Pickup device capable of being rapidly replaced for stacker crane

Abstract

The invention relates to the technical field of stackers, and discloses a quick-change pickup device for a stacker, which comprises a mounting base and a tail end clamp, the stacker for driving the tail end clamp to move is arranged at the top of the mounting base, and a quick-change mechanism is arranged on the stacker. The tail end clamp is detachably mounted on the stacking machine through a quick change mechanism; the quick-change mechanism comprises a quick-change upper cylinder body and a quick-change lower cylinder body which are matched with each other, and a driving gear and an adjusting worm wheel which are fixedly connected are arranged in the quick-change upper cylinder body. According to the quickly-replaced picking device for the stacker crane, air is supplied to a pneumatic motor to drive an adjusting worm and an adjusting worm gear to rotate, so that a plurality of connecting assemblies are driven to rotate through transmission of a driving gear, a connecting screw rod is screwed in or out along a connecting hole, and therefore disassembly and assembly of a quickly-replaced upper cylinder body and a quickly-replaced lower cylinder body are achieved; and therefore, the tail end clamp is quickly replaced, the operation is simple and convenient, and the replacement efficiency of the tail end clamp is improved.

Description

Technical Field

[0001] The invention relates to the technical field of palletizers, in particular to a quick-change picking device for a palletizer. Background Art

[0002] Palletizing machines, also known as palletizing robots, are the product of the organic combination of machinery and computer programs. They provide higher production efficiency for modern production and are widely used in various industries such as food processing, mechanical processing, and furniture manufacturing. In the field of furniture manufacturing, palletizing robots can automatically complete the handling of wood raw materials, reducing the time and labor intensity of manual handling.

[0003] The palletizing robot picks up materials through the end effector, and during use, the palletizing robot may pick up and palletize materials of different volumes, so different types of end effectors need to be replaced during the palletizing process. The palletizing robot and the end effector are mainly connected through a quick-change mechanism, and the common quick-change mechanism is mainly locked by pneumatics. For example, the patent with publication number CN116810835A discloses a combined robot fixture quick-change plate and fixture switching method, which discloses: the clamping cylinder body is arranged on one side of the fixture end connector, the clamping cylinder body is adapted to the fixture end connector, a cylinder piston is arranged inside the clamping cylinder body, a piston spring is installed on the rear surface of the cylinder piston, a positioning steel ball is welded to the inner wall of the mounting groove, and a locking steel ball is slidably connected to the inner wall of the slide groove. When the quick-change plate at the robot end and the quick-change plate at the fixture end are fitted together, air is supplied to the cylinder to extend the cylinder piston. After the cylinder piston is extended, the ejection part ejects the locking steel ball outward. The locking steel ball locks the quick-change plate at the fixture end with the help of the positioning groove, completing the quick replacement of the fixture.

[0004] It locks the quick-change mechanism by supplying air to the cylinder and driving the piston to move to push out the locking steel ball. It mainly relies on gas pressure to lock the quick-change mechanism, which is prone to the disappearance of locking force due to air leakage or air pressure changes, thereby causing the main disk and the tool disk to separate suddenly. In addition, it only relies on pneumatic locking. When subjected to external force and large torque, the connecting components of the quick-change mechanism are prone to disengagement, affecting the reliability of use. Summary of the invention

[0005] The object of the present invention is to provide a quick-change picking device for a palletizer to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a quick-change picking device for a palletizer, comprising a mounting base and an end fixture, a palletizer for driving the end fixture to move is arranged on the top of the mounting base, a quick-change mechanism is arranged on the palletizer, and the end fixture is detachably mounted on the palletizer through the quick-change mechanism; The quick-change mechanism comprises a quick-change upper cylinder body and a quick-change lower cylinder body that cooperate with each other, a driving gear and an adjusting worm gear that are fixedly connected are arranged inside the quick-change upper cylinder body, an air motor is fixedly installed outside the quick-change upper cylinder body, and an adjusting worm is fixedly sleeved on the output shaft of the air motor, a plurality of connecting components are arranged on the quick-change upper cylinder body for connecting the quick-change upper cylinder body and the quick-change lower cylinder body, a connecting hole that cooperates with the connecting component is arranged on the quick-change lower cylinder body, and a plurality of auxiliary positioning components are arranged on the quick-change lower cylinder body for auxiliary positioning between the quick-change upper cylinder body and the quick-change lower cylinder body; The connecting assembly comprises a connecting screw rod movably mounted on the quick-change upper cylinder body, and a transmission gear 1 is fixedly sleeved on the top end of the connecting screw rod, and a guide pin is arranged on the bottom end.

[0007] Preferably, a connecting cover plate is fixedly installed on the top of the quick-change upper cylinder body, and the connecting cover plate is fixedly installed on the palletizer by bolts. A mounting surface that cooperates with the pneumatic motor is opened on the quick-change upper cylinder body. A push-pull force sensor is embedded in the bottom of the quick-change upper cylinder body. The pressure between the quick-change upper cylinder body and the quick-change lower cylinder body is detected by the push-pull force sensor. The control system can determine whether the quick-change upper cylinder body and the quick-change lower cylinder body are connected in place through the pressure data.

[0008] Preferably, the driving gear is movably installed inside the quick-change upper cylinder body, and the driving gear and adjusting worm gear are both located on the central axis of the quick-change upper cylinder body. The outer edge of the adjusting worm gear is meshed with the adjusting worm, and there is a self-locking effect between the adjusting worm wheel and the adjusting worm, and the adjusting worm wheel can only be driven to rotate by the adjusting worm, thereby ensuring the stability of the connecting component after the position is adjusted.

[0009] Preferably, the connecting assembly also includes a mounting seat, which is fixedly mounted on the bottom of the inner side of the quick-change upper cylinder body, and the connecting screw is movably sleeved on the middle part of the mounting seat, and the connecting screw extends to the outside of the quick-change upper cylinder body. The position of the connecting screw is limited by the mounting seat to ensure that the connecting screw can rotate stably on the quick-change upper cylinder body.

[0010] Preferably, the number of the connecting components is 4-8 groups, and several connecting components are distributed in a circular array on the circumferential side of the driving gear. The transmission gear 1 in the connecting component is meshed with the driving gear. The power is provided by the pneumatic motor, which can drive the driving gear and the transmission gear 1 to rotate, and then drive the connecting screw to rotate, so as to realize the connecting screw being screwed in or out of the connecting hole.

[0011] Preferably, the number of the connecting holes is the same as the connecting assembly, and the positions of the connecting holes and the connecting assembly correspond one to one. The upper half of the connecting hole is a threaded section that cooperates with the connecting screw, and the lower half is a plug-in section that cooperates with the guide pin. The top of the connecting hole is provided with a guiding slope that cooperates with the guide pin. When the quick-change upper cylinder body and the quick-change lower cylinder body are connected, the connecting screw can be positioned by cooperating with the guiding slope and the guide pin.

[0012] Preferably, except for the position corresponding to the pneumatic motor, the remaining positions on the quick-change lower cylinder are provided with evenly distributed auxiliary positioning components, and the positions of the auxiliary positioning components correspond to the connecting holes. The quick-change lower cylinder is provided with a mounting groove that cooperates with the auxiliary positioning component. The auxiliary positioning component can be used to assist in positioning the quick-change upper cylinder and the quick-change lower cylinder, thereby improving the performance of the quick-change mechanism in resisting external impacts and large torques.

[0013] Preferably, the auxiliary positioning assembly includes a positioning claw and a transmission gear plate, the positioning claw is hinged to the inside of the mounting slot, the transmission gear plate is clamped to the inside of the mounting slot, and the transmission gear plate is located on the side of the positioning claw close to the center of the quick-change lower cylinder body, a transmission gear 2 is provided at the hinge position between the positioning claw and the quick-change lower cylinder body, and the transmission gear 2 is meshed with a return spring, and a positioning groove matching the positioning claw is provided on the quick-change upper cylinder body. When the quick-change upper cylinder body and the quick-change lower cylinder body are connected in place, the positioning claw can be deflected and clamped into the positioning groove to perform auxiliary positioning between the quick-change upper cylinder body and the quick-change lower cylinder body.

[0014] Preferably, a guide rod is fixedly connected to the transmission tooth plate, and a return spring is provided on the external movable sleeve of the guide rod. The guide rod is inserted into the bottom of the mounting groove, and the mounting groove passes through to the interior of the connecting hole. The shape of the transmission tooth plate is "L", and the short side of the transmission tooth plate extends to the interior of the connecting hole. When the quick-change upper cylinder body and the quick-change lower cylinder body are matched, it is ensured that the step surface at the bottom end of the connecting screw can push the transmission tooth plate to move, thereby realizing the adjustment of the position of the positioning claw.

[0015] Preferably, two groups of connecting seats that cooperate with each other are provided at the bottom of the quick-change upper cylinder body and the top of the quick-change lower cylinder body, the connecting seat is located at one end of the end face of the quick-change upper cylinder body or the quick-change lower cylinder body, and a threaded end is threadedly connected, and the end located on the peripheral side of the quick-change upper cylinder body or the quick-change lower cylinder body is provided with a quick-plug connector, and a sealing ring is glued to the end of the threaded end away from the connecting seat. After the quick-change upper cylinder body and the quick-change lower cylinder body are connected, the threaded ends at corresponding positions on the quick-change upper cylinder body and the quick-change lower cylinder body are also synchronously docked to supply air to the pneumatic components in the end clamp.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The palletizer uses a quick-change picking device, which drives the adjusting worm and the adjusting worm wheel to rotate by supplying air to the pneumatic motor, thereby driving several connecting components to rotate through the driving gear transmission, and screwing the connecting screw in or out along the connecting hole, so as to realize the disassembly and assembly of the quick-change upper cylinder body and the quick-change lower cylinder body, and then quickly replace the end fixture. The operation is simple and the replacement efficiency of the end fixture is improved. The quick-change upper cylinder body and the quick-change lower cylinder body are threadedly connected, and the adjusting worm wheel and the adjusting worm have a self-locking effect to avoid the situation where the locking force disappears due to air source leakage.

[0017] 2. The palletizer uses a quick-change picking device, which provides a guide pin at the bottom end of the connecting screw and a guide slope at the top end of the connecting hole. When the quick-change upper cylinder body and the quick-change lower cylinder body are connected, the connecting screw can be positioned by the cooperation of the guide slope and the guide pin, so that the connecting screw and the connecting hole can be accurately docked. In addition, the mutual cooperation between the connecting screw, the guide pin and the quick-change lower cylinder body can improve the performance of the quick-change mechanism in resisting external impacts and large torques, and avoid accidental loosening of the end clamp.

[0018] 3. The palletizer uses a quick-change picking device. When the quick-change upper cylinder body and the quick-change lower cylinder body are connected in place, the step surface at the bottom end of the connecting screw can push the transmission tooth plate downward, and through the transmission gear 2, drive the positioning claw to deflect upward and get stuck in the positioning groove, so as to assist in positioning between the quick-change upper cylinder body and the quick-change lower cylinder body, further improve the performance of the quick-change mechanism in resisting external impact and large torque, avoid the influence of long-term work on the repeated positioning accuracy of the quick-change mechanism, and effectively ensure the reliability of the quick-change mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure after the overall combination of the present invention; Figure 2 It is a structural schematic diagram of the quick-change mechanism in the present invention; Figure 3 It is a schematic diagram of the structure inside the quick-change cylinder body of the present invention; Figure 4 It is a structural schematic diagram of the connection component in the present invention; Figure 5 It is a structural schematic diagram of a cross section after the quick-change upper cylinder body and the quick-change lower cylinder body are connected in the present invention; Figure 6 It is a structural schematic diagram of the top of the quick-change lower cylinder body in the present invention; Figure 7 It is a schematic diagram of the structure after the threaded ends on the quick-change upper cylinder body and the quick-change lower cylinder body are connected in the present invention; Figure 8 It is a structural schematic diagram of the threaded end in the present invention; Fig. 9It is a structural schematic diagram of the auxiliary positioning component in the present invention.

[0020] In the figure: 1. Installation base; 2. Palletizer; 3. Quick change mechanism; 31. Quick-change upper cylinder; 32. Quick-change lower cylinder; 33. Connecting cover plate; 34. Driving gear; 35. Adjusting worm gear; 36. Pneumatic motor; 37. Adjusting worm; 38. Connecting assembly; 381. Mounting seat; 382. Transmission gear 1; 383. Connecting screw; 384. Guide pin; 39. Auxiliary positioning assembly; 391. Positioning claw; 392. Transmission gear 2; 393. Transmission gear plate; 394. Guide rod; 395. Reset spring; 310. Connecting hole; 311. Mounting slot; 312. Positioning slot; 313. Connecting seat; 314. Threaded end; 315. Quick-connect connector; 316. Sealing ring; 4. End clamp. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] See also Figures 1 to 9 In an embodiment of the present invention, a quick-change picking device for a palletizer includes a mounting base 1 and an end fixture 4. A palletizer 2 for driving the end fixture 4 to move is arranged on the top of the mounting base 1. The palletizer 2 and the end fixture 4 are both prior arts and are commercially available. A quick-change mechanism 3 is arranged on the palletizer 2. The end fixture 4 is detachably mounted on the palletizer 2 through the quick-change mechanism 3. The palletizer 2 can realize the installation of the end fixture 4 through the quick-change mechanism 3, and can realize the quick replacement of the end fixture 4.

[0023] The quick-change mechanism 3 includes a quick-change upper cylinder body 31 and a quick-change lower cylinder body 32 that cooperate with each other. A driving gear 34 and an adjusting worm wheel 35 are fixedly connected inside the quick-change upper cylinder body 31. An air motor 36 is fixedly installed on the outside of the quick-change upper cylinder body 31, and an adjusting worm 37 is fixedly sleeved on the output shaft of the air motor 36. A plurality of connecting components 38 are provided on the quick-change upper cylinder body 31 for connecting the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32. The adjusting worm 37 and the adjusting worm wheel 35 are driven to rotate by supplying air to the air motor 36, thereby driving the plurality of connecting components 38 to rotate through the driving gear 34, and screwing the connecting screw 383 in or out along the connecting hole 310, thereby realizing the disassembly and assembly of the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32, and then quickly replacing the end fixture 4, and the quick-change lower cylinder body 3 2 is provided with a connecting hole 310 that cooperates with the connecting component 38. The quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 are connected by threaded connection, and the adjusting worm wheel 35 and the adjusting worm 37 have a self-locking effect to avoid the situation where the locking force disappears due to air source leakage. The quick-change lower cylinder body 32 is provided with a plurality of auxiliary positioning components 39 for auxiliary positioning between the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32. When the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 are connected in place, the step surface at the bottom end of the connecting screw 383 can push the transmission gear plate 393 downward, and through the transmission gear 2 392, drive the positioning claw 391 to deflect upward and get stuck in the positioning groove 312, to assist the positioning between the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32, and improve the performance of the quick-change mechanism 3 in resisting external impact and large torque; The connecting assembly 38 includes a connecting screw 383 movably mounted on the quick-change upper cylinder 31, and the top end of the connecting screw 383 is fixedly sleeved with a transmission gear 382, ​​and the bottom end is provided with a guide pin 384. Through the mutual cooperation between the connecting screw 383, the guide pin 384 and the quick-change lower cylinder 32, the performance of the quick-change mechanism 3 in resisting external impacts and large torques can be improved, thereby preventing the end clamp 4 from accidentally loosening.

[0024] As a further implementation scheme of the above invention: a connecting cover plate 33 is fixedly installed on the top of the quick-change upper cylinder body 31, and the connecting cover plate 33 is fixedly installed on the palletizer 2 by bolts. A mounting surface that cooperates with the pneumatic motor 36 is opened on the quick-change upper cylinder body 31, and a mounting position is provided on the quick-change upper cylinder body 31 for the pneumatic motor 36 to ensure the stability of the pneumatic motor 36 when working. A push-pull force sensor is embedded in the bottom of the quick-change upper cylinder body 31. The push-pull force sensor is a prior art and is commercially available. The pressure between the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 is detected by the push-pull force sensor. The control system can determine whether the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 are connected in place through the pressure data.

[0025] As a further implementation scheme of the above invention: the driving gear 34 is movably installed inside the quick-change upper cylinder body 31, and the driving gear 34 and the adjusting worm wheel 35 are both located on the central axis of the quick-change upper cylinder body 31. The adjusting worm 37 is driven to rotate by the pneumatic motor 36, and the transmission is through the adjusting worm wheel 35 and the driving gear 34, which can provide power for the rotation of the connecting component 38. The outer edge of the adjusting worm wheel 35 is meshed with the adjusting worm 37, and there is a self-locking effect between the adjusting worm wheel 35 and the adjusting worm 37. The adjusting worm wheel 35 can only be driven to rotate by the adjusting worm 37, thereby ensuring the stability of the connecting component 38 after the position is adjusted, and avoiding accidental falling off between the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32.

[0026] As a further implementation scheme of the above invention: the connecting component 38 also includes a mounting seat 381, which is fixedly mounted on the bottom of the inner side of the quick-change upper cylinder body 31, and the connecting screw 383 is movably sleeved on the middle part of the mounting seat 381, and the connecting screw 383 extends to the outside of the quick-change upper cylinder body 31. The position of the connecting screw 383 is limited by the mounting seat 381 to ensure that the connecting screw 383 is firmly mounted on the quick-change upper cylinder body 31 and can rotate stably.

[0027] As a further implementation scheme of the above invention: the number of connecting components 38 is 4-8 groups, and several connecting components 38 are distributed in a circular array on the circumferential side of the driving gear 34. By cooperating with the connecting holes 310, a firm connection between the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 can be achieved, and a threaded connection is adopted, and self-locking is performed by adjusting the worm gear 35 and cooperating with the pneumatic motor 36 to avoid the situation where the locking force disappears due to air leakage. The transmission gear 382 in the connecting component 38 is meshed with the driving gear 34, and the power is provided by the pneumatic motor 36 to drive the driving gear 34 and the transmission gear 382 to rotate, thereby driving the connecting screw 383 to rotate, so that the connecting screw 383 can be screwed in or out of the connecting hole 310, thereby realizing the rapid replacement of the end clamp 4.

[0028] As a further implementation scheme of the above invention: the number of connecting holes 310 is the same as that of the connecting assembly 38, and the positions of the connecting holes 310 and the connecting assembly 38 correspond one to one. The upper half of the connecting hole 310 is a threaded section that cooperates with the connecting screw 383, and the lower half is a plug-in section that cooperates with the guide pin 384, providing an installation position for the connecting screw 383 and the guide pin 384, and the mutual cooperation between the connecting screw 383, the guide pin 384 and the quick-change lower cylinder body 32 can improve the performance of the quick-change mechanism 3 in resisting external impact and large torque. A guiding slope that cooperates with the guide pin 384 is provided at the top of the connecting hole 310. When the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 are connected, the connecting screw 383 can be positioned by cooperating with the guide slope and the guide pin 384, so that the connecting screw 383 and the connecting hole 310 can be accurately connected.

[0029] As a further implementation scheme of the above invention: except for the position corresponding to the pneumatic motor 36, the other positions on the quick-change lower cylinder body 32 are provided with evenly distributed auxiliary positioning components 39, and the positions of the auxiliary positioning components 39 correspond to the connecting holes 310. Except for the connecting holes 310 corresponding to the installation positions of the pneumatic motor 36, the other connecting holes 310 all correspond to the positions of the auxiliary positioning components 39. The quick-change lower cylinder body 32 is provided with a mounting groove 311 that cooperates with the auxiliary positioning component 39. The auxiliary positioning component 39 can be used to assist in positioning the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32, thereby improving the performance of the quick-change mechanism 3 in resisting external impacts and large torques.

[0030] As a further implementation scheme of the above invention: the auxiliary positioning assembly 39 includes a positioning claw 391 and a transmission tooth plate 393. The positioning claw 391 is hinged to the inside of the mounting groove 311, and the transmission tooth plate 393 is clamped to the inside of the mounting groove 311. The transmission tooth plate 393 is located on the side of the positioning claw 391 close to the center of the quick-change lower cylinder body 32, ensuring that the positioning claw 391 can be deflected on the outside to assist in positioning the positions of the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32, and at the same time, the transmission tooth plate 393 can be pushed by the connecting screw 383 on the inside, and the positioning claw 391 is hinged to the quick-change lower cylinder body 32. A transmission gear 392 is provided at the position, and the transmission gear 392 is meshed with the return spring 395. When the transmission tooth plate 393 moves up and down, the positioning claw 391 can be driven to deflect through the transmission gear 392. A positioning groove 312 cooperating with the positioning claw 391 is provided on the quick-change upper cylinder body 31. When the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 are connected in place, the positioning claw 391 can be deflected and stuck in the positioning groove 312, so as to assist in positioning between the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32, thereby improving the performance of the quick-change mechanism 3 in resisting external impact and large torque.

[0031] As a further implementation scheme of the above invention: a guide rod 394 is fixedly connected to the transmission tooth plate 393, and the external movable sleeve of the guide rod 394 is provided with a reset spring 395. When the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 are disconnected, the transmission tooth plate 393 is reset by the elastic force of the reset spring 395, and is transmitted by the transmission gear 2 392 to drive the positioning claw 391 to deflect downward and reset. The guide rod 394 is inserted into the bottom of the mounting groove 311, and the mounting groove 311 passes through the interior of the connecting hole 310. The shape of the transmission tooth plate 393 is "L", and the short side of the transmission tooth plate 393 extends to the interior of the connecting hole 310. When the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 cooperate, it is ensured that the step surface at the bottom end of the connecting screw 383 can push the transmission tooth plate 393 to move, thereby realizing the adjustment of the position of the positioning claw 391.

[0032] As a further implementation scheme of the above invention: two groups of mutually cooperating connecting seats 313 are arranged at the bottom of the quick-change upper cylinder body 31 and the top of the quick-change lower cylinder body 32, and one end of the connecting seat 313 located on the end face of the quick-change upper cylinder body 31 or the quick-change lower cylinder body 32 is threadedly connected with a threaded end 314, and one end located on the peripheral side of the quick-change upper cylinder body 31 or the quick-change lower cylinder body 32 is provided with a quick-plug connector 315. After the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 are connected, the threaded ends 314 at corresponding positions on the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 are also synchronously docked to supply air to the pneumatic components in the end clamp 4, and the end of the threaded end 314 away from the connecting seat 313 is glued with a sealing ring 316, and the sealing ring 316 is used to achieve the sealing of the docking position of the two groups of threaded ends 314.

[0033] During the specific implementation: the quick-change upper cylinder 31 is integrally installed at the end of the palletizer 2 by bolts, and the quick-change lower cylinder 32 matched with the quick-change upper cylinder 31 is installed on a plurality of end fixtures 4 by bolts; the plurality of end fixtures 4 are placed on a placement seat in the prior art in a non-working state, and the placement coordinates of the end fixtures 4 are memorized by the control system for controlling the palletizer 2 in the prior art; when the end fixture 4 is installed, the palletizer 2 is controlled by the control system in the prior art to drive the quick-change upper cylinder 31 to move, the quick-change upper cylinder 31 is docked with the quick-change lower cylinder 32, the quick-change upper cylinder 31 and the quick-change lower cylinder 32 are positioned by the guide pin 384 cooperating with the guiding inclined surface at the top of the connecting hole 310, and the connecting hole 310 is connected to the quick-change upper cylinder 31. The connecting screw 383 is positioned with the connecting hole 310, and then the control system controls the air circuit of the pneumatic motor 36 to open, supplying air to the pneumatic motor 36, and the pneumatic motor 36 drives the adjusting worm 37 and the adjusting worm wheel 35, and the driving gear 34 to rotate, driving a plurality of connecting screws 383 to rotate synchronously, screwing the connecting screws 383 into the connecting hole 310, and detecting the pressure between the quick-change upper cylinder 31 and the quick-change lower cylinder 32 through the push-pull force sensor, and the control system determines whether the quick-change upper cylinder 31 and the quick-change lower cylinder 32 are connected in place through the pressure data, and the quick-change mechanism 3 is improved in its ability to resist external impact and large torque through the cooperation between the connecting screw 383, the guide pin 384 and the quick-change lower cylinder 32, so as to realize the end clamp 4 Assembly on the palletizer 2; after the quick-change upper cylinder 31 and the quick-change lower cylinder 32 are connected, the threaded ends 314 at the corresponding positions on the quick-change upper cylinder 31 and the quick-change lower cylinder 32 are also synchronously docked, and the sealing position of the two sets of threaded ends 314 is sealed through the sealing ring 316 to supply air to the pneumatic components in the end clamp 4; when the quick-change upper cylinder 31 is connected to the quick-change lower cylinder 32, the step surface at the bottom end of the connecting screw 383 can push the transmission gear plate 393 downward, and through the transmission gear 2 392, drive the positioning claw 391 to deflect upward, and after the quick-change upper cylinder 31 and the quick-change lower cylinder 32 are connected in place, the positioning claw 391 is inserted into the positioning groove 312 to make the quick-change upper cylinder 31 and the quick-change lower cylinder 32 between. Auxiliary positioning is performed to improve the performance of the quick-change mechanism 3 in resisting external impact and large torque; when the end fixture 4 is replaced, the control system controls the air circuit of the pneumatic motor 36 to open, and makes the output shaft of the pneumatic motor 36 rotate in the opposite direction, and unscrews the connecting screw 383 along the connecting hole 310, disconnects the connection between the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32, and at the same time, when the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 are disconnected, the transmission tooth plate 393 is reset by the elastic force of the reset spring 395, and is driven by the transmission gear 2 392 to drive the positioning claw 391 to deflect downward and reset, and the control system controls the stacker 2 to drive the quick-change upper cylinder body 31 to move, and cooperate with the quick-change lower cylinder body 32 on other end fixtures 4 to realize the rapid replacement of the end fixture 4.

[0034] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A quick-change picking device for a palletizer, comprising a mounting base (1) and an end fixture (4), wherein a palletizer (2) for driving the end fixture (4) to move is arranged on the top of the mounting base (1), characterized in that: The palletizer (2) is provided with a quick-change mechanism (3), and the end clamp (4) is detachably mounted on the palletizer (2) via the quick-change mechanism (3); The quick-change mechanism (3) comprises a quick-change upper cylinder (31) and a quick-change lower cylinder (32) that cooperate with each other; a driving gear (34) and an adjusting worm gear (35) that are fixedly connected are arranged inside the quick-change upper cylinder (31); an air motor (36) is fixedly mounted outside the quick-change upper cylinder (31); and an adjusting worm gear (37) is fixedly sleeved on the output shaft of the air motor (36); a plurality of connecting components (38) are arranged on the quick-change upper cylinder (31) for connecting the quick-change upper cylinder (31) and the quick-change lower cylinder (32); a connecting hole (310) that cooperates with the connecting component (38) is arranged on the quick-change lower cylinder (32); and a plurality of auxiliary positioning components (39) are arranged on the quick-change lower cylinder (32) for auxiliary positioning between the quick-change upper cylinder (31) and the quick-change lower cylinder (32); The connecting assembly (38) comprises a connecting screw (383) movably mounted on the quick-change upper cylinder body (31), wherein a transmission gear 1 (382) is fixedly sleeved on the top end of the connecting screw (383) and a guide pin (384) is arranged on the bottom end.

2. A quick-change picking device for a palletizer according to claim 1, characterized in that: A connecting cover plate (33) is fixedly mounted on the top of the quick-change upper cylinder body (31), and the connecting cover plate (33) is fixedly mounted on the palletizer (2) by means of bolts. A mounting surface for cooperating with the pneumatic motor (36) is provided on the quick-change upper cylinder body (31), and a push-pull force sensor is embedded on the bottom of the quick-change upper cylinder body (31).

3. A quick-change picking device for a palletizer according to claim 1, characterized in that: The driving gear (34) is movably mounted inside the quick-change upper cylinder body (31); the driving gear (34) and the adjusting worm wheel (35) are both located on the central axis of the quick-change upper cylinder body (31); and the outer edge of the adjusting worm wheel (35) is meshed with the adjusting worm (37).

4. A quick-change picking device for a palletizer according to claim 1, characterized in that: The connection assembly (38) further comprises a mounting seat (381), wherein the mounting seat (381) is fixedly mounted on the bottom of the inner side of the quick-change upper cylinder body (31), and the connecting screw (383) is movably sleeved on the middle part of the mounting seat (381), and the connecting screw (383) extends to the outside of the quick-change upper cylinder body (31).

5. The quick-change picking device for a palletizer according to claim 1, characterized in that: The number of the connection assemblies (38) is 4-8 groups, and the plurality of connection assemblies (38) are distributed in a ring array around the driving gear (34), and the transmission gear 1 (382) in the connection assemblies (38) is meshed with the driving gear (34).

6. A quick-change picking device for a palletizer according to claim 5, characterized in that: The number of the connecting holes (310) is the same as that of the connecting assembly (38), and the positions of the connecting holes (310) and the connecting assembly (38) correspond one to one. The upper half of the connecting hole (310) is a threaded section that cooperates with the connecting screw (383), and the lower half is a plug-in section that cooperates with the guide pin (384). The top end of the connecting hole (310) is provided with a guiding inclined surface that cooperates with the guide pin (384).

7. A quick-change picking device for a palletizer according to claim 1, characterized in that: Except for the position corresponding to the pneumatic motor (36), the remaining positions on the quick-change lower cylinder body (32) are all provided with evenly distributed auxiliary positioning components (39), and the positions of the auxiliary positioning components (39) correspond to the connecting holes (310). The quick-change lower cylinder body (32) is provided with a mounting groove (311) that cooperates with the auxiliary positioning components (39).

8. A quick-change picking device for a palletizer according to claim 7, characterized in that: The auxiliary positioning assembly (39) comprises a positioning claw (391) and a transmission tooth plate (393); the positioning claw (391) is hinged to the inside of the mounting groove (311); the transmission tooth plate (393) is clamped to the inside of the mounting groove (311); and the transmission tooth plate (393) is located on a side of the positioning claw (391) close to the center of the quick-change lower cylinder body (32); a transmission gear 2 (392) is provided at a hinged position between the positioning claw (391) and the quick-change lower cylinder body (32); and the transmission gear 2 (392) and a return spring (395) are meshed with each other; and a positioning groove (312) cooperating with the positioning claw (391) is provided on the quick-change upper cylinder body (31).

9. A quick-change picking device for a palletizer according to claim 8, characterized in that: The transmission tooth plate (393) is fixedly connected to a guide rod (394), and an external movable sleeve of the guide rod (394) is provided with a return spring (395). The guide rod (394) is inserted into the bottom of the mounting groove (311), and the mounting groove (311) passes through the interior of the connecting hole (310). The transmission tooth plate (393) is in the shape of an "L", and the short side of the transmission tooth plate (393) extends to the interior of the connecting hole (310).

10. The quick-change picking device for a palletizer according to claim 1, characterized in that: Two sets of mutually matching connection seats (313) are provided at the bottom of the quick-change upper cylinder body (31) and the top of the quick-change lower cylinder body (32); one end of the connection seat (313) located on the end surface of the quick-change upper cylinder body (31) or the quick-change lower cylinder body (32) is threadedly connected to a threaded end head (314); one end located on the peripheral side of the quick-change upper cylinder body (31) or the quick-change lower cylinder body (32) is provided with a quick plug connector (315); and one end of the threaded end head (314) away from the connection seat (313) is glued to a sealing ring (316).

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