CN221416675U - Rotary quick-changing device for end picking device - Google Patents
Rotary quick-changing device for end picking device Download PDFInfo
- Publication number
- CN221416675U CN221416675U CN202323227737.0U CN202323227737U CN221416675U CN 221416675 U CN221416675 U CN 221416675U CN 202323227737 U CN202323227737 U CN 202323227737U CN 221416675 U CN221416675 U CN 221416675U
- Authority
- CN
- China
- Prior art keywords
- end effector
- quick
- rotating
- support
- bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an end effector rotating quick-change device which comprises an end effector supporting part, a driving part, a rotating supporting part and a positioning part, wherein the end effector supporting part is fixed on the driving part, the driving part is fixed on the rotating supporting part, the positioning part is fixed on the rotating supporting part, the end effector supporting part comprises a quick-change rotating bracket, a shaft seat, a first limiting plate, a button box, a first end effector and a second end effector, the quick-change rotating bracket is used as a matrix, the shaft seat is connected with the quick-change rotating bracket, the first limiting plate is connected with the quick-change rotating bracket, the button box is arranged at two ends of the quick-change rotating bracket, and the first end effector and the second end effector are fixed at two ends of the quick-change rotating bracket. The utility model is matched with a robot to quickly replace the end effector, adopts a servo motor to drive the rotating shaft to rotate, realizes the rotating replacement function of the end effector, has the advantages of high moving speed, high automation degree and high working efficiency, and can realize the quick and accurate replacement function of the end effector.
Description
Technical Field
The utility model relates to the technical field of automation, in particular to a rotary quick-change device of an end effector.
Technical Field
In an automated production line involving robots, there is a strict requirement for the tact time as well as the time for the change of the whole line. At present, most of the mould changing of the robot end picking device in the automatic production adopts a manual mode, or the temporary storage position of the end picking device is simply arranged around the robot, and the end picking device is indirectly replaced by manually entering the production line, so that the mode is time-consuming and labor-consuming, and is not beneficial to the comprehensive efficiency of the production line.
The utility model provides a rotary quick-change device for an end effector, which can be used for replacing the end effector outside a production line, improves the operation safety and greatly reduces the production line change time.
Disclosure of utility model
The utility model aims to overcome the defects in the prior art and provides an end effector rotating quick-change device. The utility model is matched with a robot to quickly replace the end effector, adopts a servo motor to drive the rotating shaft to rotate, realizes the rotating replacement function of the end effector, has the advantages of high moving speed, high automation degree and high working efficiency, and can realize the quick and accurate replacement function of the end effector.
The technical scheme adopted for solving the technical problems is as follows:
The utility model provides an rotatory quick change device of end effector, contains end effector supporting part dress, drive division dress, rotation support part dress, location part dress, and end effector supporting part dress is fixed on drive division dress, and drive division dress is fixed on rotation support part dress, and location part dress is fixed on rotation support part dress, end effector supporting part dress includes quick change runing rest, axle bed, first limiting plate, button box, first end effector, second end effector to quick change runing rest is the base member, and the axle bed is connected with quick change runing rest, and first limiting plate is connected with quick change runing rest, and the button box is arranged at quick change runing rest both ends, and first end effector and second end effector are fixed at quick change runing rest both ends.
The driving part comprises a rotating shaft, a shaft sleeve, a servo motor, a speed reducer and a shaft coupling, the speed reducer is connected with the rotating support part, the rotating shaft is connected with the quick-change rotating support through a shaft seat, a first bearing and a second bearing are arranged on the rotating shaft, the rotating shaft penetrates through the inside of the shaft sleeve, the rotating shaft is fixed on the shaft sleeve through the first bearing and the second bearing, the servo motor is connected with the speed reducer, and the output end of the speed reducer is connected with the rotating shaft through the shaft coupling.
The rotary supporting part comprises a bearing seat, a stand column, a second limiting plate, a third limiting plate, a pressing plate, a bracket, a rotary drag chain groove, a drag chain and a drag chain cover, wherein a shaft sleeve is connected with the bearing seat, the bearing seat is connected with the stand column, the second limiting plate and the third limiting plate are arranged at the top of the bearing seat, the second limiting plate and the third limiting plate limit the first limiting plate, and the maximum rotation angle of the first limiting plate is controlled;
The servo motor and the speed reducer are arranged in the upright post, the speed reducer body is fixed at the bottom of the bearing seat, the pressing plate is connected with the support, the rotary drag chain groove is fixed at the lower end of the upright post, the drag chain is arranged in the rotary drag chain groove, the drag chain cover is connected with the rotary drag chain groove, and the support and the pressing plate move in the annular hole of the drag chain cover.
The positioning part comprises a sliding seat, a thin air cylinder, a third bearing, a positioning pin, a first pin hole seat and a second pin hole seat, wherein the sliding seat is connected with a bearing seat arranged on the rotary supporting part, the thin air cylinder is connected with the sliding seat, the third bearing is arranged in the sliding seat, the piston rod end of the thin air cylinder penetrates through the third bearing to be connected with the positioning pin, and the first pin hole seat and the second pin hole seat are arranged below a quick rotary support arranged on the end effector supporting part.
The pin holes of the first pin hole seat and the second pin hole seat adopt oval oblique angle structures, the locating pin adopts oblique angle structures, and the rotation error range brought by the back clearance of the speed reducer is contained in the oval long radius range by setting the oval long radius length of the first pin hole seat and the second pin hole seat.
The quick rotating bracket is provided with a purse net bracket in the middle, a safety purse net is arranged on the purse net bracket, and the bracket is arranged at the lower end of the safety purse net.
The purse net support and the quick rotating support are arranged at right angles in space.
The beneficial effects of the utility model are as follows:
1. the end effector rotating quick-change device comprises an end effector supporting part, wherein the end effector supporting part comprises a quick-change rotating bracket, a shaft seat, a first limiting plate, a button box, a first end effector and a second end effector, the shaft seat is connected with the quick-change rotating bracket, the first limiting plate is connected with the quick-change rotating bracket, the button box is arranged at two ends of the quick-change rotating bracket, and the first end effector and the second end effector are fixed at two ends of the quick-change rotating bracket.
2. The drive part is installed including rotation axis, axle sleeve, servo motor, speed reducer, shaft coupling, and the speed reducer is installed with rotation support part and is connected, and the rotation axis passes through axle bed and quick change runing rest connection, drives the rotation axis rotatory when servo motor rotates to drive the end and pick up the ware rotatory, through the rotation angle of control rotation axis, realize the quick replacement of end and pick up the ware in rotation angle.
In addition, the servo motor and the speed reducer are arranged inside the upright post, the drag chain groove is arranged into a semicircular structure according to the rotation angle of the rotating shaft, the purse net is arranged on the middle plane of the quick-change rotating shaft, and the whole device is compact in structure and small in occupied space.
3. The positioning part comprises a sliding seat, a thin air cylinder, a third bearing, a positioning pin, a first pin hole seat and a second pin hole seat, wherein the thin air cylinder is connected with the sliding seat, a piston rod end of the thin air cylinder penetrates through the third bearing to be connected with the positioning pin, the positioning pin is pushed by the thin air cylinder to accurately position the rotating position, the error influence caused by back clearance of a speed reducer can be solved, and the accurate quick change function of the end effector can be realized under the condition of selecting the speed reducer with a large back clearance value, so that the input cost is reduced.
4. Due to the back clearance effect of the speed reducer, the position of the end effector from the robot picking end effector deviates after the rotation of the end effector is finished, so as to ensure that the end effector is accurately positioned in the grabbing range of the robot; the positioning part can control the rotation angle of the device and improve the safety of the device in the running process.
5. The pin holes of the first pin hole seat and the second pin hole seat adopt oval oblique angle structures, the locating pin adopts oblique angle structures, and the rotation error range brought by the back clearance of the speed reducer is contained in the oval long radius range by setting the oval long radius length of the first pin hole seat and the second pin hole seat. The locating pin moves to the oval inside along the oblique angle of the pin hole seat upwards under the promotion of slim cylinder, and the pin hole seat gyration is to within the tolerance range to accurately control the end effector in the tolerance range of robot snatchs the position, realize the accurate quick change function of end effector.
6. The purse net support is installed in the middle of the quick rotating support, the safety purse net is installed on the purse net support, the support is fixed at the lower end of the safety purse net, an operator completes the installation of the end picking device outside the purse net, the purse net rotates along with the quick-change rotating support, the safety purse net has the advantages of safety and eye-catching, and the safety purse net can play a role in safety protection and warning.
7. The purse seine support and the quick rotating support are arranged at right angles in space, so that space is effectively utilized, and the compactness of structural design is improved.
Drawings
FIG. 1 is a schematic diagram of an end effector rotation quick-change device according to the present utility model;
Fig. 2 is a schematic structural view of the tooling 1;
Fig. 3 is a second schematic structural view of the tooling 1;
fig. 4 is a schematic diagram III of the structure of the tooling 1;
fig. 5 is a schematic diagram of the structure of the driving unit 2;
fig. 6 is a second schematic structural view of the driving unit 2;
fig. 7 is a schematic view of the structure of the rotary support unit 3;
fig. 8 is a second schematic structural view of the rotary support unit 3;
fig. 9 is a schematic diagram of the positioning unit 4;
fig. 10 is a second schematic structural view of the positioning unit 4;
Fig. 11 is a schematic diagram of the positioning unit 4.
Detailed Description
In order to make the technical solution of the present utility model better understood by those skilled in the art, the technical solution of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments.
As shown in fig. 1-11, an end effector rotating quick-change device comprises an end effector supporting part 1, a driving part 2, a rotating supporting part 3 and a positioning part 4, wherein the end effector supporting part 1 is fixed on the driving part 2, the driving part 2 is fixed on the rotating supporting part 3, and the positioning part 4 is fixed on the rotating supporting part 3. The utility model can realize the rapid and accurate replacement function of the end effector.
Referring to fig. 1 to 4, the end effector support 1 includes a quick-change rotating bracket 5, a shaft seat 6, a first limiting plate 7, a button box 8, a first end effector 9, and a second end effector 10, where the quick-change rotating bracket 5 is used as a substrate, the shaft seat 6 is connected with the quick-change rotating bracket 5, the first limiting plate 7 is connected with the quick-change rotating bracket 5, the button box 8 is disposed at two ends of the quick-change rotating bracket 5, and the first end effector 9 and the second end effector 10 are fixed at two ends of the quick-change rotating bracket 5.
The purse seine support 11 is installed in the middle of the quick rotating support 5, the purse seine support 11 is provided with the safety purse seine 12, and the safety purse seine 12 plays a role in safety protection and warning.
The purse net support 11 and the quick rotating support 5 are arranged at right angles in space, so that space is effectively utilized, and the compactness of structural design is improved.
Referring to fig. 5 to 6, the driving unit 2 includes a rotating shaft 13, a shaft sleeve 16, a servo motor 17, a speed reducer 18, and a coupling 19, the speed reducer 18 is connected with the rotating support unit 3, the rotating shaft 13 is connected with the quick-change rotating support 5 through the shaft seat 6, a first bearing 14 and a second bearing 15 are disposed on the rotating shaft 13, the rotating shaft 13 passes through the inside of the shaft sleeve 16, the rotating shaft 13 is fixed on the shaft sleeve 16 through the first bearing 14 and the second bearing 15, the servo motor 17 is connected with the speed reducer 18, and an output end of the speed reducer 18 is connected with the rotating shaft 13 through the coupling 19. When the servo motor 17 rotates, the rotating shaft 13 is driven to rotate, so that the end effector is driven to rotate, and the quick replacement of the end effector in the rotating angle is realized by controlling the rotating angle of the rotating shaft 13.
Referring to fig. 7 to 8, the rotary support unit 3 includes a bearing block 20, a column 21, a second limiting plate 22, a third limiting plate 23, a pressing plate 24, a bracket 25, a rotary drag chain groove 26, a drag chain 27, and a drag chain cover 28, the shaft sleeve 16 is connected with the bearing block 20, the bearing block 20 is connected with the column 21, the second limiting plate 22 and the third limiting plate 23 are disposed at the top of the bearing block 20, the second limiting plate 22 and the third limiting plate 23 limit the first limiting plate 7, and the maximum rotation angle of the first limiting plate 7 is controlled; the servo motor 17 and the speed reducer 18 are arranged in the upright post 21, the body of the speed reducer 18 is fixed at the bottom of the bearing seat 20, the pressing plate 24 is connected with the bracket 25, the bracket 25 is fixed at the lower end of the safety purse net 12, the rotary drag chain groove 26 is fixed at the lower end of the upright post 21, the drag chain 27 is arranged in the rotary drag chain groove 26, the drag chain cover 28 is connected with the rotary drag chain groove 26, and the bracket 25 and the pressing plate 24 move in the annular hole of the drag chain cover 28.
Due to the back clearance effect of the speed reducer, the position of the end pick-up device, which is picked up by the robot after the rotation of the end pick-up device is finished, has deviation, and in order to ensure that the end pick-up device is accurately positioned in the grabbing range of the robot, the utility model is provided with the positioning part 4 for positioning.
Referring to fig. 9 to 11, the positioning unit 4 includes a sliding seat 29, a thin cylinder 30, a third bearing 31, a positioning pin 32, a first pin hole seat 33, and a second pin hole seat 34, the sliding seat 29 is connected with the bearing seat 20 of the rotation support unit 3, the thin cylinder 30 is connected with the sliding seat 29, the third bearing 31 is installed inside the sliding seat 29, the piston rod end of the thin cylinder 30 passes through the third bearing 31 and is connected with the positioning pin 32, the first pin hole seat 33 and the second pin hole seat 34 are installed below the quick rotation support 5 of the end effector support unit 1, the pin holes of the first pin hole seat 33 and the second pin hole seat 34 adopt oval oblique angle structures, the positioning pin 32 adopts oblique angle structures, and the rotation error range caused by the back clearance of the speed reducer 18 is contained in the oval long radius range by setting the length of the first pin hole seat 33 and the second pin hole seat 34. The positioning pin 32 moves upwards to the inside of the ellipse along the oblique angle of the pin hole seat under the pushing of the thin air cylinder 30, and the pin hole seat rotates to be within the tolerance range, so that the end effector is accurately controlled within the tolerance range of the grabbing position of the robot, and the accurate quick-change function of the end effector is realized.
In addition, the first end effector 9 at the robot pick-up end effector position is replaced by the second end effector 10, and the main operation mode of the utility model is described as follows, taking a horizontal rotation of 180 ° as an example: the operator mounts the second end effector 10 at the free end of the quick-rotation support 5; the operator activates the device through the button box 8; the speed reducer 18 drives the rotation shaft 13 to rotate when rotating, so as to drive the quick rotating bracket 5 to rotate; the quick rotating bracket 5 drives the first end effector 9 and the second end effector 10 to horizontally rotate 180 degrees; the thin air cylinder 30 pushes the positioning pin 32 to move upwards, and the bevel structure at the top of the positioning pin 32 moves upwards in the bevel structure of the second pin hole seat 34; the positioning pin 32 moves upwards to the oval inner part of the second pin hole seat 34, and the second pin hole seat 34 is righted, so that the second end effector 10 is driven to righted within the tolerance range of the position of the robot gripping end effector; at this time, the positions of the first end effector 9 and the second end effector 10 are exchanged, the robot grabs the second end effector 10, and the operator removes the first end effector 9, so that the end effector rotation quick-change function is realized; the thin type cylinder 30 pulls the positioning pin 32 downward to the start position.
In the description of the present utility model, the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "vertical", "horizontal", etc. refer to the orientation or positional relationship based on that shown in the drawings, and are merely for the purpose of describing the present utility model and do not require that the present utility model must be constructed or operated in a specific orientation, and thus should not be construed as limiting the present utility model. "connected" and "connected" in the present utility model are to be understood broadly, and may be, for example, connected or detachably connected; the connection may be direct or indirect through intermediate members, and the specific meaning of the terms may be understood in detail by those skilled in the art.
The foregoing has been described in what is considered to be the preferred embodiments of the utility model, and the description of specific examples is only intended to provide a better understanding of the principles of the utility model. It will be apparent to those skilled in the art that modifications and equivalents may be made in accordance with the principles of the utility model, and such modifications and equivalents are considered to fall within the scope of the utility model.
Claims (7)
1. The utility model provides an rotatory quick change device of end effector, contains end effector supporting part dress, drive division dress, rotation support division dress, location portion dress, and end effector supporting part dress is fixed on drive division dress, and drive division dress is fixed on rotation support division dress, and location portion dress is fixed on rotation support division dress, its characterized in that, end effector supporting part dress includes quick change runing rest, axle bed, first limiting plate, button box, first end effector, second end effector, axle bed and quick change runing rest connection, first limiting plate and quick change runing rest connection, button box arrangement are at quick change runing rest both ends, and first end effector and second end effector are fixed at quick change runing rest both ends.
2. The end effector rotating quick-change device according to claim 1, wherein the driving unit comprises a rotating shaft, a shaft sleeve, a servo motor, a speed reducer and a shaft coupling, the servo motor is connected with the speed reducer, the speed reducer is connected with the rotating support unit, the rotating shaft is connected with the quick-change rotating support through a shaft seat, a first bearing and a second bearing are arranged on the rotating shaft, the rotating shaft penetrates through the shaft sleeve, the rotating shaft is fixed on the shaft sleeve through the first bearing and the second bearing, and the output end of the speed reducer is connected with the rotating shaft through the shaft coupling.
3. The quick rotating and replacing device of the end effector as claimed in claim 2, wherein the rotating support part comprises a bearing seat, a column, a second limiting plate, a third limiting plate, a pressing plate, a bracket, a rotating drag chain groove, a drag chain and a drag chain cover, the shaft sleeve is connected with the bearing seat, the bearing seat is connected with the column, the second limiting plate and the third limiting plate are arranged at the top of the bearing seat, the second limiting plate and the third limiting plate limit the first limiting plate, and the maximum rotating angle of the first limiting plate is controlled;
The servo motor and the speed reducer are arranged in the upright post, the speed reducer body is fixed at the bottom of the bearing seat, the pressing plate is connected with the support, the rotary drag chain groove is fixed at the lower end of the upright post, the drag chain is arranged in the rotary drag chain groove, the drag chain cover is connected with the rotary drag chain groove, and the support and the pressing plate move in the annular hole of the drag chain cover.
4. An end effector rotating quick change device according to claim 3 wherein the positioning means comprises a slide block, a thin cylinder, a third bearing, a positioning pin, a first pin hole block, and a second pin hole block, the slide block is connected to the bearing block of the rotating support means, the thin cylinder is connected to the slide block, the third bearing is mounted in the slide block, the rod end of the thin cylinder is connected to the positioning pin through the third bearing, and the first pin hole block and the second pin hole block are mounted under the quick rotating support of the end effector support means.
5. The rotational quick change device for an end effector as claimed in claim 4, wherein the pin holes of the first pin hole seat and the second pin hole seat are of an elliptical oblique angle structure, and the positioning pin is of an oblique angle structure, and the rotational error range caused by the backlash of the speed reducer is contained in the elliptical long radius range by setting the lengths of the elliptical long radii of the first pin hole seat and the second pin hole seat.
6. An end effector rotation quick change device according to claim 3 wherein a seine support is mounted in the middle of the quick rotation support, a safety seine is mounted on the seine support, and the support is mounted at the lower end of the safety seine.
7. An end effector rotation quick change device according to claim 6 wherein the seine support is arranged at right angles to the quick rotation support in space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323227737.0U CN221416675U (en) | 2023-11-28 | 2023-11-28 | Rotary quick-changing device for end picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323227737.0U CN221416675U (en) | 2023-11-28 | 2023-11-28 | Rotary quick-changing device for end picking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221416675U true CN221416675U (en) | 2024-07-26 |
Family
ID=92016308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323227737.0U Active CN221416675U (en) | 2023-11-28 | 2023-11-28 | Rotary quick-changing device for end picking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221416675U (en) |
-
2023
- 2023-11-28 CN CN202323227737.0U patent/CN221416675U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN117086849B (en) | Manipulator for carrying mold | |
| CN221416675U (en) | Rotary quick-changing device for end picking device | |
| CN219114100U (en) | Feeding and discharging manipulator for plastic mold production | |
| CN116394303A (en) | Robot carrying device and using method thereof | |
| CN211220697U (en) | Novel intelligent robot equipment | |
| CN210590412U (en) | Injection molding machine mould is got a delivery manipulator device | |
| CN221111888U (en) | Mechanical arm and mechanical arm device | |
| CN210935563U (en) | Device for spraying bed head | |
| CN211894960U (en) | Quick transfer positioning mechanism of tool for production line | |
| CN218255157U (en) | An assembly manipulator in an industrial manufacturing workshop | |
| CN214322682U (en) | Automatic feeding and discharging machine with cooperation of machine arms | |
| CN117463898A (en) | A robot for handling workpieces on production lines | |
| CN213235722U (en) | High-efficient low axle ring locking device | |
| CN116439043A (en) | Automatic flower seedling cuttage robot | |
| CN219768284U (en) | Multidirectional automatic manipulator | |
| CN210233029U (en) | Ground-placed type multi-joint robot | |
| CN210389182U (en) | Diversified automatic manipulator | |
| CN222308852U (en) | Intelligent mechanical arm control processing device | |
| CN222680978U (en) | Mechanical arm for machining center | |
| CN223971695U (en) | Grabbing mechanical arm | |
| CN222433941U (en) | A movable lifting device for assembling automobile parts | |
| CN220316545U (en) | Novel transport pile up neatly mechanism | |
| CN112475717B (en) | Automatic welding system for long and straight box structural members | |
| CN220197030U (en) | Feeding equipment for numerical control machine tool | |
| CN213494488U (en) | Paint spraying cover plate clamping mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |