Multi-station integrated gripper changing system

Abstract

The utility model provides a multi-station integrated grab changing system, and belongs to the technical field of automatic production. Comprising a robot, a gripper changing platform is arranged on the periphery of the robot, a plurality of gripper changing stations are arranged on the gripper changing platform, mounting frames are arranged on the gripper changing stations, grippers are detachably connected to the mounting frames, and the movable end of the robot is detachably connected with the grippers on the mounting frames through quick changing devices. According to the multi-station integrated gripper changing system, when grippers of different sizes are switched, workers do not need to disassemble and assemble the grippers manually, and the effect of specifically reducing the labor intensity of the workers is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of automation production, especially to a multi-station integrated change system. BACKGROUND

[0002] In industrial manufacturing, injection molding is a common processing technology. Injection molding requires the use of a mold, which typically includes an upper mold and a lower mold. When the upper mold and the lower mold are closed, an internal cavity is formed. The material is injected into the cavity, and after it solidifies, the molded product is obtained. After the product is molded, the mold is opened to remove the product.

[0003] With the development of industrial technology, many enterprises will use mechanical equipment to grab products out of the mold, such as robots. When the product is molded in the mold, the robot can grab the molded product out of the mold with a special gripper. A factory usually produces a variety of different products, and when grabbing products molded in different molds, workers need to manually install the corresponding size of the gripper on the robot. However, some products are large in size, and the size and weight of the gripper required are also large, which makes manual change of the gripper labor-intensive. SUMMARY

[0004] In view of the above problems, the utility model provides a multi-station integrated change system.

[0005] In order to achieve the above-mentioned purpose of the invention, the utility model adopts the following technical scheme:

[0006] A multi-station integrated change system is provided, which includes a robot, a change platform is provided outside the robot, a plurality of change stations are provided on the change platform, a plurality of mounting racks are provided on the plurality of change stations, a plurality of grippers are detachably connected to the plurality of mounting racks, and the movable end of the robot is detachably connected to the gripper on the mounting rack through a quick-change device.

[0007] Further, the quick-change device includes a main disc, the main disc is provided on the movable end of the robot, and a tool disc is provided on each of the plurality of grippers for connection with the main disc.

[0008] Further, a U-shaped groove is provided at the top of the mounting rack, the tool disc is vertically slidably arranged in the U-shaped groove, slide rails are vertically arranged on the inner walls of the two sides of the U-shaped groove, and a slide seat is provided on the outer wall of the tool disc for cooperation with the slide rails.

[0009] Further, an installation groove is provided at the bottom of the U-shaped groove on the mounting rack, and a detection device is provided in the installation groove for detecting the cooperation and installation of the mounting rack and the corresponding gripper.

[0010] Further, a fence is further provided on the change platform, and a maintenance passage is provided between the fence and the change station.

[0011] Further, the mounting frame is connected to the switching platform through a connecting rod, the connecting rod comprises a fixed rod and a movable rod, the fixed rod is arranged on the switching platform, the movable rod is vertically and slidingly arranged on the fixed rod, the mounting frame is arranged on the top of the movable rod, the movable rod is provided with a limiting piece for limiting the movement of the movable rod relative to the fixed rod, the limiting piece comprises a limiting bolt, a sliding groove for accommodating the fixed rod is arranged on the bottom of the movable rod, a plurality of limiting holes are vertically and spacedly arranged on the inner side wall of the sliding groove from top to bottom, a threaded hole with a size matched with the limiting bolt is horizontally arranged on the fixed rod, and the limiting bolt passes through the limiting hole and is threadedly connected in the threaded hole.

[0012] The beneficial effect of the utility model is: according to the size of the product in the mould, the robot can be connected to the corresponding size gripper through the quick switching device, when switching different size grippers, the worker does not need to manually disassemble and assemble the gripper, and the labor intensity of the worker is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a whole structure schematic view of a multi-station integrated switching system of the embodiment of the application.

[0014] Figure 2 It is a quick switching device structure schematic view of a multi-station integrated switching system of the embodiment of the application.

[0015] Figure 3 It is a mounting frame structure schematic view of a multi-station integrated switching system of the embodiment of the application.

[0016] Figure 4 It is a connecting rod structure schematic view of a multi-station integrated switching system of the embodiment of the application.

[0017] Wherein, 1, robot;2, switching platform;21, switching station;22, maintenance passage;3, mounting frame;4, gripper;5, quick switching device;51, main disc;52, tool disc;521, sliding seat;6, sliding rail;7, detection device;8, fence;9, connecting rod;91, fixed rod;92, movable rod;921, limiting hole;10, limiting bolt. DETAILED DESCRIPTION

[0018] In order to better understand the above technical solutions, the above technical solutions will be described in detail in combination with the drawings of the specification and specific embodiments.

[0019] The embodiment of the application discloses a multi-station integrated switching system, referring to Figure 1 , Figure 2 and Figure 3, including a robot 1, a change-grasp platform 2 is arranged outside the robot 1, a plurality of change-grasp stations 21 are arranged on the change-grasp platform 2, a mounting frame 3 is arranged on each of the plurality of change-grasp stations 21, and a gripper 4 is detachably connected to each of the plurality of mounting frames 3. The movable end of the robot 1 is detachably connected to the gripper 4 on the mounting frame 3 through a quick-change device 5.

[0020] In the embodiment of the present application, the grippers 4 installed on different mounting frames 3 are different in size, and according to the size of the product in the mold, the robot 1 can connect the gripper 4 of the corresponding size through the quick-change device 5. The multi-station integrated change-grasp system of the present application does not require workers to manually disassemble and assemble the grippers 4 when switching different sizes of grippers 4, thereby specifically reducing the labor intensity of workers.

[0021] Specifically, the quick-change device 5 includes a main disc 51, which is arranged on the movable end of the robot 1, and a tool disc 52 is arranged on each of the plurality of grippers 4 and is used to be connected to the main disc 51.

[0022] The quick-change device 5 in the embodiment of the present application is a common quick-change disc on the market, and the main disc 51 and the tool disc 52 are detachably connected through a quick locking and unlocking structure.

[0023] In order to facilitate the taking and placing of the corresponding gripper 4 on the mounting frame 3, a U-shaped groove is formed at the top of the mounting frame 3, the tool disc 52 is vertically slidably arranged in the U-shaped groove, slide rails 6 are vertically arranged on the inner walls of the two sides of the U-shaped groove, and a sliding seat 521 is arranged on the outer wall of the tool disc 52 and is used to cooperate with the slide rails 6.

[0024] In the embodiment of the present application, the robot 1 moves the main disc 51 and connects the tool disc 52 on the required gripper 4, so as to vertically move up and take out the corresponding gripper 4. When the gripper 4 is used up, the robot 1 can move the tool disc 52 above the U-shaped groove of the corresponding mounting frame 3, then vertically move down and install the sliding seat 521 on the tool disc 52 into the slide rails 6, and finally disengage the main disc 51 and the tool disc 52, so as to disassemble the gripper 4.

[0025] Further, a mounting groove is formed at the bottom of the U-shaped groove on the mounting frame 3, and a detection device 7 is arranged in the mounting groove and is used to detect the cooperation and installation of the mounting frame 3 and the corresponding gripper 4.

[0026] In the embodiment of the present application, the detection device 7 can adopt an infrared sensor. The infrared sensor is installed in the installation groove, and the detection end of the infrared sensor is vertically upward, so that whether the tool disc 52 is installed on the mounting rack 3 can be detected in real time. When the infrared sensor detects that the tool disc 52 is installed on the mounting rack 3, it indicates that the gripper 4 has been connected to the mounting rack 3, and the robot 1 cannot place the gripper 4 on the mounting rack 3. When the infrared sensor does not detect that the tool disc 52 is installed on the mounting rack 3, it indicates that the gripper 4 is not connected to the mounting rack 3, and the robot 1 can place the gripper 4 on the mounting rack 3.

[0027] Further, the fence 8 is installed on the gripper changing platform 2, and a maintenance passage 22 is left between the fence 8 and the gripper changing station 21. The fence 8 can improve the safety of the worker during maintenance.

[0028] With reference to Figure 4 The mounting rack 3 is connected to the gripper changing platform 2 through the connecting rod 9. The connecting rod 9 includes a fixed rod 91 and a movable rod 92. The fixed rod 91 is bolted to the gripper changing platform 2, and the movable rod 92 is vertically slidably arranged on the fixed rod 91. The mounting rack 3 is bolted to the top of the movable rod 92, and the movable rod 92 is provided with a limiting piece for limiting the movement of the movable rod 92 relative to the fixed rod 91. The limiting piece includes a limiting bolt 10. The bottom of the movable rod 92 is provided with a sliding groove for accommodating the fixed rod 91. A plurality of limiting holes 921 are vertically and downwardly arranged on the inner side wall of the sliding groove. A threaded hole with a size suitable for the limiting bolt 10 is horizontally arranged on the fixed rod 91. The limiting bolt 10 passes through the limiting hole 921 and is threadedly connected in the threaded hole.

[0029] In the embodiment of the present application, the worker can vertically move the movable rod 92 and adjust the height of the mounting rack 3, so as to ensure that the movable end of the robot 1 can be detachably connected with the gripper 4 on each mounting rack 3 within the stroke range.

[0030] The implementation principle of the multi-station integrated gripper changing system in the embodiment of the present application is that according to the size of the product in the mold, the robot 1 can connect the gripper 4 with a corresponding size through the quick changing device 5. When the gripper 4 with different sizes is switched, the worker does not need to manually disassemble and assemble the gripper 4, thereby reducing the labor intensity of the worker.

[0031] Those skilled in the art will appreciate that although a preferred embodiment of the present application has been described, those skilled in the art will be able to devise alterations and modifications of the preferred embodiment without departing from the spirit and scope of the present application. Accordingly, it is intended that the appended claims be interpreted as including all such alterations and modifications as fall within the true spirit and scope of the present application. It is apparent that those skilled in the art can, without departing from the spirit and scope of the present application, make various changes and modifications of the present application. Thus, it is intended that the present application cover all such changes and modifications that fall within the scope of the present application, together with all such changes and modifications as are within the scope of the claims below and their equivalents.

Claims

1. A multi-station integrated gripper changing system, characterized in that: The system includes a robot (1), a gripper changing platform (2) is provided around the robot (1), the gripper changing platform (2) is provided with multiple gripper changing stations (21), each of the multiple gripper changing stations (21) is provided with a mounting frame (3), and each of the multiple mounting frames (3) is detachably connected with a gripper (4). The movable end of the robot (1) is detachably connected to the gripper (4) on the mounting frame (3) through a quick-change device (5). The quick-change device (5) includes a main plate (51), the main plate (51) is provided at the movable end of the robot (1), and each of the multiple grippers (4) is provided with a tool plate (52) for connecting to the main plate (51) respectively.

2. The multi-station integrated gripper changing system according to claim 1, characterized in that: The mounting bracket (3) has a U-shaped groove at the top, and the tool disk (52) is vertically slidably arranged in the U-shaped groove. The inner walls on both sides of the U-shaped groove are vertically arranged with slide rails (6), and the outer wall of the tool disk (52) is provided with a slide seat (521) for cooperating with the slide rails (6).

3. The multi-station integrated gripper changing system according to claim 2, characterized in that: The bottom of the U-shaped groove on the mounting bracket (3) is provided with a mounting groove, and a detection device (7) is provided in the mounting groove for detecting the installation of the mounting bracket (3) and the corresponding gripper (4).

4. The multi-station integrated gripper changing system according to claim 2, characterized in that: The grab-changing platform (2) is also equipped with a fence (8), and a maintenance passage (22) is left between the fence (8) and the grab-changing station (21).

5. The multi-station integrated gripper changing system according to claim 1, characterized in that: The mounting bracket (3) is connected to the gripper platform (2) via a connecting rod (9). The connecting rod (9) includes a fixed rod (91) and a movable rod (92). The fixed rod (91) is set on the gripper platform (2). The movable rod (92) is vertically slidably set on the fixed rod (91). The mounting bracket (3) is set on the top of the movable rod (92). The movable rod (92) is provided with a limiting member for restricting its movement relative to the fixed rod (91). The limiting member includes a limiting bolt (10). The bottom of the movable rod (92) is provided with a groove for accommodating the fixed rod (91). Multiple limiting holes (921) are provided through the inner wall of the groove from top to bottom. The fixed rod (91) is provided with a threaded hole of a size that matches the limiting bolt (10). The limiting bolt (10) passes through the limiting hole (921) and is threaded into the threaded hole.

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