A disassembly and assembly fixture system for a container lock button with an automatically replaceable chuck

Abstract

The present invention relates to a disassembly and assembly fixture system for a container lock button with an automatically replaceable chuck, which includes a fixed module and a plurality of quick-change modules. The fixed module includes a flange plate for connecting with a robotic arm, a power transmission mechanism for providing a power source, and a first pneumatic quick-change joint for connecting with the quick-change module. The quick-change module includes a rotary transmission mechanism for connecting with the power transmission mechanism, a fixing mechanism for connecting with the first pneumatic quick-change joint, and a clamping mechanism. The clamping mechanism is installed on the fixing mechanism. When the fixture system is in use, one of the plurality of quick-change modules is connected to the fixed module. Compared with the prior art, the present invention has the advantages of high automation degree, stable and rapid disassembly and assembly, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of container transportation, and relates to a container disassembly and assembly system, in particular to a container lock button disassembly and assembly fixture system with an automatically replaceable chuck. Background Art

[0002] In the process of port automation transformation, the automatic disassembly and assembly of container lock buttons has always been an application pain point and an implementation difficulty. The reason is that there are many types of container lock buttons, and there is no unified size standard for the same type of lock buttons among different manufacturers. To achieve efficient disassembly and assembly of container lock buttons, a set of disassembly and assembly fixtures with wide applicability and covering many types of lock buttons is required.

[0003] Container lock buttons can be roughly divided into two categories: an integrated structure and a split structure. When disassembling and assembling the integrated structure lock button, after the lock buckle enters the upper container corner seat, the whole needs to be rotated to realize the suspension of the lock button; when disassembling and assembling the split structure lock button, the overall external structure of the lock button is fixed, and the internal lock core needs to be rotated to realize the suspension or removal of the lock button on the container. Therefore, to cover the automatic disassembly and assembly of two different types of lock buttons, more than two sets of fixtures are required. How to stably and low-costly provide the quick replacement of the fixtures has become a problem restricting the popularization of automation.

[0004] Most of the existing container lock buttons rely on manual disassembly by workers, with a large workload and high labor costs. In terms of automatic disassembly and assembly equipment, for example, Patent CN207874246U discloses a highly reliable fixture for loading and unloading container locks, including a clamping rotary lock device, which is fixedly arranged on the robot's manipulator. The fixture also includes an anti-overload compensation device; the anti-overload compensation device includes a fixed frame and an elastic floating device. The natural elongation state of the elastic floating device is the natural stress state of the elastic floating device when the clamping rotary lock device is not affected by external forces; two position sensors are arranged on the elastic floating device, and the position sensors are respectively communicatively connected with the control device of the robot. This fixture can timely detect unexpected situations during the operation of loading and unloading the lock, and reduce or even avoid the overload of the robot. However, this fixture can only be applied to the disassembly and assembly of a single type of lock button. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned defects existing in the prior art and provide a container lock button disassembly and assembly fixture system with an automatically replaceable chuck, which has a high degree of automation, stable and rapid disassembly and assembly.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] An automatic chuck-changing disassembly and assembly fixture system for container lock buttons, comprising a fixed module and a plurality of quick-change modules. The fixed module includes a flange for connecting to a robotic arm, a power transmission mechanism for providing a power source, and a first pneumatic quick-change joint for connecting to the quick-change module. The quick-change module includes a rotary transmission mechanism for connecting to the power transmission mechanism, a fixing mechanism for connecting to the first pneumatic quick-change joint, and a clamping mechanism. The clamping mechanism is installed on the fixing mechanism. When the fixture system is in use, one of the plurality of quick-change modules is connected to the fixed module.

[0008] Further, the flange includes a floor for installing the power transmission mechanism and the first pneumatic quick-change joint, and a connecting flange installed on the floor.

[0009] Further, the power transmission mechanism includes a synchronous pulley, a synchronous belt, and a servo motor connected in sequence. The synchronous pulley is connected to the rotary transmission mechanism of the quick-change module.

[0010] Further, the servo motor is fixed by a motor mounting member.

[0011] Further, the fixed module further includes a camera mounting plate.

[0012] Further, the first pneumatic quick-change joint is fixed by a support member.

[0013] Further, the quick-change module includes an integrated lock button quick-change module or a split lock button quick-change module. In the integrated lock button quick-change module, the clamping mechanism is arranged on the fixing mechanism through a connecting member connected to the rotary transmission mechanism. In the split lock button quick-change module, the clamping mechanism is directly arranged on the fixing mechanism.

[0014] Further, the clamping mechanism includes a cylinder and a cylinder clamping member connected to the cylinder. The cylinder is fixed by a cylinder mounting member.

[0015] Further, the rotary transmission mechanism includes a lock joint, a transmission member, and a key block connected in sequence. The lock joint is connected to the transmission member by a spring, and the key block is connected to the power transmission mechanism.

[0016] Further, in the integrated lock button quick-change module, the lock joint includes a lock holder having a plurality of supporting pieces. In the split lock button quick-change module, the lock joint includes a lock holder having a plurality of supporting pieces and a plurality of transmission pins.

[0017] Further, a limit cover is also provided at the lock joint.

[0018] Furthermore, the fixing mechanism includes a mounting plate and a second pneumatic quick-change joint which are connected to each other. The clamping mechanism is located on one side of the mounting plate, and the second pneumatic quick-change joint is located on the other side of the mounting plate. A through hole passing through the rotary transmission mechanism is provided on the mounting plate, and the second pneumatic quick-change joint is connected to the first pneumatic quick-change joint.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention can be connected to a robotic arm to realize the automatic disassembly and assembly of container lock buttons. By adopting the method of separating the fixing module and the quick-installation module, the automatic replacement of different quick-installation modules can be achieved through the robotic arm. When disassembling and assembling different types of container lock buttons, it can quickly and automatically respond. Compared with non-replaceable fixtures, it can automatically disassemble and assemble multiple types of container lock buttons, shortening the time for manually replacing fixtures or manually disassembling and assembling container lock buttons, realizing the full automation of the lock disassembly and assembly process, and being beneficial to the construction of unmanned terminals;

[0021] 2. The present invention uses a pneumatic quick-change joint to connect the fixed side and the replacement side, and the air source required for the replacement side is provided by the docking of the quick-change joint, effectively improving the replacement efficiency of the replacement side;

[0022] 3. The present invention innovatively uses a key block to transfer motion. Each replaced quick-installation module is driven by the motor of the fixed module, and the clamping and separation of the lock button are realized through mechanical transmission, avoiding the docking of servo electrical connectors when replacing the gripper, improving the quick-change stability and reducing the cost;

[0023] 4. The lock support for supporting the lock button of the present invention adopts a floating structure, which can meet the axial positioning of lock buttons of different size series and expand the scope of application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic structural diagram of the present invention;

[0025] Figure 2 is a top view of the fixed module of the present invention;

[0026] Figure 3 is a bottom view of the fixed module of the present invention;

[0027] Figure 4 is a schematic structural diagram of the fixed module of the present invention;

[0028] Figure 5 is a sectional view of the fixed module of the present invention;

[0029] Figure 6 is a schematic structural diagram of the integrated lock button quick-change module of the present invention;

[0030] Figure 7Top view of the integrated locking button quick-change module of the present invention;

[0031] Figure 8 Bottom view of the integrated locking button quick-change module of the present invention;

[0032] Figure 9 Side view of the integrated locking button quick-change module of the present invention;

[0033] Figure 10 is Figure 9 A-A cross-sectional view of

[0034] Figure 11 Structural schematic diagram of the integrated locking button;

[0035] Figure 12 Clamping schematic diagram of the integrated locking button;

[0036] Figure 13 Structural schematic diagram of the split locking button quick-change module of the present invention;

[0037] Figure 14 Top view of the split locking button quick-change module of the present invention;

[0038] Figure 15 Bottom view of the split locking button quick-change module of the present invention;

[0039] Figure 16 Structural schematic diagram of the split locking button;

[0040] Figure 17 Clamping schematic diagram of the split locking button;

[0041] In the figure, 1, fixed module; 2, first quick-change module; 3, second quick-change module; 4, locking button; 101, synchronous pulley; 102, first pneumatic quick-change joint; 103, synchronous belt; 104, connecting flange; 105, servo motor; 106, support; 107, motor mounting part; 108, camera mounting plate; 201, cylinder; 202, cylinder mounting part; 203, mounting plate; 204, transmission part; 205, second pneumatic quick-change joint; 206, locking joint; 207, cylinder clamping part; 208, key block; 209, connecting part; 210, locking support; 211, spring; 212, sliding bearing; 213, limit cover; 301, cylinder; 302, cylinder mounting part; 303, mounting plate; 304, transmission part; 305, second pneumatic quick-change joint; 306, locking joint; 307, cylinder clamping part; 308, key block; 309, connecting part. Detailed implementation mode

[0042] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and the detailed implementation manners and specific operation processes are given, but the protection scope of the present invention is not limited to the following embodiments.

[0043] As Figure 1 shown, this embodiment provides a disassembly and assembly fixture system for a container lock button with an automatic chuck replacement, including a fixed module 1 (fixed side) and several quick-change modules (replacement side). The quick-change modules are detachably installed on the fixed module 1. When the fixture system is in use, one of the several quick-change modules is connected to the fixed module 1, and the quick-change module is used for disassembling and assembling the lock button 4.

[0044] As Figures 2 - 5 shown, the fixed module 1 includes a flange for connecting to a robotic arm, a power transmission mechanism for providing a power source, and a first pneumatic quick-change joint 102 for connecting to the quick-change module. The flange includes a floor for installing the power transmission mechanism and the first pneumatic quick-change joint 102 and a connecting flange 104 installed on the floor. The connecting flange 104 can be connected to a robotic arm or other base. The power transmission mechanism includes a synchronous pulley 101, a synchronous belt 103, and a servo motor 105 connected in sequence. The synchronous pulley 101 is connected to the rotation transmission mechanism of the quick-change module, and a keyway is provided at the shaft end of the synchronous pulley 101. The servo motor 105 can be fixed to the floor through a motor mounting member 107 to provide a power source for the disassembly and assembly rotational movement.

[0045] In a preferred embodiment, the fixed module 1 further includes a protective cover.

[0046] In another embodiment, the fixed module 1 further includes a camera mounting plate 108 for installing a 3D camera to locate the disassembly and assembly position of the lock button through vision technology. An opening for exposing the 3D camera is provided on the protective cover.

[0047] The quick-change module can be replaced according to the type of lock button to be disassembled and assembled. The lock button types usually include integral lock buttons (such as full-automatic middle locks, etc.) and split lock buttons (such as braided semi-automatic corner locks, some in-cabin locks, etc.). In this embodiment, the quick-change module includes an integral lock button quick-change module 2 and a split lock button quick-change module 3, and the corresponding quick-change module can be connected to the fixed module according to requirements.

[0048] As Figures 6 - 9 shown, the integral lock button quick-change module 2 includes a rotation transmission mechanism for connecting to the power transmission mechanism, a fixing mechanism for connecting to the first pneumatic quick-change joint 102, and a clamping mechanism. The clamping mechanism is arranged on the fixing mechanism through a connecting member 209 connected to the rotation transmission mechanism.

[0049] The clamping mechanism includes a cylinder 201 for providing clamping power and a cylinder clamping member 207 connected to the cylinder 201. The cylinder 201 is fixed by a cylinder mounting member 202.

[0050] The rotary transmission mechanism includes a lock joint 206, a transmission member 204, and a key block 208 connected in sequence. The key block 208 is connected in a matching manner with the keyway of the power transmission mechanism. The lock joint 206 includes a lock support 210 having a plurality of supporting pieces, and the supporting pieces are used for supporting and positioning the lock button. As Figure 10 shown, the lock joint 206 of this embodiment is connected to the transmission member 204 through a spring 211. There is a sliding bearing 212 between the lock support 210 and the transmission member 204, making the lock support 210 a floating support plate, which can meet the axial positioning of lock buttons of different sizes. A limit cover is also provided at the lock joint 206, and the limit cover is fixed by a connecting member 209. The transmission member 204 includes a bearing, a transmission block, etc., and transmits the rotational power source of the power transmission mechanism to the lock joint 206 and the cylinder 201, thereby driving the lock button to rotate. At the same time, the transmission member 204 is connected to the connecting member 209, thereby driving the clamping mechanism on the connecting member 209 to rotate, and thus realizing the fully automatic disassembly and assembly of the lock button.

[0051] The fixing mechanism includes a mounting plate 203 and a second pneumatic quick-change joint 205 connected to each other. The clamping mechanism is located on one side of the mounting plate 203, and the second pneumatic quick-change joint 205 is located on the other side of the mounting plate 203. The mounting plate 203 is provided with a through hole passing through the rotary transmission mechanism. The second pneumatic quick-change joint 205 is connected to the first pneumatic quick-change joint 102, and the connecting member 209 and the mounting plate 203 have the same through hole.

[0052] The integrated lock button is as Figure 11 shown. When the above integrated lock button quick-change module 2 disassembles and assembles the integrated lock button, the fixture system is connected to the robotic arm through the connecting flange 104 and is guided by the robotic arm to the clamping position below the container corner fitting. The lock support 210 has a spring structure and positions the lock button of different sizes through flexible expansion and contraction. The two cylinders 201 are pushed out to clamp the lock body and position the lock button on the left and right sides, as Figure 12 shown. The servo motor 105 of the fixing module 1 rotates. The clamping mechanism is installed on the connecting member 209 connected to the rotary transmission mechanism, so it synchronously drives the lock joint 206 and the cylinder 201 to rotate 90°. After the fixing rod on the upper side of the lock button is horizontally parallel to the container lock hole, the lock button is taken out and placed in the lock button library to complete the unlocking. The lock button is loosened, and the lock support resets to fit the limit cover. When installing the lock button onto the container, the robotic arm drives the fixture system to pick up the lock button from the lock button library, transports the lock button to the lower side of the container lock hole in the clamped state, the servo motor 105 rotates to make the lock button parallel to the angle fitting strip groove, installs the lock button, the servo motor 105 rotates 90° to hang the lock button inside the container corner fitting, and the cylinder 201 is loosened to complete the lock installation.

[0053] AsFigures 13 - 15 As shown in the figure, the split lock button quick-change module 3 includes a rotary transmission mechanism for connecting to a power transmission mechanism, a fixing mechanism for connecting to the first pneumatic quick-change joint 102, and a clamping mechanism, and the clamping mechanism is directly provided on the fixing mechanism.

[0054] The clamping mechanism includes a cylinder 301 for providing clamping power and a cylinder clamping member 307 connected to the cylinder 301, and the cylinder 301 is fixed by a cylinder mounting member 302.

[0055] The rotary transmission mechanism includes a lock joint 306, a transmission member 304, and a key block 308 that are connected in sequence. The key block 308 is connected in a matching manner with the key groove of the power transmission mechanism. The lock joint 306 includes a lock holder having a plurality of supporting pieces and a plurality of transmission pins. The supporting pieces are used to support and position the lock button, and the transmission pins are in transmission connection with the lock button. The lock holder is similar to the above-mentioned integral lock button quick-change module 2 and is a floating lock holder. A limit cover is also provided at the lock joint 306, and the limit cover is fixed by a connecting member 309. The transmission member includes a bearing, a transmission block, etc., and the transmission member is also connected to the connecting member 309. The transmission member transmits the rotational power source of the power transmission mechanism to the lock joint 306, thereby driving the lock button to rotate, and further realizing the fully automatic disassembly and assembly of the lock button.

[0056] The fixing mechanism includes a mounting plate 303 and a second pneumatic quick-change joint 305 that are connected. The clamping mechanism is located on one side of the mounting plate 303, and the second pneumatic quick-change joint 305 is located on the other side of the mounting plate 303. A through hole passing through the rotary transmission mechanism is provided on the mounting plate 303. The second pneumatic quick-change joint 305 is connected to the first pneumatic quick-change joint 102, and the connecting member 309 has the same through hole as the mounting plate 303.

[0057] The split lock button, as Figure 16 shown, is composed of a fixed body and a central shaft. The cylinder clamps and fixes the fixed body and keeps it stationary and non-rotating. The central shaft is driven by a transmission part to rotate, so that the lock button is loaded into or detached from the container. When unlocking the container, the fixture system is guided by the robotic arm to the clamping position under the container corner fitting. The bottom pallet has a spring structure for flexible telescopic positioning. The two side cylinders 301 are pushed out to clamp the lock body, as Figure 17 shown. The servo motor 105 rotates to drive the central shaft to rotate, making the upper side of the lock button parallel to the strip groove of the container corner fitting, and then removing the lock button. When installing the lock button onto the container, the robotic arm drives the fixture system to pick up the lock button from the lock button library, transports the lock button to the lower side of the container lock hole in the clamped state, the servo motor 105 rotates to make the lock button parallel to the strip groove of the corner fitting, loads the lock button, and the motor further rotates to hang the lock button inside the container corner fitting, and then releases the cylinder 301 to complete the lock installation. Since the cylinder 301 is directly installed on the mounting plate 303 of the fixing mechanism, the cylinder 301 is relatively stationary and does not rotate during the disassembly and assembly process.

[0058] In this embodiment, the above-mentioned first pneumatic quick-release joint 102 and the second pneumatic quick-release joints 205 and 305 adopt the Bridge Field quick-release joints.

[0059] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0060] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0061] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0062] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field of the present invention based on the concept of the present invention through logical analysis, reasoning, or limited experiments on the basis of the prior art should be within the protection scope determined by the claims.

Claims

1. An automatic chuck-changing disassembly and assembly fixture system for container lock buttons, characterized in that, It includes a fixed module (1) and several quick-change modules. The fixed module (1) includes a flange for connecting to a robotic arm, a power transmission mechanism for providing a power source, and a first pneumatic quick-change joint (102) for connecting to the quick-change module. The quick-change module includes a rotary transmission mechanism for connecting to the power transmission mechanism, a fixing mechanism for connecting to the first pneumatic quick-change joint (102), and a clamping mechanism. The clamping mechanism is installed on the fixing mechanism. When this fixture system is in use, one of the several quick-change modules is connected to the fixed module (1). The quick-change module includes an integrated lock button quick-change module (2) or a split lock button quick-change module (3). In the integrated lock button quick-change module (2), the clamping mechanism is arranged on the fixing mechanism through a connecting piece (209) connected to the rotary transmission mechanism. In the split lock button quick-change module (3), the clamping mechanism is directly arranged on the fixing mechanism. The clamping mechanism includes cylinders (201, 301) and cylinder clamping members (207, 307) connected to the cylinders (201, 301). The cylinders (201, 301) are fixed through cylinder mounting members (202, 302). The rotary transmission mechanism includes lock joints (206, 306), transmission members (204, 304), and key blocks (208, 308) connected in sequence. The lock joints (206, 306) are connected to the transmission members (204, 304) through springs, and the key blocks (208, 308) are connected to the power transmission mechanism. The fixing mechanism includes a mounting plate (203, 303) and a second pneumatic quick-change joint (205, 305) connected to each other. The clamping mechanism is located on one side of the mounting plate (203, 303), and the second pneumatic quick-change joint (205, 305) is located on the other side of the mounting plate (203, 303). Through holes passing through the rotary transmission mechanism are provided on the mounting plate (203, 303). The second pneumatic quick-change joint (205, 305) is connected to the first pneumatic quick-change joint (102).

2. The container lock button disassembly and assembly fixture system with an automatically replaceable chuck according to claim 1, characterized in that, The flange includes a floor for installing the power transmission mechanism and the first pneumatic quick-change joint (102), and a connecting flange (104) installed on this floor.

3. The container lock button disassembly and assembly fixture system with an automatically replaceable chuck according to claim 1, characterized in that, The power transmission mechanism includes a synchronous pulley (101), a synchronous belt (103), and a servo motor (105) connected in sequence. The synchronous pulley (101) is connected to the rotary transmission mechanism of the quick-change module.

4. The container lock button disassembly and assembly fixture system with an automatically replaceable chuck according to claim 3, characterized in that, The servo motor (105) is fixed through a motor mounting member (107).

5. The container lock button disassembly and assembly fixture system with an automatically replaceable chuck according to claim 1, characterized in that, The fixed module (1) further includes a camera mounting plate (108).

6. The automatic chuck-changing container lock button disassembly and assembly fixture system according to claim 1, characterized in that The first pneumatic quick-change joint (102) is fixed through a support member (106).

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