 | 2019-04-30 | Device for automatically replacing end effector by manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209737655U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
-
2019
- 2019-04-30 CN CN201920615684.4U patent/CN209737655U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20191206 Effective date of abandoning: 20230616 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20191206 Effective date of abandoning: 20230616 |