Gripper storage device

Abstract

This invention provides a gripper storage device, comprising: a support; a storage rack assembly movably mounted on the support, the storage rack assembly being movable along the support; and a placement rack assembly for placing the gripper, the placement rack assembly including a first connecting end and a second connecting end, the first connecting end being detachably connected to the storage rack assembly, and the placement rack assembly being movable between a first position and a second position along the storage rack assembly, the first position being higher than the second position. This invention facilitates the storage of grippers.

Description

Technical Field

[0001] This invention relates to the field of vehicle production equipment technology, and in particular to a gripper storage device. Background Technology

[0002] During vehicle manufacturing, various vehicle components require grippers for gripping and movement. Different components require different grippers, and even the same component may require different grippers depending on the vehicle model. Therefore, a gripper storage device is needed to store grippers during vehicle manufacturing. For example, grippers required for different vehicle models at a certain stage need to be stored in the gripper storage device for easy replacement. Gripper storage devices typically have multiple storage slots for grippers, which are directly placed in these slots. When the number of grippers exceeds the number of storage slots, storing the excess grippers requires additional equipment, which is inconvenient for gripper storage and replacement. Summary of the Invention

[0003] The present invention provides a gripper storage device and method to at least solve some of the above-mentioned technical problems existing in the prior art.

[0004] In a first aspect, embodiments of the present invention provide a gripper storage device, comprising: support; A storage rack assembly is movably mounted on the support, and the storage rack assembly is movable along the support. A placement rack assembly for placing a gripper, the placement rack assembly including a first connecting end and a second connecting end, the first connecting end being detachably connected to the storage rack assembly, and the placement rack assembly being movable along the storage rack assembly between a first position and a second position, the first position being higher than the second position.

[0005] In an optional embodiment, the support includes: beam; A transverse slide rail is provided on the crossbeam, and the storage rack assembly is slidably connected to the transverse slide rail.

[0006] In an optional embodiment, the storage rack assembly includes: The base is slidably engaged with the bracket. A first driving mechanism is disposed on the base and is connected to the bracket in a transmission manner. The first driving mechanism is used to drive the base to move along the bracket in the horizontal direction. Storage rack, which is fixedly connected to the base; An upper docking component is movably mounted on the storage rack. The upper docking component is used to connect the placement rack component and drive the placement rack component to move between the first position and the second position. A second drive mechanism is disposed on the storage rack. The second drive mechanism is connected to the upper docking assembly for driving the upper docking assembly to move along the storage rack.

[0007] In an optional embodiment, the bracket has a rack; the first drive mechanism includes a torque output device and a transmission gear, the output shaft of the torque output device is fixedly connected to the transmission gear, the torque output device is disposed on the base, and the transmission gear meshes with the rack.

[0008] In an optional embodiment, the storage rack is provided with two longitudinal slide rails, and the second drive mechanism is a telescopic mechanism. The telescopic mechanism includes a fixed part and a telescopic part, and the fixed part is fixed between the two longitudinal slide rails. The upper docking component includes: A connecting seat is slidably connected to the longitudinal slide rail, and the connecting seat is connected to the telescopic part; A guide wheel assembly, disposed on the connecting seat, is used for rolling connection with the first connecting end to guide and limit the first connecting end; An upper limit stop is provided on the connecting seat, and the bottom of the upper limit stop has a limiting groove; A locking mechanism is provided on the connecting seat, which includes a locking member that can move between a locked position and an unlocked position. In the locked position, the locking member fixes the first connecting end in the limiting groove. In the unlocked position, the locking member releases the fixation of the first connecting end, and the first connecting end can move out of the limiting groove.

[0009] In an optional embodiment, the locking mechanism includes: A locking drive mechanism is provided on the connecting seat. The locking member is connected to the locking drive mechanism, and the locking drive mechanism drives the locking member to rotate between the locked position and the unlocked position.

[0010] In an optional embodiment, the guide wheel assembly includes: Side guide wheels are mounted on the connecting seat and are tactilely connected to both sides of the first connecting end; The rear guide wheel is mounted on the connecting seat and is in rolling connection with the rear side of the first connecting end.

[0011] In an optional embodiment, the placement rack assembly includes: The main body of the placement rack has one end as the first connecting end, the end of the first connecting end forming a first guide head, the two sides and the rear side of the first guide head being tactilely connected to the guide wheel assembly, and the two sides of the lower part of the first guide head having a limiting block that cooperates with the limiting groove. A positioning and clamping mechanism is provided on the main body of the placement frame. The positioning and clamping mechanism has a positioning hole and a clamping assembly. The positioning hole is used to cooperate with the positioning pin on the gripper, and the clamping assembly is used to fix the gripper relative to the placement frame assembly along the axial direction of the positioning pin.

[0012] In an optional embodiment, the other end of the placement frame body is the second connecting end, and the end of the second connecting end forms a second guide head. The two sides of the upper part of the second guide head have docking and fixing pins that cooperate with the docking and fixing holes on the transfer trolley.

[0013] In an optional embodiment, the positioning and clamping mechanism includes: A first positioning seat is disposed on the main body of the placement frame, and the first positioning seat has a positioning hole; The second positioning seat is disposed on the main body of the placement frame. The second positioning seat is located below the first positioning seat and has a positioning hole. The two sets of clamping assemblies are disposed opposite to each other on the first positioning seat or the second positioning seat. The clamping assembly includes a rotary drive mechanism and a clamping arm. The rotary drive mechanism drives the clamping arm to rotate in order to clamp or release the gripper.

[0014] In an optional embodiment, the gripper storage device further includes a lower docking assembly, which is disposed on the ground and used to connect with the second connecting end. The lower docking assembly has a base fixed to the ground and a clamping wheel assembly disposed on the base. The clamping wheel assembly is rotatably connected to both sides of the second connecting end.

[0015] One embodiment of the present invention has the following advantages or beneficial effects: The gripper storage device of this invention includes a support, a storage rack assembly, and a placement rack assembly. The storage rack assembly is movably mounted on the support and can move along the support. The placement rack assembly is used to place grippers and includes a first connecting end and a second connecting end. The first connecting end is detachably connected to the storage rack assembly, and the placement rack assembly can move between a first position and a second position along the storage rack assembly, with the first position being higher than the second position. The grippers mounted on the placement rack assembly move along the support with the storage rack assembly, allowing grippers that need to be replaced to be moved to the corresponding replacement position, thereby storing a larger number of grippers. The placement rack assembly for placing grippers is detachably connected to the storage rack assembly, allowing the placement rack assembly containing grippers to be installed as a whole onto the storage rack assembly or stored separately, facilitating the separate storage of excess grippers and the updating of grippers on the gripper storage device. Attached Figure Description

[0016] The above and other features and advantages of the present invention will become more apparent from a detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0017] Figure 1 This is a schematic diagram illustrating the usage state of a gripper storage device according to an exemplary embodiment; Figure 2 This is a schematic diagram of a support for a gripper storage device according to an exemplary embodiment; Figure 3 This is a schematic diagram of a storage rack assembly of a gripper storage device according to an exemplary embodiment; Figure 4 This is a schematic diagram of the upper docking assembly of a gripper storage device according to an exemplary embodiment; Figure 5 This is a schematic diagram showing the connection between a first connecting end and an upper docking component according to an exemplary embodiment; Figure 6 This is a schematic diagram of the structure of a placement rack assembly according to an exemplary embodiment; Figure 7 This is a partially enlarged structural schematic diagram of a placement rack assembly according to an exemplary embodiment; Figure 8 This is a schematic diagram illustrating the connection between the placement rack assembly and the lower docking assembly according to an exemplary embodiment; Figure 9 This is a schematic diagram illustrating the connection between a placement rack assembly and a docking seat according to an exemplary embodiment.

[0018] The reference numerals in the attached drawings are explained as follows: 1-bracket, 11-crossbeam, 12-transverse slide rail, 13-rack, 2-storage rack assembly, 21-base, 22-first drive mechanism, 23-storage rack, 231-longitudinal slide rail, 24-upper docking assembly, 241-connecting seat, 242-guide wheel assembly, 2421-side guide wheel, 2422-rear guide wheel, 243-upper limit component, 2431-limiting groove, 245-locking mechanism, 2451-locking drive mechanism, 2452-locking component, 25-second Drive mechanism, 3-Placement rack assembly, 31-Placement rack body, 32-Positioning clamping mechanism, 321-First positioning seat, 322-Second positioning seat, 323-Clamping assembly, 3231-Rotation drive mechanism, 3232-Clamping arm, 324-Positioning hole, 33-First connecting end, 331-First guide head, 332-Limiting block, 34-Second connecting end, 341-Second guide head, 35-Docking fixing pin, 4-Gripper, 5-Lower docking assembly, 51-Base, 52-Clamping wheel set, 6-Docking seat. Detailed Implementation

[0019] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0020] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended meaning of inclusion and that other elements / components / etc. may exist in addition to the listed elements / components / etc.

[0021] See Figures 1 to 8 This invention provides a gripper storage device, including a support 1, a storage rack assembly 2, and a placement rack assembly 3. The storage rack assembly 2 is movably mounted on the support 1 and is movable along the support 1. The placement rack assembly 3 is used to place the gripper 4. The placement rack assembly 3 includes a first connecting end 33 and a second connecting end 34. The first connecting end 33 is detachably connected to the storage rack assembly 2, and the placement rack assembly 3 is movable along the storage rack assembly 2 between a first position and a second position, where the first position is higher than the second position.

[0022] In the gripper storage device of this embodiment, the storage rack assembly 2 can move along the support 1, and the placement rack assembly 3 on which the gripper 4 is placed also moves with the storage rack assembly 2. This allows the gripper 4 that needs to be replaced to be moved to the corresponding replacement position, thereby assembling the gripper 4 onto the corresponding equipment. Alternatively, a transfer trolley can be used to transfer the gripper 4 from the placement rack assembly 3 to another position such as a workstation at the replacement position. Or, the equipment equipped with the gripper 4 and the transfer trolley can place the gripper 4 onto an empty placement rack assembly 3 at the replacement position. The storage rack assembly 2 moves the newly fitted placement rack assembly 3 or the placement rack assembly 3 after unloading the gripper 4 away from the replacement position.

[0023] The placement rack assembly 3 is detachably connected to the storage rack assembly 2 via the first connecting end 33, allowing the placement rack assembly 3, which houses the grippers 4, to be installed as a whole onto the storage rack assembly 2, facilitating the replacement of the grippers 4 on the gripper storage device. Alternatively, the placement rack assembly 3, which houses the grippers 4, can be stored separately as a whole, facilitating the separate storage of excess grippers 4. The placement rack assembly 3 can be disassembled from the storage rack assembly 2 at a different location or at a location other than the previously mentioned one.

[0024] The placement rack assembly 3 is movable along the storage rack assembly 2 between a first position and a second position, with the first position being higher than the second position. When changing positions, after the gripper 4 is placed on the placement rack assembly 3, the placement rack assembly 3 rises from the second position to the first position and moves away from the changing position under the influence of the storage rack assembly 2. When the gripper 4 needs to be replaced, the storage rack assembly 2 moves the placement rack assembly 3 to the changing position, the placement rack assembly 3 descends from the first position to the second position, and the transfer trolley removes the gripper 4 from the placement rack assembly 3, or fixes the gripper 4 on the transfer trolley to the placement rack assembly 3.

[0025] In some embodiments, see Figure 2 The support frame 1 may include a crossbeam 11 and a transverse slide rail 12. The transverse slide rail 12 is mounted on the crossbeam 11, and the storage rack assembly 2 is slidably connected to the transverse slide rail 12. The transverse slide rail 12 is arranged along the length of the crossbeam 11, and the storage rack assembly 2 is slidably connected to the transverse slide rail 12, thereby allowing it to reciprocate along the length of the crossbeam 11. A replacement position can be located near the middle of the crossbeam 11. When the storage rack assembly 2 slides along the slide rail to the replacement position, the gripper 4 can be installed onto or removed from the placement rack assembly 3. Storage positions can be located near both ends of the crossbeam 11. Storage rack assemblies 2 that do not require gripper 4 replacement can be moved to the storage position to free up the replacement position. Replacing the gripper 4 includes storing the gripper 4 in a gripper storage device and removing the gripper 4 from the storage device. Multiple storage rack assemblies 2 may be mounted on the crossbeam 11, each storage rack assembly 2 can be connected to a placement rack assembly 3, and each placement rack assembly 3 can store one gripper 4.

[0026] In this embodiment, the crossbeam 11 can be supported by columns, with both ends of the crossbeam 11 connected to the columns, which are fixed to the ground. Alternatively, the crossbeam 11 can be connected to or integrated with the structure of the manufacturing workshop. For example, the top of the manufacturing workshop has a horizontally arranged steel structure, and the crossbeam 11 can be connected to this steel structure or directly used as the crossbeam 11.

[0027] In some embodiments, see Figure 2 and Figure 3 The storage rack assembly 2 includes a base 21, a first drive mechanism 22, a storage rack 23, an upper docking assembly 24, and a second drive mechanism 25. The base 21 is slidably engaged with the support 1. In a specific implementation, the base 21 may be slidably engaged with a transverse slide rail 12 on the support 1. The engagement method between the base 21 and the transverse slide rail 12 is not limited. In an exemplary embodiment, the transverse slide rail 12 may be located at the bottom of the crossbeam 11, and a slider may be provided on the base 21, with a dovetail groove on the slider that engages with the transverse slide rail 12. Alternatively, the transverse slide rail 12 may be located at the top of the crossbeam 11, with a cantilever on the base 21, and a roller on the cantilever, the roller being tactilely connected to the transverse slide rail 12.

[0028] The first drive mechanism 22 is mounted on the base 21 and is connected to the support 1. The first drive mechanism 22 drives the base 21 to move horizontally along the support 1. In a specific implementation, the base 21 can move along a transverse slide rail 12. The first drive mechanism 22, mounted on the base 21, can form a traveling mechanism capable of moving horizontally along the support 1. The storage rack 23 is fixedly connected to the base 21. The specific form of connection between the storage rack 23 and the base 21 is not limited. In an exemplary embodiment, one end of the storage rack 23 can be bolted to the base 21. Alternatively, one end of the storage rack 23 can be welded to the base 21. The storage rack 23 is vertically arranged, allowing the placement rack assembly 3 to rise or fall along the storage rack 23, thereby enabling movement between a first position and a second position.

[0029] See Figure 3 The upper docking component 24 is movably mounted on the storage rack 23. The upper docking component 24 is used to connect the placement rack component 3 and drive the placement rack component 3 to move between the first position and the second position. The upper docking component 24 and the first connecting end 33 can form a quick assembly structure, enabling quick assembly and disassembly of the placement rack component 3 and the upper docking component 24.

[0030] See Figure 3 The second drive mechanism 25 is mounted on the storage rack 23 and is connected to the upper docking assembly 24 for driving the upper docking assembly 24 to move along the storage rack 23. The second drive mechanism 25 drives the upper docking assembly 24 to move up and down along the storage rack 23, thereby driving the placement rack assembly 3 to move up and down together.

[0031] In some embodiments, see Figure 2 The bracket 1 has a rack 13. In a specific embodiment, the rack 13 may be mounted on the crossbeam 11. The first drive mechanism 22 includes a torque output device and a transmission gear. The output shaft of the torque output device is fixedly connected to the transmission gear. The torque output device is mounted on the base 21, and the transmission gear meshes with the rack 13. The torque output device can be any type of motor, such as an electric motor or a pneumatic motor. The torque output device drives the transmission gear to rotate, and because the transmission gear meshes with the rack 13, the base 21 moves along the crossbeam 11.

[0032] In some embodiments, see Figure 3 The storage rack 23 is provided with two longitudinal slide rails 231. The second drive mechanism 25 is a telescopic mechanism, which includes a fixed part and a telescopic part. The fixed part is fixed between the two longitudinal slide rails 231. The second drive mechanism 25 can be a telescopic cylinder. The cylinder barrel of the telescopic cylinder is fixed between the two longitudinal slide rails 231, and the piston rod of the telescopic cylinder is connected to the upper docking assembly 24. In specific implementations, the telescopic cylinder can include an electric cylinder, a pneumatic cylinder, and a hydraulic cylinder.

[0033] In specific implementation, the second drive mechanism 25 can be started manually, thereby driving the upper docking component 24 and the placement rack component 3 connected to the upper docking component 24 to rise or fall. Alternatively, the second drive mechanism 25 can be started automatically based on the fulfillment of start-up conditions. For example, when the storage rack component 2 moves from a storage position to a replacement position, the control unit controls the second drive mechanism 25 to start, driving the upper docking component 24 and the placement rack component 3 connected to the upper docking component 24 to fall to the target position. At the replacement position, when the placement rack component 3 falls to the target position, the second connecting end 34 connects to the lower docking component 5.

[0034] In some embodiments, see Figure 4 and Figure 5 The upper docking assembly 24 includes a connecting seat 241, a guide wheel assembly 242, an upper limit member 243, and a locking mechanism 245. The connecting seat 241 is slidably connected to the longitudinal slide rail 231 and is also connected to the telescopic part of the telescopic mechanism. When the telescopic mechanism extends or retracts, it drives the connecting seat 241 to move up and down along the longitudinal slide rail 231, thereby causing the entire upper docking assembly 24 and the placement rack assembly 3 connected to the upper docking assembly 24 to move up and down together.

[0035] See Figure 5 The guide wheel assembly 242 is mounted on the connecting seat 241 and is used to roll and connect with the first connecting end 33 to guide and limit the first connecting end 33. During the connection process between the placement frame assembly 3 and the upper docking assembly 24, the placement frame assembly 3 moves upward. When the first connecting end 33 moves to contact the guide wheel assembly 242, the guide wheel assembly 242 rolls and connects with the first connecting end 33, and the guide wheel assembly 242 clamps at least both sides of the first connecting end 33, thereby guiding and limiting the first connecting end 33, so that the first connecting end 33 moves in the direction defined by the guide wheel assembly 242.

[0036] See Figure 4 and Figure 5 An upper limit stop 243 is disposed on the connecting seat 241, and the bottom of the upper limit stop 243 has a limiting groove 2431. When the first connecting end 33 moves upward to its position, the first connecting end 33 can be embedded in the limiting groove 2431. In a specific implementation, the first connecting end 33 may include a radially protruding limiting block 332, which is embedded in the limiting groove 2431, so that the first connecting end 33 can only move downward relative to the connecting seat 241.

[0037] See Figure 4 and Figure 5The locking mechanism 245 is mounted on the connecting seat 241 and includes a locking member 2452 movable between a locked position and an unlocked position. In the locked position, the locking member 2452 fixes the first connecting end 33 within the limiting groove 2431. In the unlocked position, the locking member 2452 releases the fixation of the first connecting end 33, allowing the first connecting end 33 to move out of the limiting groove 2431. When the locking member 2452 is in the locked position, it fixes the first connecting end 33 within the limiting groove 2431, fixing the first connecting end 33 relative to the connecting seat 241, thereby connecting the placement rack assembly 3 to the upper docking assembly 24. When the locking member 2452 moves to the unlocked position, the first connecting end 33 can move downwards, moving out of the limiting groove 2431, and continuing to move until the first connecting end 33 disengages from the guide wheel assembly 242, thus deconnecting the first connecting end 33 from the upper docking assembly 24. In the locked position, the locking element 2452 is located at the bottom of the limiting block 332, thereby confining the limiting block 332 within the limiting groove 2431. In the unlocked position, the locking element 2452 moves away from below the limiting block 332, disengaging from the downward movement path of the limiting block 332, allowing the first connecting end 33 to move downward until the placement frame assembly 3 is disengaged from the upper docking assembly 24.

[0038] When the placement rack assembly 3 is connected to the upper docking assembly 24, the locking member 2452 is in the unlocked position and will not interfere with the first connecting end 33. After the first connecting end 33 rises to contact the guide wheel group 242, it continues to rise under the limiting and guiding of the guide wheel group 242 until the limiting block 332 is embedded in the limiting groove 2431. The locking member 2452 mechanism drives the locking member 2452 to move from the unlocked position to the locked position, limiting the limiting block 332 within the limiting groove 2431. When the placement rack assembly 3 needs to be removed from the storage rack assembly 2, the locking member 2452 mechanism drives the locking member 2452 to move from the locked position to the unlocked position. The locking member 2452 will not interfere with the descending first connecting end 33, and the placement rack assembly 3 can move downward until the first connecting end 33 disengages from the upper docking assembly 24.

[0039] The locking element 2452 can be translated or rotated to move between the locked position and the unlocked position.

[0040] In some embodiments, see Figure 4 and Figure 5The locking mechanism 245 includes a locking drive mechanism 2451, which is mounted on the connecting seat 241. The locking member 2452 is connected to the locking drive mechanism 2451, and the locking drive mechanism 2451 drives the locking member 2452 to rotate between a locked position and an unlocked position. In specific implementations, the locking drive mechanism 2451 can be manually activated, thereby driving the locking member 2452 to rotate from the locked position to the unlocked position, or from the unlocked position to the locked position. Alternatively, the locking drive mechanism 2451 can be automatically activated based on the detection of a corresponding trigger signal, driving the locking member 2452 to rotate between the locked and unlocked positions. For example, when the locking member 2452 is in the unlocked position, when the control unit detects a first signal indicating that the first connecting end 33 has risen relative to the locking mechanism 245 to a preset position, the control unit controls the locking drive mechanism 2451 to activate, driving the locking member 2452 to rotate from the unlocked position to the locked position. When the first connecting end 33 rises to the preset position relative to the locking mechanism 245, the limiting block 332 of the first connecting end 33 is embedded in the limiting groove 2431.

[0041] In some embodiments, a trigger sensor can be used to detect whether the first connection end 33 has risen to a preset position relative to the locking mechanism 245. Specifically, the trigger sensor can be a proximity switch, a micro switch, or the like. The trigger sensor can be mounted on the locking mechanism 245.

[0042] The locking drive mechanism 2451 can be made of various types of motors, such as pneumatic motors, electric motors, and hydraulic motors.

[0043] In some embodiments, see Figure 4 and Figure 5 The guide wheel assembly 242 includes side guide wheels 2421, which are mounted on the connecting seat 241 and are rolledly connected to both sides of the first connecting end 33. The side guide wheels 2421 can be divided into two groups arranged opposite each other, forming a channel between the two groups of side guide wheels 2421, thereby guiding and limiting the first connecting end 33. When the first connecting end 33 moves up and down between the two groups of side guide wheels 2421, the two groups of side guide wheels 2421 are rolledly connected to both sides of the first connecting end 33, which can both clamp and position the first connecting end 33 and reduce the resistance to its movement.

[0044] In some embodiments, see Figure 4The guide wheel assembly 242 also includes a rear guide wheel 2422, which is mounted on the connecting seat 241 and is in rolling connection with the rear side of the first connecting end 33. The rear guide wheel 2422 can provide rolling support for the rear side of the first connecting end 33. When the first connecting end 33 moves up and down, the rear guide wheel 2422 cooperates with the side guide wheel 2421 to facilitate the smooth connection of the first connecting end 33 with the upper docking assembly 24.

[0045] In some embodiments, see Figures 5 to 7 The placement rack assembly 3 includes a placement rack body 31 and a positioning clamping mechanism 32. The placement rack body 31 and different positioning clamping mechanisms 32 can be combined to form a placement rack assembly 3 for placing different types of grippers 4. One end of the placement rack body 31 is a first connecting end 33, and the other end is a second connecting end 34. The end of the first connecting end 33 forms a first guide head 331. The two sides and the rear side of the first guide head 331 are respectively rolledly connected to the guide wheel assembly 242. The lower two sides of the first guide head 331 each have a limiting block 332 that mates with the limiting groove 2431. The two sides of the first guide head 331 that contact the side guide wheels 2421 gradually approach each other near the end. This gradual approach of the two sides at the end facilitates entry between the two sets of side guide wheels 2421, allowing for a relatively high deviation between the first connecting end 33 and the upper docking assembly 24.

[0046] A positioning and clamping mechanism 32 is mounted on the main body 31 of the placement frame. The positioning and clamping mechanism 32 has a positioning hole 324 and a clamping assembly 323. The positioning hole 324 is used to cooperate with the positioning pin on the gripper 4, and the clamping assembly 323 is used to fix the gripper 4 relative to the placement frame assembly 3 along the axial direction of the positioning pin. When the gripper 4 is installed on the placement frame assembly 3, the positioning pin on the gripper 4 is inserted into the positioning hole 324 of the positioning and clamping mechanism 32. Then, the clamping assembly 323 abuts against the side of the gripper 4 away from the positioning pin, preventing the gripper 4 from moving in the direction where the positioning pin exits the positioning hole 324, thereby fixing the gripper 4 relative to the placement frame assembly 3 along the axial direction of the positioning pin. For example, the clamping assembly 323 may include a clamping arm 3232. With the locating pin on the gripper 4 inserted into the locating hole 324 of the locating clamping mechanism 32, the clamping arm 3232 can be moved by rotation or translation to abut against the side of the gripper 4 away from the locating pin, preventing the gripper 4 from moving in the direction where the locating pin exits the locating hole 324. When the gripper 4 assembly is removed from the placement frame assembly 3, the clamping assembly 323 releases the gripper 4, the gripper 4 moves backward, and the locating pin exits from the locating hole 324. At this time, the clamping arm 3232 can be moved away from the position that prevents the gripper 4 from moving in the direction where the locating pin exits the locating hole 324 by rotation or translation, without obstructing the gripper 4 from moving away from the placement frame body 31, and the locating pin can exit the locating hole 324.

[0047] In some embodiments, the end of the second connecting end 34 forms a second guide head 341. The second connecting end 34 is used to connect with the lower docking assembly 5, which may be located on the ground. When the storage rack assembly 2 moves along the crossbeam 11 to the replacement position, the placement rack assembly 3 is opposite to the lower docking assembly 5, and the placement rack assembly 3 descends along the storage rack assembly 2. The second connecting end 34 cooperates with the lower docking assembly 5 to make the placement rack assembly 3 more stable in the replacement position and avoid shaking when installing or removing the gripper 4. The second guide head 341 can be inserted downward into the lower docking assembly 5.

[0048] The two sides of the lower end of the second guide head 341 gradually move closer together, making it easy to insert the lower docking component 5.

[0049] In some embodiments, see Figure 6 The second guide head 341 has docking pins 35 on both sides of its upper part, which mate with docking holes on the transfer trolley. The transfer trolley may have docking holes; when the docking pins 35 of the second connecting end 34 are inserted into these holes, the placement rack assembly 3 is fixed to the transfer trolley, allowing the transfer trolley to transfer the placement rack assembly 3 and its gripper 4 as a single unit. For example, the transfer trolley can be used to transfer the placement rack assembly 3 with gripper 4 from the gripper storage device to another location for storage, or it can be used to transfer the placement rack assembly 3 with gripper 4 from another location to the gripper storage device.

[0050] In some embodiments, see Figure 9 The gripper storage device may include a docking seat 6, which has docking and fixing holes. The docking seat 6 can be flexibly installed in the required location. For example, the docking seat 6 can be installed on a transfer trolley for transferring the rack assembly 3. Alternatively, the docking seat 6 can be installed in a warehouse or other location for storing the rack assembly 3.

[0051] In some embodiments, see Figure 7 The positioning and clamping mechanism 32 includes a first positioning seat 321 and a second positioning seat 322, which are respectively disposed on the main body 31 of the placement frame. The first positioning seat 321 has a positioning hole 324, and the second positioning seat 322 has a positioning hole 324. The second positioning seat 322 is located below the first positioning seat 321. The spacing between the first positioning seat 321 and the second positioning seat 322 can be flexibly adjusted to accommodate different positioning pin spacings of different types of grippers.

[0052] In some embodiments, see Figure 7Two sets of clamping assemblies 323 are arranged opposite to each other. Each clamping assembly 323 includes a rotary drive mechanism 3231 and a clamping arm 3232. The rotary drive mechanism 3231 drives the clamping arm 3232 to rotate, thereby clamping or releasing the gripper 4. The two sets of clamping assemblies 323 can be mounted on a first positioning seat 321 or a second positioning seat 322. The rotary drive mechanism 3231 can be a pneumatic motor, an electric motor, or a hydraulic motor.

[0053] The rotary drive mechanisms 3231 in the two clamping assemblies 323 can each drive their respective clamping arms 3232 to rotate. Rotating the clamping arms 3232 in a relatively converging direction can fix the gripper 4. Rotating the clamping arms 3232 in a relatively outward unfolding direction can release the gripper 4 from the fixation. In a specific implementation, the clamping arms 3232 can be directly fixed to the output shaft of the rotary drive mechanism 3231. The forward and reverse rotation of the output shaft of the rotary drive mechanism 3231 drives the clamping arms 3232 to close or unfold, thereby clamping or releasing the gripper 4.

[0054] In some embodiments, see Figure 1 and Figure 8 The gripper storage device also includes a lower docking assembly 5, which is disposed on the ground and used to connect with the second connecting end 34. The lower docking assembly 5 has a base 51 fixed to the ground and a set of clamping wheels 52 disposed on the base 51. The clamping wheels 52 are rotatably connected to both sides of the second connecting end 34. The clamping wheels 52 of the lower docking assembly 5 are divided into two groups, and the second connecting end 34 is inserted between the two groups. The upper docking assembly 24 and the lower docking assembly 5 fix the first connecting end 33 and the second connecting end 34 of the placement rack assembly 3, respectively, so that the placement rack assembly 3 in the position of change can be kept stable, which is conducive to the gripper 4 being placed on or removed from the placement rack assembly 3.

[0055] In this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0056] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A gripper storage device, characterized in that, include: support; A storage rack assembly is movably mounted on the support, and the storage rack assembly is movable along the support. A placement rack assembly for placing a gripper, the placement rack assembly including a first connecting end and a second connecting end, the first connecting end being detachably connected to the storage rack assembly, and the placement rack assembly being movable along the storage rack assembly between a first position and a second position, the first position being higher than the second position.

2. The gripper storage device according to claim 1, characterized in that, The support includes: beam; A transverse slide rail is provided on the crossbeam, and the storage rack assembly is slidably connected to the transverse slide rail.

3. The gripper storage device according to claim 1 or 2, characterized in that, The storage rack assembly includes: The base is slidably engaged with the bracket. A first driving mechanism is disposed on the base and is connected to the bracket in a transmission manner. The first driving mechanism is used to drive the base to move along the bracket in the horizontal direction. Storage rack, which is fixedly connected to the base; An upper docking component is movably mounted on the storage rack. The upper docking component is used to connect the placement rack component and drive the placement rack component to move between the first position and the second position. A second drive mechanism is disposed on the storage rack. The second drive mechanism is connected to the upper docking assembly for driving the upper docking assembly to move along the storage rack.

4. The gripper storage device according to claim 3, characterized in that, The bracket has a rack; the first drive mechanism includes a torque output device and a transmission gear, the output shaft of the torque output device is fixedly connected to the transmission gear, the torque output device is disposed on the base, and the transmission gear meshes with the rack.

5. The gripper storage device according to claim 3, characterized in that, The storage rack is provided with two longitudinal slide rails, and the second drive mechanism is a telescopic mechanism. The telescopic mechanism includes a fixed part and a telescopic part, and the fixed part is fixed between the two longitudinal slide rails. The upper docking component includes: A connecting seat is slidably connected to the longitudinal slide rail, and the connecting seat is connected to the telescopic part; A guide wheel assembly, disposed on the connecting seat, is used for rolling connection with the first connecting end to guide and limit the first connecting end; An upper limit stop is provided on the connecting seat, and the bottom of the upper limit stop has a limiting groove; A locking mechanism is provided on the connecting seat, which includes a locking member that can move between a locked position and an unlocked position. In the locked position, the locking member fixes the first connecting end in the limiting groove. In the unlocked position, the locking member releases the fixation of the first connecting end, and the first connecting end can move out of the limiting groove.

6. The gripper storage device according to claim 5, characterized in that, The locking mechanism includes: A locking drive mechanism is provided on the connecting seat. The locking member is connected to the locking drive mechanism, and the locking drive mechanism drives the locking member to rotate between the locked position and the unlocked position.

7. The gripper storage device according to claim 5, characterized in that, The guide wheel assembly includes: Side guide wheels are mounted on the connecting seat and are tactilely connected to both sides of the first connecting end; The rear guide wheel is mounted on the connecting seat and is in rolling connection with the rear side of the first connecting end.

8. The gripper storage device according to claim 5, characterized in that, The placement rack assembly includes: The main body of the placement rack has one end as the first connecting end, the end of the first connecting end forming a first guide head, the two sides and the rear side of the first guide head being tactilely connected to the guide wheel assembly, and the two sides of the lower part of the first guide head having a limiting block that cooperates with the limiting groove. A positioning and clamping mechanism is provided on the main body of the placement frame. The positioning and clamping mechanism has a positioning hole and a clamping assembly. The positioning hole is used to cooperate with the positioning pin on the gripper, and the clamping assembly is used to fix the gripper relative to the placement frame assembly along the axial direction of the positioning pin.

9. The gripper storage device according to claim 8, characterized in that, The other end of the main body of the placement rack is the second connecting end, and the end of the second connecting end forms a second guide head. The two sides of the upper part of the second guide head have docking and fixing pins that cooperate with the docking and fixing holes on the transfer trolley.

10. The gripper storage device according to claim 8, characterized in that, The positioning and clamping mechanism includes: A first positioning seat is disposed on the main body of the placement frame, and the first positioning seat has a positioning hole; The second positioning seat is disposed on the main body of the placement frame. The second positioning seat is located below the first positioning seat and has a positioning hole. The two sets of clamping assemblies are disposed opposite to each other on the first positioning seat or the second positioning seat. The clamping assembly includes a rotary drive mechanism and a clamping arm. The rotary drive mechanism drives the clamping arm to rotate in order to clamp or release the gripper.

11. The gripper storage device according to claim 1, characterized in that, It also includes a lower docking assembly, which is disposed on the ground and is used to connect with the second connecting end. The lower docking assembly has a base fixed to the ground and a clamping wheel assembly disposed on the base. The clamping wheel assembly is rotatably connected to both sides of the second connecting end.

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