CN216657976U - Quick changing device for end pick-up - Google Patents
Quick changing device for end pick-up Download PDFInfo
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- CN216657976U CN216657976U CN202122414179.3U CN202122414179U CN216657976U CN 216657976 U CN216657976 U CN 216657976U CN 202122414179 U CN202122414179 U CN 202122414179U CN 216657976 U CN216657976 U CN 216657976U
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Abstract
The utility model provides a quick-change device for an end effector, wherein a rotating mechanism is arranged to drive a rotating strip to rotate, two quick-change mechanisms are rotated to the upper part, two quick-change plates of the quick-change mechanisms face two positioning plates of the end effector, a manipulator moves down linearly to drive the end effector to move down, so that a positioning pin is inserted into a positioning hole from a half-large part of the positioning hole, the positioning plate can move easily due to the existence of a self-lubricating plate and moves towards a direction far away from a stop shaft, the middle part of the positioning pin is clamped in a half-small part of the positioning hole, a stop cylinder is started to enable a stop shaft to ascend and be clamped on the side surface of the positioning plate, so that the positioning plate is clamped on the quick-change mechanisms, the end effector is clamped, the rotating strip is rotated 180 degrees through the rotating mechanism, the other two quick-change mechanisms are rotated to the upper part, the other two quick-change mechanisms clamp the two end effectors to the upper part in the same principle, the manipulator moves down to be replaced, so that the manipulator can be replaced quickly and the clamping effect is good.
Description
Technical Field
The utility model relates to the field of stamping automatic production, in particular to a quick change device for an end effector.
Background
In the automated production of stamping parts, the end effector is an essential relocation tool when the work pieces are transferred between processes. The change of press line mould just must change the end effector, and prior art patent CN212170455U discloses a mechanism of quick change end effector under truss, including the truss connector, quick coupling mechanism is installed to the bottom of truss connector, install clamping mechanism on quick coupling mechanism's the preceding wall, the end effector is installed in quick coupling mechanism's the outside, and the quick change of end effector can be realized to the mechanism of quick change end effector under this truss, quick change mechanism wherein. However, the conventional three-coordinate or two-coordinate manipulator of the automatic stamping line can only do linear motion, and the problem that the replacement of the end picking device cannot be carried out quickly and conveniently due to the fact that the linear motion of the manipulator is not adapted to the linear motion of the manipulator for replacement cannot be met, so that inconvenience is brought to the replacement of the end picking device, and the end picking device cannot be replaced quickly and conveniently, and therefore the problem is very necessary to be solved.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems, the utility model provides a quick-change device of an end effector, wherein a rotating mechanism is arranged to drive a rotating strip to rotate, two quick-change mechanisms are rotated to the upper part, two quick-change plates of the quick-change mechanisms are opposite to two positioning plates of the end effector, a manipulator moves downwards linearly to drive the end effector to move downwards, so that a positioning pin is inserted into a positioning hole from a half-large part of the positioning hole, the positioning plate can move easily due to the existence of a self-lubricating plate and moves towards the direction far away from a stop shaft, the middle part of the positioning pin is clamped in a half-small part of the positioning hole, a stop cylinder is started to enable a stop shaft to be lifted and clamped on the side surface of the positioning plate, so that the positioning plate is clamped on the quick-change mechanisms, the end effector is clamped, the rotating strip is rotated by 180 degrees through the rotating mechanism, the other two quick-change mechanisms are rotated to the upper part, the other two quick-change mechanisms clamp the two end effectors to rotate to the upper part according to the same principle, the manipulator moves down to be replaced, so that the manipulator can be replaced quickly, the clamping effect is good, and the problem in the background art is solved.
The utility model aims to provide a quick-change device for an end effector, which comprises a moving vehicle, wherein a transverse horizontal rotating strip is arranged on the moving vehicle, and two ends of the rotating strip are arranged on the moving vehicle through a rotating mechanism;
the rotating strip is provided with four quick-change mechanisms which are oppositely arranged; the quick-change mechanism comprises two mounting plates arranged on the rotating strip, a mounting seat is arranged on each mounting plate, a quick-change plate perpendicular to the transverse rotating strip is arranged at the top of each mounting seat, positioning pins are arranged at two ends of the top of each quick-change plate, a self-lubricating plate is arranged between the two positioning pins at the top of each quick-change plate, a stop cylinder is arranged on the side surface of each quick-change plate, and a stop shaft is arranged at the top of each stop cylinder;
the positioning device is characterized by further comprising two positioning plates of the end effector, the two positioning plates correspond to the two mounting plates, the positioning plates are provided with two positioning holes corresponding to the two positioning pins of the mounting plates, half of the positioning holes are large and half of the positioning holes are small, the upper portions of the positioning pins are matched with the half of the large portions of the positioning holes, and the middle portions of the positioning pins are matched with the half of the small portions of the positioning holes.
The further improvement lies in that: when the positioning device is used for positioning the positioning shaft, the positioning shaft is arranged on the positioning hole, the positioning hole is arranged on the positioning shaft, the positioning shaft is arranged on the positioning hole, the positioning shaft is arranged on the positioning shaft, and the positioning shaft is clamped on the side face of the positioning shaft.
The further improvement lies in that: the outer end of one positioning hole of the positioning plates is provided with a notch for the entering of the positioning pin, and the other positioning hole is closed.
The further improvement lies in that: the mounting plate is provided with a linear rail perpendicular to the direction of the transverse rotating strip, a sliding block is arranged on the linear rail, and the mounting seat is arranged on the sliding block.
The further improvement lies in that: the slider side is provided with the linking arm, and the middle part is provided with the fixed block on the mounting panel, is connected through the connecting axle that has the spring between linking arm and the fixed block, and the connecting axle is connected through the screw thread mode with linking arm and fixed block.
The further improvement lies in that: the rotating mechanism comprises fixing seats arranged at two ends of the moving vehicle, supporting blocks are arranged at the tops of the fixing seats, a servo motor is arranged at the top of one supporting block, a rotating bearing block with a bearing is arranged at the top of the other supporting block, and the rotating strip is movably connected between the servo motor and the rotating bearing block.
The utility model has the beneficial effects that: the utility model drives the rotating strip to rotate by arranging the rotating mechanism, rotates two quick-change mechanisms to the upper part, leads two quick-change plates of the quick-change mechanisms to face two positioning plates of the end effector, leads the manipulator to move down linearly to drive the end effector to move down, leads the positioning pin to be inserted into the positioning hole from the half-large part of the positioning hole, leads the positioning plate to move easily due to the existence of the self-lubricating plate and move towards the direction far away from the stop shaft, leads the middle part of the positioning pin to be clamped in the half-small part of the positioning hole, leads the stop shaft to be lifted and clamped on the side surface of the positioning plate by starting the stop cylinder, thus clamping the positioning plate on the quick-change mechanisms, clamping the end effector, rotating the rotating strip by 180 degrees by the rotating mechanism, leading the other two quick-change mechanisms to rotate to the upper part, clamping the two end effectors to rotate to the upper part by the same principle by the other two quick-change mechanisms, and leading the manipulator to move down linearly to change, therefore, the clamping device can be quickly replaced and has a good clamping effect; the sliding block is arranged to adjust the moving position of the clamping part, and the sliding block is in threaded connection with the fixed block through the connecting shaft with the spring through the connecting arm, so that the adjustability is good; the rotating mechanism drives the rotating direction of the rotating strips through servo electric driving, and the controllability is good.
Drawings
FIG. 1 is a schematic of the present invention.
Fig. 2 is a schematic view of the quick-change mechanism of the present invention.
Fig. 3 is a schematic view of fig. 2 from another perspective.
Fig. 4 is a schematic view of the quick-change mechanism cut at the notch of the positioning hole of the positioning plate.
Wherein: 1-a moving vehicle, 2-a rotating bar, 3-a mounting plate, 4-a mounting seat, 5-a quick-change plate, 6-a positioning pin, 7-a self-lubricating plate, 8-a stopping cylinder, 9-a stopping shaft, 10-a positioning plate, 11-a positioning hole, 12-a linear rail, 13-a sliding block, 14-a connecting arm, 15-a fixed block, 16-a connecting shaft, 17-a fixed block, 18-a supporting block, 19-a servo motor and 20-a rotating bearing block.
Detailed Description
In order to further understand the present invention, the following detailed description will be made with reference to the following examples, which are only used for explaining the present invention and are not to be construed as limiting the scope of the present invention.
As shown in fig. 1-4, the present embodiment provides a quick changing device for an end effector, which includes a moving vehicle 1, wherein a horizontal rotating strip 2 is disposed on the moving vehicle 1, and two ends of the rotating strip 2 are disposed on the moving vehicle 1 through a rotating mechanism; the rotating mechanism comprises fixed seats 17 arranged at two ends of the moving vehicle 1, supporting blocks 18 are arranged at the tops of the fixed seats 17, a servo motor 19 is arranged at the top of one supporting block 18, a rotating bearing block 20 with a bearing is arranged at the top of the other supporting block 18, and the rotating strip 2 is movably connected between the servo motor 19 and the rotating bearing block 20; therefore, the rotating mechanism is arranged to drive the rotating strips to rotate, the rotating mechanism drives the rotating direction of the rotating strips through the servo motor 19, and the controllability is good.
The rotating strip 2 is provided with four quick-change mechanisms which are oppositely arranged; the quick-change mechanism comprises two mounting plates 3 arranged on the rotating strip 2, a mounting seat 4 is arranged on the mounting plate 3, a quick-change plate 5 perpendicular to the transverse rotating strip 2 is arranged at the top of the mounting seat 4, positioning pins 6 are arranged at two ends of the top of the quick-change plate 5, a self-lubricating plate 7 is arranged between the two positioning pins 6 at the top of the quick-change plate 5, a stop cylinder 8 is arranged on the side surface of the quick-change plate 5, and a stop shaft 9 is arranged at the top of the stop cylinder 8;
the positioning device further comprises two positioning plates 10 corresponding to the two mounting plates 3 of the end pick, the positioning plates 10 are provided with two positioning holes 11 corresponding to the two positioning pins 6 of the mounting plates 3, half of the positioning holes 11 are half large and half small, the upper portions of the positioning pins 6 are matched with the half large portions of the positioning holes 11, and the middle portions of the positioning pins 6 are matched with the half small portions of the positioning holes 11. At the beginning, the half small part of the positioning hole 11 close to one side of the stop shaft 9 is positioned right above the stop shaft 9, the positioning pin 6 is inserted into the positioning hole 11 from the half large part of the positioning hole 11, the upper part of the positioning pin 6 is positioned above the positioning hole 11, the positioning plate 10 moves towards the direction far away from the stop shaft 9, the middle part of the positioning pin 6 is clamped in the half small part of the positioning hole 11, and the stop shaft 9 rises and is clamped on the side surface of the positioning plate 10. The rotating strip is provided with four quick-change mechanisms, two of the quick-change mechanisms are rotated to the upper part, two quick-change plates of the quick-change mechanisms are opposite to two positioning plates of the end effector, the positioning pin 6 is inserted into the positioning hole 11 from the half-large part of the positioning hole 11, due to the existence of the self-lubricating plate, the positioning plate 10 can be easily moved to move away from the stop shaft 9, so that the middle part of the positioning pin 6 is clamped in a half-small part of the positioning hole 11, the stopping cylinder 8 is started to enable the stopping shaft 9 to ascend and be clamped on the side surface of the positioning plate 10, so that the positioning plate 10 is clamped on the quick-change mechanism, thereby press from both sides tightly the end effector, through rotary mechanism with 2 rotatory 180 of rotating strip, make two quick change mechanisms in addition rotatory to the top, two quick change mechanisms in addition are rotatory to the top with two end effectors of same principle centre gripping, change, but like this quick replacement, press from both sides tightly effectually.
The outer end of one positioning hole 11 of the positioning plates 10 is provided with a notch for the positioning pin 6 to enter, and the other positioning hole 11 is closed.
The mounting plate 3 is provided with a linear rail 12 perpendicular to the direction of the transverse rotating strip 2, the linear rail 12 is provided with a sliding block 13, and the mounting seat 4 is arranged on the sliding block 13. A connecting arm 14 is arranged on the side surface of the sliding block 13, a fixed block 15 is arranged in the middle of the mounting plate 3, the connecting arm 14 is connected with the fixed block 15 through a connecting shaft 16 with a spring, and the connecting shaft 16 is connected with the connecting arm 14 and the fixed block 15 in a threaded mode; therefore, the sliding block can adjust the moving position of the clamping part, and is in threaded connection with the fixed block 15 through the connecting shaft 16 with the spring through the connecting arm 14, so that the adjustability is good.
In actual use: firstly, moving the moving vehicle to the position below an end effector to be replaced of a stamping line, then driving the rotating strip 2 to rotate by the servo motor 19, enabling two of the four quick-change mechanisms to face upwards, the other two of the four quick-change mechanisms to face downwards, enabling the positioning pins of the upward quick-change mechanisms to face upwards, then driving the two end effectors to move downwards and linearly, enabling the large half of the two positioning holes 11 of the positioning plate 10 of the end effector to be sleeved outside the positioning pins 6, then linearly moving the end effector to the direction far away from the stop cylinder 8, due to the existence of the self-lubricating plate 7, enabling the positioning plate 10 of the end effector to move easily, enabling the positioning pins 6 to be clamped in the small half of the positioning holes 11, then starting the stop cylinder 8 to move the stop shaft 9 upwards to abut against the side surface of the positioning plate 10, enabling the positioning pins 6 to be completely clamped in the positioning holes, thus completing the clamping of the end effectors, and then detaching the end effectors by a manipulator, the other two quick-change mechanisms downwards clamp two end-effectors to be changed on the same principle, and finally the servo motor 19 drives the rotating strip 2 to rotate 180 degrees so that the disassembled end-effector faces downwards, the end-effector to be changed faces upwards, and then the manipulator moves down to assemble the end-effector to be changed, so that the quick clamping and quick change of the end-effector are realized.
Claims (6)
1. A quick change device of an end effector comprises a moving vehicle (1), wherein a transverse horizontal rotating strip (2) is arranged on the moving vehicle (1), and two ends of the rotating strip (2) are arranged on the moving vehicle (1) through a rotating mechanism;
the method is characterized in that: the rotating strip (2) is provided with four quick-change mechanisms which are oppositely arranged; the quick-change mechanism comprises two mounting plates (3) arranged on the rotating strip (2), a mounting seat (4) is arranged on each mounting plate (3), a quick-change plate (5) perpendicular to the transverse rotating strip (2) is arranged at the top of each mounting seat (4), positioning pins (6) are arranged at two ends of the top of each quick-change plate (5), a self-lubricating plate (7) is arranged between the two positioning pins (6) at the top of each quick-change plate (5), a stop cylinder (8) is arranged on the side surface of each quick-change plate (5), and a stop shaft (9) is arranged at the top of each stop cylinder (8);
the positioning device is characterized by further comprising two positioning plates (10) corresponding to the two mounting plates (3) of the end pick-up, the positioning plates (10) are provided with two positioning holes (11) corresponding to the two positioning pins (6) of the mounting plates (3), half of the positioning holes (11) are large and half of the positioning holes are small, the upper portions of the positioning pins (6) are matched with the half of the positioning holes (11) in a large mode, and the middle portions of the positioning pins (6) are matched with the half of the positioning holes (11) in a small mode.
2. The quick change tooling for an end effector as set forth in claim 1, wherein: at the beginning, the half-small part of the positioning hole (11) close to one side of the stop shaft (9) is positioned right above the stop shaft (9), the positioning pin (6) is inserted into the positioning hole (11) from the half-large part of the positioning hole (11), the upper part of the positioning pin (6) is positioned above the positioning hole (11), the positioning plate (10) moves towards the direction far away from the stop shaft (9), the middle part of the positioning pin (6) is clamped in the half-small part of the positioning hole (11), and the stop shaft (9) rises and is clamped on the side surface of the positioning plate (10).
3. The quick change tooling for an end effector as set forth in claim 1, wherein: the outer end of one positioning hole (11) in the positioning plates (10) is provided with a notch for the positioning pin (6) to enter, and the other positioning hole (11) is closed.
4. The quick change tooling for an end effector as set forth in claim 1, wherein: the mounting plate (3) is provided with a linear rail (12) which is vertical to the direction of the transverse rotating strip (2), the linear rail (12) is provided with a sliding block (13), and the mounting seat (4) is arranged on the sliding block (13).
5. The quick change tooling for an end effector as set forth in claim 4, wherein: the side of the sliding block (13) is provided with a connecting arm (14), the middle of the mounting plate (3) is provided with a fixed block (15), the connecting arm (14) is connected with the fixed block (15) through a connecting shaft (16) with a spring, and the connecting shaft (16) is connected with the connecting arm (14) and the fixed block (15) in a threaded mode.
6. The quick change tooling for an end effector as set forth in claim 1, wherein: the rotating mechanism comprises fixed seats (17) arranged at two ends of the moving vehicle (1), supporting blocks (18) are arranged at the tops of the fixed seats (17), a servo motor (19) is arranged at the top of one supporting block (18), a rotating bearing block (20) with a bearing is arranged at the top of the other supporting block (18), and the rotating strip (2) is movably connected between the servo motor (19) and the rotating bearing block (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122414179.3U CN216657976U (en) | 2021-10-08 | 2021-10-08 | Quick changing device for end pick-up |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122414179.3U CN216657976U (en) | 2021-10-08 | 2021-10-08 | Quick changing device for end pick-up |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216657976U true CN216657976U (en) | 2022-06-03 |
Family
ID=81766406
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122414179.3U Active CN216657976U (en) | 2021-10-08 | 2021-10-08 | Quick changing device for end pick-up |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216657976U (en) |
-
2021
- 2021-10-08 CN CN202122414179.3U patent/CN216657976U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Pickup quick-change device Effective date of registration: 20221230 Granted publication date: 20220603 Pledgee: Industrial and Commercial Bank of China Limited Wuhu Administrative New Area Sub-branch Pledgor: ANHUI RONGFA PUNCHING ROBOT CO.,LTD. Registration number: Y2022980029797 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |