CN220840232U - Quick detachable end picking device - Google Patents

Abstract

The utility model relates to the field of automatic conveying devices, and discloses a quick-dismantling and replacing end effector, which comprises an end effector assembly and a quick-dismantling disc detachably connected with the end effector assembly, wherein a butt joint mechanism is arranged between the quick-dismantling disc and the end effector, the butt joint mechanism comprises a female flange arranged on the quick-dismantling disc, a sub flange fixed on the end effector assembly and in butt joint with the female flange, and a positioning and locking mechanism arranged between the female flange and the sub flange, wherein the positioning and locking mechanism can lock the two flanges through rotating an angle smaller than one turn after the two flanges are in butt joint, and the end effector can be quickly installed and positioned.

Description

Quick detachable end picking device

Technical Field

The utility model relates to the field of automatic conveying devices, in particular to an end effector capable of being quickly detached and replaced.

Background

The end effector is used for carrying parts and clamps in automatic processing, the movement of the end effector is controlled by a manipulator or a truss generally, the production efficiency can be remarkably improved, the existing end effector structure can refer to the end effector disclosed in Chinese patent publication No. CN 203448571U, the end effector comprises two main bearing rods which are arranged in parallel, an adjusting rod perpendicular to the main bearing rods is arranged on the main bearing rods, one end of each adjusting rod, which is far away from each bearing rod, is provided with an end effector component, an inductor is arranged on the main bearing rod, which is close to a sucker, and is triggered when the end effector component contacts the parts, the end effector component is started to grasp the parts, and the end effector can be connected with the manipulator through the main bearing rods.

According to the structure, the end pick-up device is connected with the manipulator and then carries the parts along with the movement of the manipulator, but the quick-dismantling end pick-up device can not meet the grabbing requirements of all types of parts, so that the end pick-up device corresponding to different parts is required to be prepared on a production line for replacement, the traditional end pick-up device is generally fixed with the pipe rack, the pipe rack is connected with lifting equipment such as the manipulator and the like, the existing pipe rack fixing mode mostly adopts an open pipe rack, whether the clamping positions are consistent or not is difficult to distinguish by naked eyes when the pipe rack is fixed, and the position of the end pick-up device is required to be measured and adjusted by means of a measuring tool at the moment, so that the efficiency of installing or replacing the end pick-up device is lower.

Disclosure of utility model

Aiming at the defect that the efficiency of installation or replacement is low due to the fact that a pipe frame of an end effector with a traditional structure needs to be positioned by a measuring tool, the utility model aims to provide an end effector capable of being installed and positioned quickly.

In order to solve the technical problems, the utility model is solved by the following technical scheme:

The utility model provides an end that can tear open fast and trade is picked up ware, including end and pick up the ware subassembly, end is picked up the ware subassembly and is included pipe support and a plurality of sucking discs, end is picked up the ware subassembly and can dismantle and connect on quick change dish, quick change dish is connected with the manipulator, be provided with docking mechanism between quick change dish and the end and pick up the ware subassembly, docking mechanism includes the female flange that sets up on the quick change dish, be fixed in on the end and pick up the ware subassembly with the son flange of female flange butt joint and set up between female flange and son flange can lock the location locking mechanism of two flanges through the angle that rotates less than the round after two flange butt joints, location locking mechanism includes the location portion that is used for butt joint location two between two flanges and locks the locking portion of two after female flange and son flange butt joint location.

By adopting the scheme, all parts of the end effector can be fixed on the sub flange after calibration is finished, the sub flange and the main flange can be used in butt joint locking during installation, the recalibration alignment is not needed, and the positioning locking mechanism can lock the two flanges only by rotating for less than one circle.

Preferably, the positioning part comprises at least two positioning pins protruding towards one side of the main flange on the sub flange and positioning holes arranged on the main flange and matched with the positioning pins in an inserting manner.

By adopting the scheme, the locating pins are inserted into the locating holes to enable the sub-flanges to be aligned with the main flanges and limit the movement of the sub-flanges.

Preferably, the locking part comprises a locking rod penetrating through the female flange, an open slot which is arranged on the sub-flange and can be used for accommodating the locking rod to pass through, a limiting block which is arranged at one end of the locking rod close to the sub-flange and is smaller than the open slot in width and longer than the open slot, and a limiting slot which is arranged on the open slot back to the female flange and is used for embedding the limiting block and is sunken towards two sides, wherein the limiting slot is arranged on one surface of the locking rod, opposite to the female flange, and the limiting block can be limited to be separated from and locked by rotating the rotating locking assembly.

Preferably, the rotation locking assembly comprises a rotation piece hinged at one end of the locking rod far away from the limiting block, an inclined table surface which is spirally and circumferentially distributed by taking the locking rod as an axle center is arranged at one end of the rotation piece facing the female flange, a stop plane is arranged at the most protruding position of the inclined table surface, a matching bulge which is in butt joint with the inclined table surface and the stop plane is convexly arranged on the female flange, and a stop block which is in butt joint with the side surface of the matching bulge and is used for limiting the excessive rotation of the rotation piece is convexly arranged on the stop plane.

By adopting the scheme, the width direction of the limiting block is aligned with the open slot to enable the locking rod to penetrate through the open slot, then the limiting block is rotated and pulled back to enable the limiting block to be embedded into the limit slot, the rotating piece is rotated, the matched protrusion slides from the state of abutting with the most concave part of the inclined table surface to the state of abutting with the most convex part of the inclined table surface, the locking rod is enabled to move towards the female flange, the two flanges are mutually pressed, the matched protrusion rotates to the stop plane to abut with the stop plane, the interference fit enables the rotating piece not to rotate at will, flange unlocking is prevented due to the fact that vibration and the like is caused, meanwhile, the side face of the matched protrusion is limited to rotate with the stop block, the inclined table surface and the matched protrusion can lock the two flanges within the range of one rotation of the rotating piece, so that the end effector is faster and more convenient to install and detach, and after the sub-flange is detached, the rotating locking assembly is still remained on the female flange, and parts such as a screw nut are not required to be searched during installation.

Preferably, the rotating member is provided with at least one set of inclined table-board, stop plane, fitting protrusion and stop block around the circumference.

Preferably, the locking parts are circumferentially distributed on the two flanges at intervals.

By adopting the scheme, the more the groups of the inclined table top are, the smaller the angle required to rotate is, and the stress of the rotating piece is more uniform, so that the locking state of the flange is more stable, and the at least two groups of locking parts are arranged at intervals in the circumferential direction, so that the flange can not be stressed on one side when being locked.

Preferably, the locking rod is provided with a first operation piece which is convenient for the limiting block to be embedded into the through groove when the two flanges are in butt joint, and the operation piece is a rotating block which is convexly arranged at one end of the locking rod away from the limiting block.

By adopting the scheme, when two flanges are in butt joint through the positioning part, the limiting block can be clamped between the two flanges, the locking rod is rotated to enable the limiting block to penetrate through the opening groove to be separated from the clamping, and the locking rod is driven to be more labor-saving and more convenient through the rotating block.

Preferably, the rotating member is provided with a second operating member which facilitates rotation of the rotating member, and the second operating member includes a handle protruding from an outer wall of the rotating member.

By adopting the scheme, the rotating piece is rotated by the handle, so that more labor is saved.

The utility model has the remarkable technical effects due to the adoption of the technical scheme:

1. All parts of the end effector can be fixed on the sub flange after calibration is finished, the sub flange and the main flange can be used by butt locking during installation, the alignment is not required to be calibrated again, and the positioning locking mechanism can lock the two flanges only by rotating for less than one circle.

2. The rotating piece is rotated, the matching bulge slides from the state of abutting with the concave part of the inclined table surface to the state of abutting with the convex part of the inclined table surface, the locking rod is enabled to move towards the female flange, the two flanges are mutually pressed, the matching bulge rotates to the stop plane to be in interference abutting connection with the stop plane, the rotating piece can not rotate randomly due to interference fit, flange unlocking is caused by vibration and other reasons when the rotating piece is used, meanwhile, the side face of the matching bulge and the stop block are in abutting connection to be limited to rotate, the inclined table surface and the matching bulge can lock the two flanges in the range of rotating one circle of the rotating piece, the process of mounting and dismounting of the end effector is enabled to be quicker and more convenient, and when the sub flange is dismounted, the rotating locking assembly still stays on the female flange, so that parts such as a screw nut and the like are not required to be searched when the mounting is carried out, and the mounting can be carried out.

Drawings

FIG. 1 is a perspective view of a quick disconnect tooling according to the present embodiment;

FIG. 2 is a split view of a quick disconnect of the present embodiment;

FIG. 3 is an enlarged view of a portion of FIG. 2 about A;

fig. 4 is a partial enlarged view of B in fig. 2;

Fig. 5 is a split view of a quick disconnect tooling for a rotational lock assembly in a quick disconnect tooling according to the present embodiment.

The names of the parts indicated by the numerical reference numerals in the above drawings are as follows: 1. an end effector assembly; 101. a pipe rack; 102. a suction cup; 2. quick-change disc; 3. a female flange; 4. a sub-flange; 5. a locking part; 501. a locking lever; 502. a limiting block; 503. an open slot; 504. a limit groove; 6. a positioning pin; 7. positioning holes; 8. a rotating member; 801. an inclined table top; 802. a stop plane; 803. fitting the protrusion; 804. a stopper; 9. a rotating block; 10. a handle.

Detailed Description

The present utility model will be described in further detail with reference to the accompanying drawings and examples.

Examples

The utility model provides an end effector that can tear open fast trades, according to the shown in fig. 1, including end effector subassembly 1, end effector subassembly includes pipe support 101 and a plurality of sucking discs 102, and end effector subassembly 1 can dismantle and connect on quick change dish 2, and quick change dish 2 is connected with the manipulator, relies on the removal of manipulator to carry out the transport of material, above is prior art.

The improvement of this embodiment lies in that a docking mechanism is arranged between the quick-change disc 2 and the end effector, according to fig. 2, the docking mechanism includes a female flange 3 arranged on the quick-change disc 2, a sub flange 4 fixed on the end effector assembly 1 and docking with the female flange 3, a positioning locking mechanism capable of locking the two flanges by rotating an angle smaller than one turn after the two flanges are docking positioned is arranged between the female flange 3 and the sub flange 4, the positioning locking mechanism includes a positioning part arranged between the two flanges and used for docking positioning the two, according to fig. 2, in this embodiment, the positioning part includes two positioning pins 6 protruding towards one side of the female flange 3 on the sub flange 4, and positioning holes 7 in insertion fit with the positioning pins 6 are arranged on the female flange 3.

The positioning and locking mechanism further comprises a locking part 5, when the female flange 3 and the sub flange 4 are in butt joint through the positioning part and then locked through the locking part 5, according to the illustration of fig. 4, the locking part 5 comprises a locking rod 501 penetrating through the female flange 3, the sub flange 4 is provided with an opening slot 503 capable of containing the locking rod 501 to penetrate through, one end of the locking rod 501 close to the sub flange 4 is provided with a limit block 502 with a width smaller than the opening slot 503 and a length longer than the opening slot 503, the opening slot 503 is opposite to a limit slot 504 which is concavely arranged on one side facing to the two sides of the female flange 3 and is used for embedding the limit block 502, after the limit block 502 penetrates through the opening slot 503, the locking rod 501 is rotated and pulled back to enable the limit block 502 to be embedded into the limit slot 504, according to the illustration of fig. 4 or 5, the locking rod 501 is provided with a rotating locking component capable of limiting the limit block 502 to be separated from and locked by one circle, according to the illustration of fig. 5, the rotating component comprises a rotating piece 8 which is hinged at one end of the locking rod 501 far away from the limit block 502, one end of the rotating member 8 facing the female flange 3 is provided with an inclined table surface 801 which is spirally and circumferentially distributed by taking the locking rod 501 as an axis, a stop plane 802 is arranged at the most protruding part of the inclined table surface 801, a matching projection 803 which is in butt joint with the inclined table surface 801 and the stop plane 802 is convexly arranged on the female flange 3, a stop block 804 which is in butt joint with the side surface of the matching projection 803 and is used for limiting excessive rotation of the rotating member 8 is convexly arranged on the stop plane 802, the rotating member 8 is rotated to enable the matching projection 803 to slide from a state of butt joint with the most concave part of the inclined table surface 801 to a state of butt joint with the most protruding part of the inclined table surface 801, the locking rod 501 is moved towards the female flange 3, the two flanges 803 are mutually pressed, the matching projection is rotated to a position of the stop plane 802 to be in interference butt joint with the locking projection, the interference fit enables the rotating member 8 not to rotate randomly, and flange unlocking caused by vibration and the like during use is prevented, while the side surface of the fitting projection 803 abuts against the stopper 804 to be restricted from rotating, and the inclined surface 801 and the fitting projection 803 can lock both flanges within the range of one rotation of the rotating member 8.

The rotating member 8 is provided with at least one group of inclined table top 801, a stop plane 802, a matching protrusion 803 and a stop block 804 around the circumferential direction, the more the groups of inclined table top 801 are, the smaller the angle required to rotate is, and the more even the stress of the rotating member 8 is, so that the locking state of the flange is more stable, according to the illustration of fig. 4, the rotating member 8 is provided with two groups of inclined table top 801, a stop plane 802, a matching protrusion 803 and a stop block 804, in this embodiment, the locking parts 5 are located on two flanges at intervals in the circumferential direction, and the at least two groups of locking parts 5 are arranged at intervals in the circumferential direction, so that the flange can not be stressed on one side when being locked.

Be provided with on the locking lever 501 and make things convenient for stopper 502 to imbed the first operating member of groove when two flanges dock, according to the illustration of fig. 3 or fig. 5, operating member is for rotating the piece 9 that the one end of keeping away from stopper 502 in locking lever 501 was protruding establishes, when two flanges dock through the location portion, stopper 502 probably can block between two flanges, rotates locking lever 501 and makes stopper 502 pass open slot 503 and break away from the card and die, and it can be more laborsaving more convenient to order about locking lever 501 through rotating piece 9.

The rotating member 8 is provided with a second operating member which facilitates the rotation of the rotating member 8, and according to fig. 3 or 5, the second operating member is a handle 10 protruding from the outer wall of the rotating member 8, and the rotating member 8 is rotated by the handle 10 to save more effort.

According to the above structure, the mounting process of the tooling body and the quick-change tray 2 will be described with reference to fig. 1 to 5:

Firstly, butting the sub flange 4 with the main flange 3 to enable the end effector assembly 1 to be in butting connection with the quick-change disc 2;

Next, the locking rod 501 is rotated to enable the limiting block 502 to pass through the opening groove 503, and then the locking rod 50190 is rotated and pulled back, so that the limiting block 502 is embedded into the limiting groove 504;

Finally, the rotating members 8180 ° are rotated one by one, so that the matching protrusions 803 slide from the most concave position of the inclined table surface 801 to the most convex position and enter the stop plane 802, the locking rod 501 moves towards the female flange 3 to lock the two flanges, after all the rotating members 8 finish rotating, the female flange 3 and the sub flange 4 are completely locked, compared with the existing end pick-up device, the end pick-up device in the embodiment can fix and calibrate the end pick-up device assembly 1 and the sub flange 4 in advance and then butt-joint with the female flange 3, and therefore, the end pick-up device assembly is not required to calibrate and align again during installation, and the two flanges can be locked only by rotating 180 ° through the locking part 5, so that the end pick-up device is convenient and quick to install, the required time is greatly saved, and the installation efficiency is improved.

Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (8)

1. The utility model provides an end effector that can tear open fast and trade, includes end effector subassembly (1), and end effector subassembly includes pipe support (101) and a plurality of sucking discs (102), and end effector subassembly (1) can dismantle and be connected on quick change dish (2), and quick change dish (2) are connected its characterized in that with the manipulator: the quick-change disc (2) and the end effector assembly (1) are provided with a butt joint mechanism, the butt joint mechanism comprises a female flange (3) arranged on the quick-change disc (2), a sub-flange (4) fixedly connected with the female flange (3) on the end effector assembly (1) and a positioning locking mechanism arranged between the female flange (3) and the sub-flange (4) and capable of locking the two flanges through rotating an angle smaller than one turn after the two flanges are in butt joint, and the positioning locking mechanism comprises a positioning part arranged between the two flanges and used for butt joint positioning and a locking part (5) used for locking the female flange (3) and the sub-flange (4) after the two flanges are in butt joint positioning.

2. A quick disconnect tooling as defined in claim 1 wherein: the positioning part comprises at least two positioning pins (6) protruding towards one side of the female flange (3) on the sub-flange (4) and positioning holes (7) arranged on the female flange (3) and in plug-in fit with the positioning pins (6).

3. A quick disconnect tooling as defined in claim 2 wherein: the locking part (5) comprises a locking rod (501) penetrating through the female flange (3), an opening groove (503) which is arranged on the sub-flange (4) and can be used for accommodating the locking rod (501) to penetrate through, a limiting block (502) which is arranged at one end of the locking rod (501) close to the sub-flange (4) and is smaller than the opening groove (503) in width and longer than the opening groove (503), and a limiting groove (504) which is arranged on the opening groove (503) and is opposite to the female flange (3) and is sunken towards two sides and used for embedding the limiting block (502), wherein the locking rod (501) is provided with a rotating locking assembly which rotates to be smaller than one circle and can limit the limiting block (502) to be separated from and lock the two flanges.

4. A quick disconnect tooling as defined in claim 3 wherein: the rotary locking assembly comprises a rotary piece (8) hinged to one end, away from a limiting block (502), of a locking rod (501), an inclined table surface (801) which is spirally and circumferentially distributed by taking the locking rod (501) as an axis is arranged at one end, facing a female flange (3), of the rotary piece (8), a stop plane (802) is arranged at the most protruding position of the inclined table surface (801), a matching protrusion (803) which is in butt joint with the inclined table surface (801) and the stop plane (802) is arranged on the female flange (3) in a protruding mode, and a stop block (804) which is in butt joint with the side face of the matching protrusion (803) and used for limiting excessive rotation of the rotary piece (8) is arranged on the stop plane (802) in a protruding mode.

5. A quick disconnect tooling as defined in claim 4 wherein: at least one group of inclined table-boards (801), a stop plane (802), a matching protrusion (803) and a stop block (804) are arranged on the rotating piece (8) around the circumferential direction.

6. A quick disconnect tooling as defined in claim 4 wherein: the locking parts (5) are circumferentially distributed on the two flanges at intervals to form at least two groups.

7. A quick disconnect tooling as defined in claim 4 wherein: be provided with on locking lever (501) and make things convenient for stopper (502) to imbed the first operating piece in groove when two flanges dock, operating piece is in locking lever (501) one end that keeps away from stopper (502) protruding rotating block (9) of establishing.

8. A quick disconnect tooling as defined in claim 4 wherein: the rotating part (8) is provided with a second operating part which is convenient for the rotating part (8) to rotate, and the second operating part comprises a handle (10) which is convexly arranged on the outer wall of the rotating part (8).