CN217648415U - End effector replacing device for tail of press line - Google Patents
End effector replacing device for tail of press line Download PDFInfo
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- CN217648415U CN217648415U CN202221209460.1U CN202221209460U CN217648415U CN 217648415 U CN217648415 U CN 217648415U CN 202221209460 U CN202221209460 U CN 202221209460U CN 217648415 U CN217648415 U CN 217648415U
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Abstract
The utility model discloses a device is changed to end effector of punching press line tail mainly relates to the change field on the end effector line. Including setting up the change passageway in the robot top, the position that the change passageway is located the robot top is equipped with change mouth, its characterized in that: the tooling device is characterized in that a plurality of tooling device placing frames are arranged at the replacing port, tooling devices matched with manipulators of a robot are arranged on the tooling device placing frames, the tooling device placing frames are rotatably connected with the replacing channel, and a power rod for driving the tooling device placing frames to rotate is arranged on the replacing channel. The beneficial effects of the utility model reside in that: the tooling can make full use of the space above the tail of the stamping line, so that the end effector is more convenient and quicker to replace, the space occupancy rate around the stamping line is reduced, and the production safety is ensured.
Description
Technical Field
The utility model relates to an end effector changes the field on the line, specifically is an end effector of punching press line tail changes device.
Background
For saving the cost in the press line, present line tail can adopt the mode of robot unloading, high efficiency and with low costs, when being used for unloading to the sheet material of different shapes, need to change the end effector on the manipulator of robot, the end effector replacement scheme of present robot line tail is two kinds, first high-speed manipulator scheme, this scheme cost is higher, need the cooperation of high-speed truss, still be equipped with special end effector and change the room, second scheme robot adds revolving door scheme, the end effector is changed and is realized through the revolving door mode, these two kinds of schemes all need set up extra change space around the press line, the space region around the press line has been occupied, make the environmental space around the press line comparatively compact, produce phenomenons such as collision easily when the operation, the security of production has been influenced.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a device is changed to end effector of punching press line tail, its top space that can make full use of punching press line tail for the change of end effector is convenient more and swift, has reduced the space occupancy around the punching press line, has guaranteed the security of production.
The utility model discloses a realize above-mentioned purpose, realize through following technical scheme:
the utility model provides a device is changed to end effector at press line tail, is including setting up the change passageway in the robot top, the position that the change passageway is located the robot top is equipped with changes the mouth, it is equipped with a plurality of end effector racks to change mouth department, be equipped with the end effector that the manipulator of cooperation robot used on the end effector rack, the end effector rack rotates with the change passageway to be connected, it is equipped with drive end effector rack pivoted power rod on the change passageway.
Furthermore, the edge of the replacing opening is rotatably connected with a rotating shaft, one side of the end effector placing frame is fixed on the rotating shaft, and the power rod is used for driving the rotating shaft to rotate.
Furthermore, the lower part of the replacing channel is rotatably connected with a telescopic rod, one end of the power rod is rotatably connected at the movable end of the telescopic rod, and the other end of the power rod is fixedly connected with the rotating shaft.
Furthermore, the telescopic rod is a cylinder.
Furthermore, be equipped with two manipulators on the robot, change and be equipped with a plurality of end effector rack that cooperate every manipulator to use on the mouth.
Furthermore, every manipulator cooperation is used and is held the ware rack for three, and three end is held the ware rack and is encircleed the setting respectively and change three side of mouthful.
Contrast prior art, the beneficial effects of the utility model reside in that:
1. the utility model discloses set up the change passageway in the top space of robot, the position that lies in the robot top on the change passageway sets up the change mouth, change mouth department and set up a plurality of end effector rack, the manipulator motion of robot is to the end effector rack department of change mouth when changing, place the end effector on certain end effector rack or take off the end effector from certain end effector rack, thereby realize the quick replacement of end effector, avoid the occupation of space around the counterpunch line, can not produce the phenomenon that the motion interferes and leads to the appearance collision in the press line operation process, the convenience of having guaranteed to change and the security of production;
2. the end effector rack is connected with changing the passageway rotation, when the manipulator moves to changing mouth department, if the motion stroke of manipulator is restricted, can't carry out perfect cooperation with the end effector on the end effector rack, utilize power rod drive end effector rack to rotate towards the direction of changing the mouth so this moment to accurate and the manipulator cooperate the installation, need not revise the motion angle and the stroke of current manipulator itself, guaranteed the accuracy that the end effector was changed.
Drawings
Fig. 1 is a schematic diagram of the changing process of the end effector of the present invention.
Fig. 2 is a schematic diagram of the arrangement position of the end effector placing frame of the present invention.
Fig. 3 is a schematic structural diagram of the power rod of the present invention.
Reference numerals shown in the drawings:
1. a robot; 2. replacing the channel; 3. replacing the port; 4. placing a picking device rack; 5. a manipulator; 6. an end effector; 7. a power rod; 8. a rotating shaft; 9. a telescopic rod.
Detailed Description
The present invention will be further described with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention can be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present invention.
The utility model relates to a device for replacing an end effector 6 at the tail of a punching line, which comprises a main body structure, a replacing channel 2 arranged above a robot 1, wherein the robot 1 is any robot structure used for blanking on the existing punching line, an end effector used for clamping plates is arranged on a manipulator of the robot, the end effector needs to be replaced when the plates with different materials and shapes need to be operated, the replacing channel 2 is arranged in the space above the robot 1 to form a two-layer structure, a replacing port 3 is arranged at the position of the replacing channel 2 above the robot 1, the replacing port 3 is positioned in the motion range of the manipulator of the robot, a plurality of end effector placing frames 4 are arranged at the replacing port 3, an end effector 6 used by matching with a manipulator 5 of the robot 1 is arranged on the end effector placing frame 4, the end effector placing frame 4 is used for temporarily storing the end effector 6, the specific process is that after an old end effector 6 is placed on an end effector placing frame 4 by a manipulator 5, the end effector 6 is manually or automatically replaced, so that the old end effector is replaced by a new end effector, the subsequent blanking of sheet materials is convenient to use, then the manipulator 5 moves to the position of the new end effector placing frame 4 to be replaced according to the blanking requirement, the end effector 6 on the manipulator 5 is installed on the manipulator 5 to realize the quick replacement of the end effector 6, the replacement process is realized above a robot 1 without occupying the space around a stamping line and interfering with the operation of the stamping line, the convenience and the safety of the replacement of the end effector are ensured, the end effector placing frame 4 is rotationally connected with a replacement channel 2, a power rod 7 for driving the end effector placing frame 4 to rotate is arranged on the replacement channel 2, and a replacement port 3 is positioned above the robot 1, manipulator 5 of current robot 1 probably can't accurate rotate suitable angle and end effector 4 and cooperate, consequently set up end effector rack 4 into the rotation form, make it can face the direction slope of changing mouthful 3, thereby make end effector 6 on it can rotate the back and carry out accurate cooperation with manipulator 5's direction, thereby realize the accurate change of end effector 6, need not improve the motion angle and the stroke of manipulator 5 of current robot 1, improved the adaptability with current press line cooperation use.
Preferably, the edge rotation of changing mouth 3 is connected with pivot 8, and specific pivot 8 rotates through the bearing and connects the edge of changing mouth 3, one side welding or the bolt fastening of end effector rack 4 is on pivot 8, power rod 7 is used for driving 8 rotations of pivot, still can set up the steadiness that the lifting rope was used for when stabilizing end effector rack 4 and rotates on changing passageway 2 for the rotation of pivot 8 drives the successful orientation of changing mouth 3 of end effector rack 4, makes the angle of slope more easily control, simple structure, and the cost is lower, convenient realization and manipulator 5's accurate cooperation.
Preferably, the below of changing passageway 2 is connected with telescopic link 9 through round pin axle or hinge rotation, the one end of power rod 7 is connected at the expansion end of telescopic link 9 through round pin axle or hinge rotation, the other end and the 8 welding of pivot or bolt fixed connection of power rod 7, such setting when telescopic link 9 carries out flexible operation, just can drive pivot 8 with its expansion end pivoted power rod 7 and rotate to realize the rotation drive of end effector rack 4, realize the control to end effector rack 4 turned angle through the flexible distance of control telescopic link 9, control is more accurate and convenient.
Preferably, the telescopic link 9 is the cylinder, and the structural cost of cylinder is low, and its flexible distance is controlled more easily, can be through with control structures such as PLC better cooperation, realize the automatic tilt operation of end effector rack 4.
Preferably, be equipped with two manipulators 5 on the robot 1, two manipulators 5 can improve the efficiency of press line unloading, change simultaneously and be equipped with a plurality of end effector rack 4 that cooperate every manipulator 5 to use on the mouth 3, every manipulator 5 all carries out the change operation of end effector 6 through rather than a plurality of end effector rack 4 that cooperate to use for every manipulator can change end effector 6 alone, mutually noninterfere each other, guarantees the efficiency and the accuracy of changing.
Preferably, the tooling rack 4 that every manipulator 5 cooperation was used is three, and three tooling rack 4 encircles the setting respectively and is changing mouthful 3 three side, and trilateral the three tooling rack 4 that encircles that sets up can be with under the turned angle fully-matched's of manipulator 5 the condition for tooling rack 4's quantity is more, for the unloading of multiple sheet material uses and makes preparation, realizes the high-efficient unloading operation of punching line pair different sheet materials.
The working principle is as follows: the utility model discloses set up change passageway 2 in the space above robot 1, change the position that lies in robot 1 top on passageway 2 and set up change mouth 3, change mouth 3 and set up a plurality of end effector rack 4, manipulator 5 of robot 1 moves to the end effector rack 4 of changing mouth 3 when changing, place end effector 6 on certain end effector rack 4 or take off end effector 6 from certain end effector rack 4, thereby realize the quick replacement of end effector 6, the occupation of space around the counterpunch line has been avoided, can not produce the motion interference and lead to the phenomenon of collision in the press line operation process, the convenience of having guaranteed to change and the security of production; end effector rack 4 rotates with change passageway 2 to be connected, when manipulator 5 moves to changing mouthful 3 department, if the motion stroke of manipulator 5 is restricted, can't carry out perfect cooperation with end effector 6 on the end effector rack 4, utilize power rod 7 drive end effector rack 4 to rotate towards the direction of changing mouthful 3 so this moment, thereby accurate and manipulator 5 cooperate the installation, need not revise the motion angle and the stroke of current manipulator 5 itself, the accuracy of end effector 6 change has been guaranteed.
Claims (6)
1. The utility model provides a device is changed to end effector at press line tail, is including setting up change passageway (2) in robot (1) top, the position that change passageway (2) are located robot (1) top is equipped with changes mouth (3), its characterized in that: change mouthful (3) department and be equipped with a plurality of end effector rack (4), be equipped with end effector (6) that manipulator (5) of cooperation robot (1) used on end effector rack (4), end effector rack (4) rotate with change passageway (2) and are connected, be equipped with drive end effector rack (4) pivoted power rod (7) on changing passageway (2).
2. The tooling exchange apparatus for the end of a press line as recited in claim 1, wherein: the edge of the replacing opening (3) is rotatably connected with a rotating shaft (8), one side of the end effector placing frame (4) is fixed on the rotating shaft (8), and the power rod (7) is used for driving the rotating shaft (8) to rotate.
3. The tooling exchange apparatus for the end of a press line according to claim 2, wherein: the below of changing passageway (2) is rotated and is connected with telescopic link (9), the one end of power rod (7) is rotated and is connected the expansion end at telescopic link (9), the other end and pivot (8) fixed connection of power rod (7).
4. The tooling exchange apparatus for the end of a press line according to claim 3, wherein: the telescopic rod (9) is a cylinder.
5. The tooling exchange apparatus for the end of a press line as recited in claim 1, wherein: the robot is characterized in that two mechanical arms (5) are arranged on the robot (1), and a plurality of end effector placing frames (4) matched with each mechanical arm (5) for use are arranged on the replacing opening (3).
6. The tooling exchange apparatus for the end of line stamping according to claim 5, wherein: every manipulator (5) cooperation use pick-up rack (4) be three, and three pick-up rack (4) encircle respectively to set up on the three side of changing mouthful (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221209460.1U CN217648415U (en) | 2022-05-19 | 2022-05-19 | End effector replacing device for tail of press line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221209460.1U CN217648415U (en) | 2022-05-19 | 2022-05-19 | End effector replacing device for tail of press line |
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| Publication Number | Publication Date |
|---|---|
| CN217648415U true CN217648415U (en) | 2022-10-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221209460.1U Active CN217648415U (en) | 2022-05-19 | 2022-05-19 | End effector replacing device for tail of press line |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117404577A (en) * | 2023-10-25 | 2024-01-16 | 济南二机床固德自动化有限公司 | Recognition system and recognition method for replacing punch line terminal device |
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2022
- 2022-05-19 CN CN202221209460.1U patent/CN217648415U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117404577A (en) * | 2023-10-25 | 2024-01-16 | 济南二机床固德自动化有限公司 | Recognition system and recognition method for replacing punch line terminal device |
| CN117404577B (en) * | 2023-10-25 | 2024-05-17 | 济南二机床固德自动化有限公司 | Recognition system and recognition method for replacing punch line terminal device |
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