A quickly replaceable picking device for a palletizer

Abstract

The present invention relates to the technical field of palletizers, and discloses a pick-up device for a palletizer with quick replacement, including a mounting base and an end clamp. A palletizer for driving the end clamp to move is arranged on the top of the mounting base, and a quick-change mechanism is arranged on the palletizer. The end clamp is detachably mounted on the palletizer through the quick-change mechanism. The quick-change mechanism includes 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 fixedly connected are arranged inside the quick-change upper cylinder body. For the pick-up device for the palletizer with quick replacement, by supplying air to the pneumatic motor to drive the adjusting worm and the adjusting worm gear to rotate, several connecting components are driven to rotate through the transmission of the driving gear, and the connecting screw is screwed into or out of 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 further quickly replace the end clamp, with simple operation and improved replacement efficiency of the end clamp.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizers, and specifically to a pick-up device for a palletizer that can be quickly replaced. Background Art

[0002] A palletizer, i.e., a palletizing robot, is a product of the organic combination of machinery and computer programs, providing higher production efficiency for modern production and being widely used in various industries such as food processing, machining, and furniture manufacturing. In the furniture manufacturing field, the palletizing robot 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 an end effector, and during the use of the palletizing robot, it may pick up and palletize materials of different volumes. Therefore, different models 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 pneumatically. For example, the patent with the publication number CN116810835A discloses a combined robot fixture quick-change disk and a fixture switching method, which includes: 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, positioning steel balls are welded on the inner side wall of the installation groove, and locking steel balls are slidably connected to the inner side wall of the chute. When the robot end quick-change disk and the fixture end quick-change disk are attached, by supplying air to the cylinder, the cylinder piston extends, and after the cylinder piston extends, the ejecting part ejects the locking steel balls outwards, and the locking steel balls lock the fixture end quick-change disk by means 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 eject the locking steel balls. It mainly relies on gas pressure to lock the quick-change mechanism, and it is prone to sudden situations where the locking force disappears due to air leakage from the air source or air pressure changes, resulting in the separation of the main disk and the tool disk; in addition, it only relies on pneumatic locking, and when subjected to external impacts and large torques, the connecting components of the quick-change mechanism are prone to detachment problems, affecting the reliability of use. Summary of the Invention

[0005] The purpose of the present invention is to provide a pick-up device for a palletizer that can be quickly replaced to solve the problems raised in the above background art.

[0006] To achieve the above object, the present invention provides the following technical solution: A pick-up device for a palletizer with quick replacement, including a mounting base and an end fixture. A palletizer for driving the end fixture to move is provided on the top of the mounting base. A quick-change mechanism is provided on the palletizer, and the end fixture is detachably mounted on the palletizer through the quick-change mechanism;

[0007] The quick-change mechanism includes 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 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 number 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. Connecting holes that cooperate with the connecting components are arranged on the quick-change lower cylinder body. A number 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;

[0008] The connecting component includes a connecting screw rod movably installed on the quick-change upper cylinder body. A first transmission gear is fixedly sleeved on the top end of the connecting screw rod, and a guide pin is arranged at the bottom end.

[0009] 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 through bolts. An installation surface that cooperates with the air motor is provided on the quick-change upper cylinder body. A push-pull force sensor is embedded at 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 through the push-pull force sensor, and the control system can judge whether the quick-change upper cylinder body and the quick-change lower cylinder body are connected in place through the pressure data.

[0010] Preferably, the driving gear is movably installed inside the quick-change upper cylinder body. The driving gear and the 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 meshes with the adjusting worm. There is a self-locking effect between the adjusting worm gear and the adjusting worm, and only the adjusting worm can drive the adjusting worm gear to rotate, thereby ensuring the stability of the connecting component after the position adjustment.

[0011] Preferably, the connecting component further includes a mounting seat. The mounting seat is fixedly installed at the bottom inside the quick-change upper cylinder body. The connecting screw rod is movably sleeved in the middle of the mounting seat, and the connecting screw rod extends outside the quick-change upper cylinder body. The position of the connecting screw rod is restricted through the mounting seat to ensure that the connecting screw rod can rotate stably on the quick-change upper cylinder body.

[0012] Preferably, the number of the connecting components is 4-8 groups, and several connecting components are distributed in an annular array on the circumferential side of the driving gear. The first transmission gear in the connecting component meshes with the driving gear. Driven by a pneumatic motor, the driving gear and the first transmission gear can be driven to rotate, thereby driving the connecting screw to rotate, realizing the screwing-in or screwing-out of the connecting screw in the connecting hole.

[0013] Preferably, the number of the connecting holes is the same as that of the connecting components, and the positions of the connecting holes correspond to those of the connecting components one by one. The upper half of the connecting hole is a threaded section for cooperating with the connecting screw, and the lower half is a plug-in section for cooperating with the guiding pin. A guiding inclined surface for cooperating with the guiding pin is opened at the top end of the connecting hole. When connecting the quick-change upper cylinder block and the quick-change lower cylinder block, the connecting screw can be positioned by the cooperation of the guiding inclined surface and the guiding pin.

[0014] Preferably, except for the position corresponding to the pneumatic motor, uniformly distributed auxiliary positioning components are arranged at other positions on the quick-change lower cylinder block, and the positions of the auxiliary positioning components correspond to those of the connecting holes. Installation grooves for cooperating with the auxiliary positioning components are opened on the quick-change lower cylinder block. The auxiliary positioning components can be used to perform auxiliary positioning between the quick-change upper cylinder block and the quick-change lower cylinder block, improving the performance of the quick-change mechanism against external impacts and large torques.

[0015] Preferably, the auxiliary positioning component includes a positioning claw and a transmission tooth plate. The positioning claw is hinged inside the installation groove. The transmission tooth plate is clamped inside the installation groove and is located on the side of the positioning claw close to the center of the quick-change lower cylinder block. A second transmission gear is arranged at the hinged position of the positioning claw and the quick-change lower cylinder block, and the second transmission gear meshes with the transmission tooth plate. A positioning groove for cooperating with the positioning claw is opened on the quick-change upper cylinder block. When the quick-change upper cylinder block and the quick-change lower cylinder block are connected in place, the positioning claw can deflect and be clamped into the positioning groove to perform auxiliary positioning between the quick-change upper cylinder block and the quick-change lower cylinder block.

[0016] Preferably, a guiding rod is fixedly connected to the transmission tooth plate, and a return spring is movably sleeved outside the guiding rod. The guiding rod is inserted into the bottom of the installation groove, and the installation groove penetrates into the inside of the connecting hole. The shape of the transmission tooth plate is "L", and the short side of the transmission tooth plate extends into the inside of the connecting hole. When the quick-change upper cylinder block and the quick-change lower cylinder block are matched, it is ensured that the bottom step surface of the connecting screw can push the transmission tooth plate to move, realizing the adjustment of the position of the positioning claw.

[0017] Preferably, two sets of mating connection seats are provided at the bottom of the quick-change upper cylinder block and the top of the quick-change lower cylinder block. One end of the connection seat located at the end face of the quick-change upper cylinder block or the quick-change lower cylinder block is threadedly connected with a threaded end, and a quick-connect joint is provided at one end located on the circumferential side of the quick-change upper cylinder block or the quick-change lower cylinder block. A sealing ring is adhesively bonded to the end of the threaded end away from the connection seat. After the quick-change upper cylinder block and the quick-change lower cylinder block are connected, the threaded ends at the corresponding positions on the quick-change upper cylinder block and the quick-change lower cylinder block are also docked synchronously to supply air to the pneumatic components in the end effector.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. The quick-change pickup device for this palletizer drives the adjusting worm and the adjusting worm gear to rotate by supplying air to the pneumatic motor, and then drives several connecting components to rotate through the driving gear transmission, screws the connecting screw into or out of the connecting hole, thereby realizing the disassembly and assembly of the quick-change upper cylinder block and the quick-change lower cylinder block, and then quickly replacing the end effector. The operation is simple, the replacement efficiency of the end effector is improved, and the quick-change upper cylinder block and the quick-change lower cylinder block are connected by a threaded connection method, and there is a self-locking effect between the adjusting worm gear and the adjusting worm, avoiding the situation that the locking force disappears due to air source leakage.

[0020] 2. The quick-change pickup device for this palletizer is provided with a guide pin at the bottom end of the connecting screw and a guiding inclined surface at the top end of the connecting hole. When connecting the quick-change upper cylinder block and the quick-change lower cylinder block, the connecting screw can be positioned by the cooperation of the guiding inclined surface and the guide pin, realizing the precise docking of the connecting screw and the connecting hole. And through the mutual cooperation between the connecting screw, the guide pin and the quick-change lower cylinder block, the performance of the quick-change mechanism against external impacts and large torques can be improved, avoiding accidental loosening of the end effector.

[0021] 3. The quick-change pickup device for this palletizer, when the quick-change upper cylinder block and the quick-change lower cylinder block 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 of the second transmission gear, drive the positioning claw to deflect upward and snap into the positioning groove, performing auxiliary positioning between the quick-change upper cylinder block and the quick-change lower cylinder block, further improving the performance of the quick-change mechanism against external impacts and large torques, avoiding the influence of the repeated positioning accuracy of the quick-change mechanism during long-term operation, and effectively ensuring the reliability of the quick-change mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic structural diagram of the whole combination of the present invention;

[0023] Figure 2 is a schematic structural diagram of the quick-change mechanism in the present invention;

[0024] Figure 3 is a schematic structural diagram of the interior of the quick-change upper cylinder block in the present invention;

[0025] Figure 4 It is a schematic structural diagram of the connection component in the present invention;

[0026] Figure 5 It is a schematic structural diagram of the cross-section after the quick-change upper cylinder block and the quick-change lower cylinder block in the present invention are connected;

[0027] Figure 6 It is a schematic structural diagram of the top of the quick-change lower cylinder block in the present invention;

[0028] Figure 7 It is a schematic structural diagram of the quick-change upper cylinder block and the threaded end heads on the quick-change lower cylinder block after connection in the present invention;

[0029] Figure 8 It is a schematic structural diagram of the threaded end head in the present invention;

[0030] Figure 9 It is a schematic structural diagram of the auxiliary positioning component in the present invention.

[0031] In the figure: 1, mounting base; 2, palletizer; 3, quick-change mechanism;

[0032] 31, quick-change upper cylinder block; 32, quick-change lower cylinder block; 33, connecting cover plate; 34, driving gear; 35, adjusting worm gear; 36, pneumatic motor; 37, adjusting worm; 38, connection component; 381, mounting seat; 382, driving gear one; 383, connecting screw; 384, guide pin; 39, auxiliary positioning component; 391, positioning claw; 392, driving gear two; 393, driving toothed plate; 394, guide rod; 395, return spring; 310, connection hole; 311, mounting groove; 312, positioning groove; 313, connection seat; 314, threaded end head; 315, quick connector; 316, sealing ring;

[0033] 4, end fixture. Specific embodiments

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

[0035] Please refer to Figures 1 to 9, in the embodiment of the present invention, a pick-up device for a palletizer with quick replacement includes a mounting base 1 and an end fixture 4. A palletizer 2 for driving the end fixture 4 to move is provided on the top of the mounting base 1. Both the palletizer 2 and the end fixture 4 are prior arts and are commercially available. A quick-change mechanism 3 is provided 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 install the end fixture 4 through the quick-change mechanism 3 and can quickly replace the end fixture 4.

[0036] 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 gear 35 are fixedly connected inside the quick-change upper cylinder body 31. A pneumatic motor 36 is fixedly installed outside the quick-change upper cylinder body 31, and an adjusting worm 37 is fixedly sleeved on the output shaft of the pneumatic 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. By supplying air to the pneumatic motor 36 to drive the adjusting worm 37 and the adjusting worm gear 35 to rotate, the plurality of connecting components 38 are driven to rotate through the transmission of the driving gear 34, and the connecting screw 383 is screwed into or out of the connecting hole 310, so as to realize the disassembly and assembly of the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32, and then quickly replace the end fixture 4. A connecting hole 310 for cooperating with the connecting component 38 is provided on the quick-change lower cylinder body 32. The quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 are connected by a threaded connection method, and there is a self-locking effect between the adjusting worm gear 35 and the adjusting worm 37 to avoid the situation that the locking force disappears due to air source leakage. A plurality of auxiliary positioning components 39 are provided on the quick-change lower cylinder body 32 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 bottom step surface of the connecting screw 383 can push the transmission tooth plate 393 downward, and through the transmission of the transmission gear two 392, drive the positioning claw 391 to deflect upward and snap into the positioning groove 312 to perform auxiliary 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 against external impacts and large torques;

[0037] The connecting component 38 includes a connecting screw 383 movably installed on the quick-change upper cylinder body 31. A transmission gear one 382 is fixedly sleeved on the top end of the connecting screw 383, and a guide pin 384 is provided at the bottom end. Through the mutual cooperation between the connecting screw 383, the guide pin 384 and the quick-change lower cylinder body 32, the performance of the quick-change mechanism 3 against external impacts and large torques can be improved, and the accidental loosening of the end fixture 4 can be avoided.

[0038] As a further embodiment of the above invention: A connection cover plate 33 is fixedly installed at the top of the quick-change upper cylinder block 31, and the connection cover plate 33 is fixedly installed on the palletizer 2 by bolts. An installation surface for cooperating with the pneumatic motor 36 is provided on the quick-change upper cylinder block 31, providing an installation position for the pneumatic motor 36 on the quick-change upper cylinder block 31 to ensure the stability of the pneumatic motor 36 during operation. A push-pull force sensor is embedded at the bottom of the quick-change upper cylinder block 31. The push-pull force sensor is a prior art and is commercially available. The pressure between the quick-change upper cylinder block 31 and the quick-change lower cylinder block 32 is detected through the push-pull force sensor, and the control system can judge whether the quick-change upper cylinder block 31 and the quick-change lower cylinder block 32 are connected in place through the pressure data.

[0039] As a further embodiment of the above invention: The driving gear 34 is movably installed inside the quick-change upper cylinder block 31. The driving gear 34 and the adjusting worm gear 35 are both located on the central axis of the quick-change upper cylinder block 31. The pneumatic motor 36 drives the adjusting worm 37 to rotate, and through the transmission of the adjusting worm gear 35 and the driving gear 34, power can be provided for the rotation of the connection assembly 38. The outer edge of the adjusting worm gear 35 meshes with the adjusting worm 37, and there is a self-locking effect between the adjusting worm gear 35 and the adjusting worm 37. Only the adjusting worm 37 can drive the adjusting worm gear 35 to rotate, thereby ensuring the stability of the connection assembly 38 after position adjustment and preventing accidental detachment between the quick-change upper cylinder block 31 and the quick-change lower cylinder block 32.

[0040] As a further embodiment of the above invention: The connection assembly 38 further includes a mounting seat 381. The mounting seat 381 is fixedly installed at the bottom inside the quick-change upper cylinder block 31. The connection screw 383 is movably sleeved in the middle of the mounting seat 381, and the connection screw 383 extends to the outside of the quick-change upper cylinder block 31. The position of the connection screw 383 is restricted by the mounting seat 381 to ensure that the connection screw 383 is firmly installed on the quick-change upper cylinder block 31 and can rotate stably.

[0041] As a further embodiment of the above invention: The number of the connection assemblies 38 is 4 - 8 groups, and several connection assemblies 38 are distributed in a circular array on the periphery of the driving gear 34. Through the cooperation of several connection assemblies 38 and the connection holes 310, the firm connection between the quick-change upper cylinder block 31 and the quick-change lower cylinder block 32 can be realized, and a threaded connection method is adopted. And through the cooperation of the adjusting worm gear 35 and the pneumatic motor 36 for self-locking, the situation of air source leakage resulting in the disappearance of the locking force is avoided. The first transmission gear 382 in the connection assembly 38 meshes with the driving gear 34. Driven by the pneumatic motor 36, the driving gear 34 and the first transmission gear 382 can be driven to rotate, and then the connection screw 383 can be driven to rotate, realizing the screwing in or screwing out of the connection screw 383 in the connection hole 310, and realizing the quick replacement of the end fixture 4.

[0042] As a further embodiment of the above invention: The number of the connecting holes 310 is the same as that of the connecting components 38, and the positions of the connecting holes 310 correspond to those of the connecting components 38 one by one. The upper half of the connecting hole 310 is a threaded section for mating with the connecting screw 383, and the lower half is a plugging section for mating with the guiding pin 384, providing installation positions for the connecting screw 383 and the guiding pin 384. Through the mutual cooperation between the connecting screw 383, the guiding pin 384 and the quick-change lower cylinder body 32, the performance of the quick-change mechanism 3 against external impacts and large torques can be improved. A guiding inclined surface for mating with the guiding pin 384 is provided at the top end of the connecting hole 310. When connecting the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32, the connecting screw 383 can be positioned by the cooperation of the guiding inclined surface and the guiding pin 384, realizing the precise docking between the connecting screw 383 and the connecting hole 310.

[0043] As a further embodiment of the above invention: Except for the positions corresponding to the pneumatic motor 36 on the quick-change lower cylinder body 32, uniformly distributed auxiliary positioning components 39 are provided at the remaining positions, and the positions of the auxiliary positioning components 39 correspond to those of the connecting holes 310. Except for the connecting holes 310 corresponding to the installation positions of the pneumatic motor 36, the remaining connecting holes 310 correspond to the positions of the auxiliary positioning components 39. Installation grooves 311 for mating with the auxiliary positioning components 39 are provided on the quick-change lower cylinder body 32. Through the auxiliary positioning components 39, the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 can be assisted in positioning, improving the performance of the quick-change mechanism 3 against external impacts and large torques.

[0044] As a further embodiment of the above invention: The auxiliary positioning component 39 includes a positioning claw 391 and a transmission gear plate 393. The positioning claw 391 is hinged inside the installation groove 311, and the transmission gear plate 393 is clamped inside the installation groove 311, and the transmission gear 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 deflect 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 enabling the transmission gear plate 393 to be pushed by the connecting screw 383 on the inside. A second transmission gear 392 is provided at the hinged position of the positioning claw 391 and the quick-change lower cylinder body 32, and the second transmission gear 392 meshes with the transmission gear plate 393. When the transmission gear plate 393 moves up and down, the positioning claw 391 can be driven to deflect through the transmission of the second transmission gear 392. A positioning groove 312 for mating 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 deflect and snap into the positioning groove 312 to assist in positioning between the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32, improving the performance of the quick-change mechanism 3 against external impacts and large torques.

[0045] As a further embodiment of the above invention: A guide rod 394 is fixedly connected to the transmission toothed plate 393, and a return spring 395 is movably sleeved outside the guide rod 394. When the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 are disconnected, the transmission toothed plate 393 is reset under the elastic force of the return spring 395. Driven by the second transmission gear 392, the positioning claw 391 is driven to deflect downward and reset. The guide rod 394 is inserted into the bottom of the installation groove 311, and the installation groove 311 penetrates into the internal connection hole 310. The shape of the transmission toothed plate 393 is "L", and the short side of the transmission toothed plate 393 extends into the internal connection hole 310. When the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 are matched, it is ensured that the bottom step surface of the connection screw 383 can push the transmission toothed plate 393 to move, so as to realize the adjustment of the position of the positioning claw 391.

[0046] As a further embodiment of the above invention: Two groups of mutually matching connection 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. A threaded end 314 is threadedly connected to 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, and a quick connector 315 is arranged at one end located on the circumferential side of the quick-change upper cylinder body 31 or the quick-change lower cylinder body 32. After the quick-change upper cylinder body 31 and the quick-change lower cylinder body 32 are connected, the threaded ends 314 at the 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 fixture 4. A sealing ring 316 is adhesively connected to the end of the threaded end 314 away from the connection seat 313, and the sealing of the docking position of the two threaded ends 314 is realized through the sealing ring 316.

[0047] During specific implementation: The quick-change upper cylinder block 31 is integrally installed at the end of the palletizing machine 2 through bolts, and the quick-change lower cylinder block 32 that mates with the quick-change upper cylinder block 31 is installed on several end clamps 4 through bolts; when the several end clamps 4 are in a non-working state, they are placed on the placement seat in the prior art, and the placement coordinates of the end clamps 4 are memorized by the control system for controlling the palletizing machine 2 in the prior art; when installing the end clamps 4, the control system controls the palletizing machine 2 to drive the quick-change upper cylinder block 31 to move, and the quick-change upper cylinder block 31 and the quick-change lower cylinder block 32 are docked. Through the cooperation of the guide pin 384 and the guiding inclined surface at the top of the connecting hole 310, the quick-change upper cylinder block 31 and the quick-change lower cylinder block 32 are positioned, and at the same time, the connecting screw 383 and the connecting hole 310 are positioned. Then the control system controls the air circuit of the pneumatic motor 36 to be opened to supply air to the pneumatic motor 36. The pneumatic motor 36 drives the adjusting worm 37, the adjusting worm gear 35, and the driving gear 34 to rotate, driving several 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 block 31 and the quick-change lower cylinder block 32 through a push-pull force sensor. The control system judges whether the quick-change upper cylinder block 31 and the quick-change lower cylinder block 32 are connected in place through the pressure data. Through the mutual cooperation between the connecting screw 383, the guide pin 384 and the quick-change lower cylinder block 32, the performance of the quick-change mechanism 3 against external impacts and large torques is improved, and the assembly of the end clamp 4 on the palletizing machine 2 is realized; after the quick-change upper cylinder block 31 and the quick-change lower cylinder block 32 are connected, the threaded ends 314 at the corresponding positions on the quick-change upper cylinder block 31 and the quick-change lower cylinder block 32 are also docked synchronously, and the connection position of the two groups 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 block 31 and the quick-change lower cylinder block 32 are connected, the bottom step surface of the connecting screw 383 can push the transmission tooth plate 393 downward, and through the transmission of the second transmission gear 392, the positioning claw 391 is driven to deflect upward, and after the quick-change upper cylinder block 31 and the quick-change lower cylinder block 32 are connected in place, the positioning claw 391 is clamped into the positioning groove 312 to perform auxiliary positioning between the quick-change upper cylinder block 31 and the quick-change lower cylinder block 32, improving the performance of the quick-change mechanism 3 against external impacts and large torques; when replacing the end clamp 4, the control system controls the air circuit of the pneumatic motor 36 to be opened and makes the output shaft of the pneumatic motor 36 rotate in the reverse direction, screwing the connecting screw 383 out of the connecting hole 310, disconnecting the connection between the quick-change upper cylinder block 31 and the quick-change lower cylinder block 32. At the same time, when the quick-change upper cylinder block 31 and the quick-change lower cylinder block 32 are disconnected, the transmission tooth plate 393 is reset under the elastic force of the return spring 395, and through the transmission of the second transmission gear 392, the positioning claw 391 is driven to deflect downward and reset. The control system controls the palletizing machine 2 to drive the quick-change upper cylinder block 31 to move and cooperate with the quick-change lower cylinder block 32 on other end clamps 4 to realize the quick replacement of the end clamp 4.

[0048] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, in any regard, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. A quickly replaceable picking device for a palletizer, comprising 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), and it is characterized in that: A quick-change mechanism (3) is provided on the palletizer (2), and the end fixture (4) is detachably mounted on the palletizer (2) through the quick-change mechanism (3). 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 gear (35) fixedly connected are arranged inside the quick-change upper cylinder body (31). An air motor (36) is fixedly installed outside 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 arranged 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). A connecting hole (310) that cooperates with the connecting component (38) is arranged on the quick-change lower cylinder body (32). A plurality of auxiliary positioning components (39) are arranged on the quick-change lower cylinder body (32) for auxiliary positioning between the quick-change upper cylinder body (31) and the quick-change lower cylinder body (32). The connecting component (38) includes a connecting screw rod (383) movably installed on the quick-change upper cylinder body (31). A first transmission gear (382) is fixedly sleeved at the top end of the connecting screw rod (383), and a guide pin (384) is arranged at the bottom end. The first transmission gear (382) in the connecting component (38) meshes with the driving gear (34). An installation groove (311) that cooperates with the auxiliary positioning component (39) is formed on the quick-change lower cylinder body (32). The auxiliary positioning component (39) includes a positioning claw (391) and a transmission toothed plate (393). The positioning claw (391) is hinged inside the installation groove (311). The transmission toothed plate (393) is clamped inside the installation groove (311) and is located on the side of the positioning claw (391) close to the center of the quick-change lower cylinder body (32). A second transmission gear (392) is arranged at the hinged position of the positioning claw (391) and the quick-change lower cylinder body (32), and the second transmission gear (392) meshes with the transmission toothed plate (393). A positioning groove (312) that cooperates with the positioning claw (391) is formed on the quick-change upper cylinder body (31). A guide rod (394) is fixedly connected to the transmission toothed plate (393), and a return spring (395) is movably sleeved outside the guide rod (394). The guide rod (394) is inserted into the bottom of the installation groove (311). The installation groove (311) penetrates into the inside of the connecting hole (310). The shape of the transmission toothed plate (393) is "L", and the short side of the transmission toothed plate (393) extends into the inside of the connecting hole (310). The step surface at the bottom end of the connecting screw rod (383) can push the transmission toothed plate (393) downward.

2. The quick-change picking device for a palletizer according to claim 1, wherein: A connecting cover plate (33) is fixedly installed at the top of the quick-change upper cylinder body (31), and the connecting cover plate (33) is fixedly installed on the palletizer (2) through bolts. An installation surface that cooperates with the air motor (36) is formed on the quick-change upper cylinder body (31). A push-pull force sensor is embedded at the bottom of the quick-change upper cylinder body (31).

3. The pick-up device for rapid replacement used in a palletizer according to claim 1, characterized in that: The driving gear (34) is movably installed inside the quick-change upper cylinder block (31). The driving gear (34) and the adjusting worm gear (35) are both located on the central axis of the quick-change upper cylinder block (31). The outer edge of the adjusting worm gear (35) meshes with the adjusting worm (37).

4. The pick-up device for rapid replacement used in a palletizer according to claim 1, characterized in that: The connecting assembly (38) further includes a mounting seat (381). The mounting seat (381) is fixedly installed at the bottom inside the quick-change upper cylinder block (31). The connecting screw rod (383) is movably sleeved in the middle of the mounting seat (381), and the connecting screw rod (383) extends to the outside of the quick-change upper cylinder block (31).

5. A pick-up device for a palletizer with quick replacement according to claim 1, characterized in that: The number of the connecting assemblies (38) is 4 - 8 groups, and several connecting assemblies (38) are distributed in a circular array on the periphery of the driving gear (34).

6. The quick-change pickup 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 assemblies (38), and the positions of the connecting holes (310) correspond to those of the connecting assemblies (38) one by one. The upper half of the connecting hole (310) is a threaded section for cooperating with the connecting screw rod (383), and the lower half is a plugging section for cooperating with the guide pin (384). A guiding inclined surface for cooperating with the guide pin (384) is provided at the top end of the connecting hole (310).

7. A pick-up device for a palletizer with quick replacement according to claim 1, characterized in that: Except for the position corresponding to the pneumatic motor (36) on the quick-change lower cylinder block (32), auxiliary positioning assemblies (39) are evenly arranged at the remaining positions, and the positions of the auxiliary positioning assemblies (39) correspond to those of the connecting holes (310).

8. A pick-up device for a palletizer that can be quickly replaced according to claim 1, characterized in that: Two groups of cooperating connecting seats (313) are provided at the bottom of the quick-change upper cylinder block (31) and the top of the quick-change lower cylinder block (32). One end of the connecting seat (313) located at the end face of the quick-change upper cylinder block (31) or the quick-change lower cylinder block (32) is threadedly connected with a threaded end (314), and one end located on the periphery of the quick-change upper cylinder block (31) or the quick-change lower cylinder block (32) is provided with a quick connector (315). A sealing ring (316) is adhesively bonded to the end of the threaded end (314) away from the connecting seat (313).

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