Double-station tooling automatic quick-change device and automatic quick-connection replacement method

Abstract

The invention relates to a double-station tooling automatic quick-change device and an automatic quick-connection replacement method in the technical field of automatic equipment.The double-station tooling automatic quick-change device comprises two stations used for alternately placing tooling, each station is provided with a stand column fixed to the ground, and the stand columns are arranged on the two stations. A connecting flange is arranged in the side direction of the top section of the stand column, the connecting flange is connected with an end picker used for calling of the robot through an end picker quick-changing device, and the end picker quick-changing device comprises a first quick-changing disc, an end picker clamping assembly and a second quick-changing disc which are sequentially connected with the connecting flange in the axial direction. The outer end of the second quick-change disc is connected with the tail end of the robot through a transition flange plate, and the first quick-change disc and the second quick-change disc are quick-change discs facilitating quick butt joint of the tail end of the robot. By means of the device, the robot tail end on an automatic production line can be automatically and rapidly connected and replaced with new and old tooling without manual intervention.

Description

Technical Field

[0001] The present invention relates to the technical field of automated equipment, and particularly relates to a double-station end effector automatic quick-change device and an automatic quick-connection replacement method. Background Art

[0002] An end effector is a component that is connected to the end of a robot to grasp materials in an automated production line. When replacing end effectors with different specifications or usage requirements, generally, a lot of manual intervention is required. The operator needs to enter the interior of the automated line to manually disassemble the old end effector and then install the new end effector at the end of the robot arm.

[0003] For example, an automatic replacement device for a double-station end effector with the publication number CN 219190263 U in the prior art discloses a pneumatic clamping structure provided on a multi-station for replacing the end effector to clamp the main rod of the end effector. The pneumatic clamping device on the station realizes automatic clamping and unlocking during the replacement of the old and new end effectors, improving the replacement convenience. However, the clamping stability of the simple cylinder clamping structure between the main rod of the end effector and the clamping component in this structure is poor, and it does not involve the connection between the main rod of the end effector and the end of the robot. Manual intervention is required, or it needs to be completed through an additional connection structure, and additional secondary connection and the waiting time for the production line to stop twice are also required. This not only has a large labor intensity, low efficiency, but also poor safety and a long waiting time for the production line to stop. Therefore, to improve the automation level and safety of the production line, it is necessary to further optimize the design of the automatic docking structure of the end effector. Summary of the Invention

[0004] In view of the need for automatic docking and replacement of end effectors in an automated production line in the prior art, the present invention provides a double-station end effector automatic quick-change device to achieve automatic and rapid docking and replacement of old and new end effectors without manual intervention.

[0005] The object of the present invention is achieved as follows. A double-station end effector automatic quick-change device includes two stations for alternately placing end effectors. Each station is respectively provided with a column fixed to the ground. A connection flange is provided on the side of the top section of the column. The connection flange is connected to an end effector for robot calling through an end effector quick-change device. It is characterized in that the end effector quick-change device includes a first quick-change disk, an end effector clamping assembly, and a second quick-change disk that are axially connected in sequence with the connection flange. The outer end of the second quick-change disk is connected to the end of the robot through a transition flange disk. The first quick-change disk and the second quick-change disk are respectively quick-change disks that facilitate rapid docking of the end of the robot.

[0006] The dual-station end effector automatic quick-change device of the present invention is designed with a dual-station for alternately placing end effectors, facilitating the placement of two groups of end effectors with different requirements for the online robot to replace and call. The end effectors on each station are connected through an end effector quick-change device, facilitating the automatic and rapid docking and replacement by the robot. The end effector quick-change device realizes the rapid docking and replacement of the old and new end effectors with the docking flange through two quick-change discs dedicated to the robot end, achieving the automatic and rapid docking at the robot end without manual intervention, greatly improving the replacement efficiency, shortening the auxiliary waiting time of the automated production line, and enhancing the efficiency of the overall production line.

[0007] To facilitate the clamping of the end effector, the end effector clamping assembly includes two first clamping flanges for axially clamping the main rod of the end effector. Second clamping flanges are respectively provided on the outer sides of the two first clamping flanges. The first clamping flanges and the second clamping flanges are both split into two halves along the diameter direction of the flange holes and are respectively tightened by a number of long bolts to facilitate clamping the main rod of the end effector. A quick-change sub-flange plate is provided on the outer side of the first clamping flange corresponding to the first quick-change disc, and a quick-change main-flange plate is provided on the outer side of the second clamping flange corresponding to the second quick-change disc.

[0008] Further, the split surfaces of the first clamping flanges and the second clamping flanges are both located in the same vertical plane. The quick-change sub-flange plate is respectively provided with two upper and lower long bolts in the horizontal direction corresponding to the split surface of each first clamping flange. The long bolts sequentially pass through the two split parts of the first clamping flange horizontally from the quick-change sub-flange plate and are threadedly connected to the quick-change main-flange plate at the end. The quick-change main-flange plate is respectively provided with two upper and lower long bolts in the horizontal direction corresponding to the split surface of the second clamping flange. The long bolts sequentially pass through the two split parts of the second clamping flange from the quick-change main-flange plate and are threadedly fastened to the spaced second clamping flange split part at the end. In the above end effector clamping structure, only by loosening and tightening each long screw rod, the end effector can be taken out and replaced. When releasing the clamping, it is not necessary to fully unscrew the long screw rod. Only by loosening to release the clamping effect of each flange hole on the main rod of the end effector, the old end effector can be taken out, and then a new end effector can be replaced and tightened.

[0009] In order to facilitate the robot's automated docking and replacement of new and old end pickers on the workstation, the first quick-change disk includes a first quick-change main disk and a first quick-change sub-disk for quick docking, the first quick-change main disk is fixed to the connecting flange by a plurality of bolts at the docking ring, the connecting flange is provided with positioning guide pins at the docking ring, the docking ring of the first quick-change main disk is provided with guide holes, and the first quick-change sub-disk is connected to the side of the quick-change sub-flange plate corresponding to the quick-change sub-flange plate by a plurality of bolts arranged circumferentially; the second quick-change disk includes a second quick-change main disk and a second quick-change sub-disk, the second quick-change sub-disk is docked with the quick-change main flange plate, the quick-change main flange plate is provided with positioning guide pins at the docking ring, and the corresponding position of the second quick-change sub-disk is provided with guide holes; the outer side of the second quick-change main disk is connected to a transition flange, and the transition flange is used to connect to the robot end.

[0010] Furthermore, when the end picker is used for automatic docking and replacement, at least one of the double workstations is an empty position to be docked.

[0011] To facilitate the rapid docking and locking of the quick-change disk, the quick-change disk structure of the first quick-change disk and the second quick-change disk comprises a main disk and a sub-disk, a piston cavity is provided at the center of the disk body of the main disk, a piston is provided in the piston cavity, a cover body is provided at a side of the piston cavity corresponding to the sub-disk, and the side walls of the disk body on both sides of the piston are respectively provided with an air inlet A and an air inlet B, a steel ball clamping ring is provided at the side of the cover body facing the sub-disk, a plurality of steel ball grooves are provided around the steel ball clamping ring, steel balls are provided in the steel ball grooves, a piston rod is connected to the piston, a piston rod through hole is provided at the center of the cover body, a locking cam is connected to the protruding end of the piston rod, a docking cavity which is sleeved with the steel ball clamping ring is provided at the side of the sub-disk corresponding to the main disk, and a steel ball locking groove is provided around the steel ball groove of the docking cavity. When the main disk is docked with the sub-disk, the steel ball clamping ring is sleeved in the docking cavity, the piston is actuated and pushes the locking cam to actuate, and the steel ball is pushed into the steel ball locking groove, so as to achieve docking and locking of the main disk connecting part and the sub-disk connecting part.

[0012] Furthermore, in order to prevent the piston chamber from being cut off from air in the locked state, a pressure-maintaining spring is provided on the other side of the piston.

[0013] The present invention also provides an automatic quick-connect replacement method for the automatic quick-change device of the double-station end picker, wherein the robot end is connected to the transition flange, the second quick-change disk is in a locked state to carry the end picker for online use in the production line, the quick-change sub-disk of the first quick-change disk is unlocked and separated from the quick-change main disk, the quick-change sub-disk is connected to the first quick-change sub-disk along with the end picker and the robot end, the first quick-change main disk is connected to the connecting flange of the empty station column, and the end picker waiting to be used in the production line is returned; the end picker on the other station is full, waiting for the robot to replace it; the specific online automatic quick-connect replacement method is: Step 1: The robot carries the old end effector from the production line and approaches the empty station. The first quick-change sub-disk gradually approaches the first quick-change main disk on the empty station. After approaching, the two docking parts are docked and fitted under the guiding action of the guiding pins. The locking mechanism of the first quick-change disk operates to complete the locking action. Then, the unlocking mechanism of the second quick-change main disk and the second quick-change sub-disk is quickly unlocked to complete the separation of the robot end and the old end effector. Step 2: The robot end, which has separated from the old end effector, approaches the full station. The second quick-change main disk at the robot end gradually approaches the second quick-change sub-disk at the full station. After docking and fitting under the action of the guiding pins on the docking surface, the unlocking mechanism of the second quick-change disk completes the quick unlocking. Then, the unlocking mechanism of the first quick-change disk completes the unlocking and separation. Thus, the automatic quick connection and replacement of the old and new end effectors are completed. Description of the Drawings

[0014] Figure 1 It is a structural diagram of the automatic quick-change device for the double-station end effector of the present invention.

[0015] Figure 2 It is a structural diagram of the quick-change disk.

[0016] Figure 3 — Figure 8 It is a step-by-step schematic diagram of the dynamic quick connection and replacement method of the automatic quick-change device for the double-station end effector of the present invention.

[0017] Among them, 1 is the column; 2 is the connecting flange; 3 is the first quick-change disk; 31 is the first quick-change main disk; 32 is the first quick-change sub-disk; 4 is the end effector main rod; 5 is the quick-change sub-flange plate; 6 is the second clamping flange; 7 is the first clamping flange; 8 is the quick-change main flange plate; 9 is the second quick-change disk; 91 is the second quick-change sub-disk; 92 is the second quick-change main disk; 10 is the transition flange plate; 11 is the quick-change disk; 111 is the sub-disk; 1111 is the piston; 1112 is the pressure-holding spring; 1113 is the cover body; 1114 is the steel ball; 1115 is the locking cam; 1116 is the piston cavity; 1117 is the steel ball snap ring; 112 is the main disk; 1121 is the docking cavity; 1122 is the steel ball locking groove. Detailed Embodiment

[0018] To further describe the structure of the present invention in detail, the automatic quick-change device for the double-station end effector of the present invention will be specifically described below with reference to the drawings. Embodiment 1

[0019] As Figure 1 and Figure 2As shown, the double-station end picker automatic quick-change device of this embodiment includes two stations for alternately placing end pickers, each station is provided with a column 1 fixed to the ground, and the top section of the column 1 is provided with a connecting flange 2 on the side, and the connecting flange 2 is connected to the end picker for robot call through the end picker quick-change device, and the end picker quick-change device includes a first quick-change disk 3, an end picker clamping assembly (5, 6, 7, 8) and a second quick-change disk 9 axially connected to the connecting flange 2 in sequence, and the outer end of the second quick-change disk 9 is connected to the robot end through a transition flange 10, and the first quick-change disk 3 and the second quick-change disk 9 are quick-change disks for facilitating rapid docking of the robot end. When used for automatic docking and replacement of end pickers, at least one of the double stations is an empty position to be docked.

[0020] The end tool holder clamping assembly of the present embodiment comprises two first clamping flanges 7 for axially clamping the end tool holder main rod 4, and second clamping flanges 6 are respectively provided on the outer sides of the two first clamping flanges 7. Both the first clamping flange 7 and the second clamping flange 6 are two halves split in half along the diameter direction of the flange hole, and are respectively fastened by a plurality of long bolts to facilitate clamping the end tool holder main rod 4. A quick-change auxiliary flange plate 5 is provided on the outer side of the first clamping flange 7 corresponding to the first quick-change disk 3, and a quick-change main flange plate 8 is provided on the outer side of the second clamping flange 6 corresponding to the second quick-change disk 9.

[0021] The split surfaces of the first clamping flange 7 and the second clamping flange 6 are both located in the same vertical plane. The quick-change auxiliary flange plate 5 and the corresponding 5 horizontally penetrate the two split parts of the first clamping flange 7 in sequence and the end is threadedly connected to the quick-change main flange plate 8, so as to realize the fastening of the quick-change auxiliary flange plate 5 to the first clamping flange and the quick-change main flange plate; the quick-change main plate 8 is also provided with two upper and lower long bolts in the horizontal direction of the split surface corresponding to the second clamping flange 6. The long bolts penetrate the two split parts of the second clamping flange 6 from the quick-change main plate 8 in sequence and the end is threadedly connected to the spaced split part of the second clamping flange 6, so as to realize the fastening of the quick-change main flange plate and the second clamping flange. In the above-mentioned clamping structure for the main rod 4 of the end picker, it is only necessary to loosen and tighten each long screw without completely unscrewing it, and the main rod 4 of the end picker can be pulled out and replaced. When releasing the clamping, it is not necessary to completely unscrew the long screw. It is only necessary to loosen each flange hole to release the clamping effect on the main rod 4 of the end picker, and then the old end picker can be pulled out, and then the new end picker can be replaced and tightened.

[0022] In order to facilitate the robot's automatic docking and replacement of the new and old end pickers on the workstation, the first quick-change disk 3 includes a first quick-change main disk 31 and a first quick-change sub-disk 32 for quick docking. The first quick-change main disk 31 is fixed to the connecting flange 2 at a circumference thereof by a plurality of bolts. The connecting flange 2 is docked at a circumference thereof with positioning guide pins. The docking circumference of the first quick-change main disk 31 is matched with guide holes. The first quick-change sub-disk 32 is connected to a side of the quick-change sub-flange plate 5 corresponding to the first quick-change sub-disk by a plurality of bolts arranged circumferentially. The second quick-change disk 9 includes a second quick-change main disk 92 and a second quick-change sub-disk 91. The second quick-change sub-disk 91 is docked with the quick-change main flange 8. The quick-change main flange plate 8 is docked at a circumference thereof with positioning guide pins. The corresponding position of the second quick-change sub-disk 91 is matched with guide holes. The outer side of the second quick-change main disk 92 is connected with a transition flange 10, which is used to connect to the end of the robot.

[0023] The above-mentioned dual-station end picker automatic quick-change device of this embodiment, the first quick-change plate and the second quick-change plate are quick-change plates for robot end docking. The specific structure of the docking part of the quick-change plate 11 is as follows Figure 2 As shown, it includes a main plate 111 and a sub-plate 112, a piston cavity 1116 is provided at the center of the main plate 111, and a piston 1111 is provided in the piston cavity 1116. A cover body 1113 is provided on the side of the piston cavity 1116 corresponding to the sub-plate 112, and an air inlet A and an air inlet B are provided on the side walls of the main plate 111 on both sides of the piston 1111, respectively. A steel ball clamping ring 1117 is provided on the side of the cover body 1113 facing the sub-plate 112, and a plurality of steel ball grooves are provided around the steel ball clamping ring 1117, and steel balls 1114 are provided in the steel ball grooves. A piston rod is connected to the piston 1111, and a piston rod through hole is provided in the center of the cover body 1113. The extended end of the piston rod is connected to a locking cam 1114. 115, a docking cavity 1121 is provided on one side of the secondary disk 112 corresponding to the main disk 111, and a steel ball locking groove 1122 is provided around the docking cavity 1121 corresponding to the steel ball groove. When the main disk 111 and the secondary disk 112 are docked, the steel ball clamping ring 1117 is inserted into the docking cavity 1121, the piston 1111 moves and pushes the locking cam 1115 to push the steel ball 1114 into the steel ball locking groove, so that the main disk 111 and the secondary disk 112 are docked and locked. When the piston retracts in the opposite direction, the locking cam 1115 releases the push on the steel ball, so that the main disk and the secondary disk are unlocked and separated. In addition, in order to prevent the piston cavity from losing air and pressure when in the locked state, a pressure-maintaining spring is provided on the other side of the piston 111.

[0024] The above dual-station end effector automatic quick-change device of this embodiment designs a dual-station for alternately placing end effectors, which is convenient for placing two groups of end effectors with different requirements for the online robot to call when replacing. The end effectors on each station are connected through the end effector quick-change device, which is convenient for the robot to perform automatic and rapid docking and replacement. The end effector quick-change device realizes the rapid docking and replacement of the old and new end effectors with the docking flange 2 through two quick-change disks dedicated to the robot end, realizes the automatic and rapid docking of the robot end, without manual intervention, greatly improves the replacement efficiency, shortens the auxiliary waiting time of the automated production line, and improves the efficiency of the overall production line. Embodiment 2

[0025] Based on the dual-station end effector automatic quick-change device of Embodiment 1, this embodiment provides an automatic quick-connection and replacement method for the above dual-station end effector automatic quick-change device. The robot end is connected to the transition flange 10, and the second quick-change disk 9 is in the locked state to carry the end effector for on-line use in the production line. The first quick-change sub-disk 32 of the first quick-change disk 6 is unlocked and separated from the first quick-change main disk 31. The first quick-change sub-disk 32 is connected to the end effector and the robot end. The first quick-change main disk 31 is connected to the connection flange 2 of the empty-station column 1 to wait for the end effector used in the production line to be returned; the end effector on the other station is full and waiting for the robot to replace it; the specific on-line automatic quick-connection and replacement method is as follows: Step 1, the robot carries the old end effector from the production line and approaches the empty station. As Figure 3 shown in State 1, at this time, the other station is full, and the new end effector to be replaced is connected to the station. The first quick-change sub-disk 32 gradually approaches the first quick-change main disk 31 on the empty station; after approaching, the docking part of the quick-change disk is docked and fitted under the guiding action of the guiding pin. As Figure 4 shown in State 2, the piston of the first quick-change disk acts, and the steel balls of the locking mechanism act to complete the locking action; then the unlocking mechanism of the second quick-change main disk 92 and the second quick-change sub-disk 91 is quickly unlocked to complete the separation of the robot end and the old end effector. As Figure 5 shown in State 3; Step 2, the robot that has separated the old end effector approaches the full station. As Figure 6 shown in the state; then the second quick-change main disk 92 at the robot end gradually approaches the second quick-change sub-disk 91 at the full station. After being docked and fitted under the action of the guiding pin on the docking surface, the piston of the second quick-change disk 9 acts to complete the steel ball entering the groove locking action at the docking part of the quick-change disk, realizing the quick replacement and locking of the second quick-change disk. As Figure 7 shown in State 5; then the unlocking mechanism of the first quick-change disk 3 completes the unlocking and separation. As Figure 8 shown in State 6, thus completing the automatic quick-connection and replacement of the old and new end effectors.

Claims

1. A dual-station end effector automatic quick-change device, comprising two stations for alternately placing end effectors. On each of the stations, there are respectively columns fixed to the ground. A connecting flange is provided laterally at the top section of the column. The connecting flange is connected with an end effector for robot calling through an end effector quick-change device, and is characterized in that, The end picker quick-change device includes a first quick-change plate, an end picker clamping assembly and a second quick-change plate which are axially connected to the connecting flange in sequence. The outer end of the second quick-change plate is connected to the robot end via a transition flange. The first quick-change plate and the second quick-change plate are quick-change plates for facilitating quick docking of the robot end.

2. The automatic quick-change device for a two-station end effector according to claim 1, wherein The end tool clamping assembly includes two first clamping flanges for axially clamping the end tool main rod, and second clamping flanges are respectively provided on the outer sides of the two first clamping flanges. The first clamping flange and the second clamping flange are both two halves split in half along the diameter direction of the flange hole, and are respectively tightened by a plurality of long bolts to facilitate clamping the end tool main rod. The first clamping flange is provided with a quick-change auxiliary flange plate on the outer side of the first quick-change disk corresponding to the first clamping flange, and the second clamping flange is provided with a quick-change main flange plate on the outer side of the second quick-change disk corresponding to the second clamping flange.

3. The double-station end effector automatic quick-change device according to claim 2, characterized in that, The split surfaces of the first clamping flange and the second clamping flange are both located in the same vertical plane, and the quick-change auxiliary flange plate is respectively provided with two upper and lower long bolts in the horizontal direction corresponding to each first clamping flange split surface, and the long bolts horizontally penetrate the two split parts of the first clamping flange from the quick-change auxiliary flange plate in sequence, and the ends are threadedly connected to the quick-change main flange plate, and the quick-change main plate is respectively provided with two upper and lower long bolts in the horizontal direction corresponding to the second clamping flange split surface, and the long bolts penetrate the two split parts of the second clamping flange from the quick-change main plate in sequence, and the ends are threadedly fastened to the spaced second clamping flange split parts.

4. The automatic quick-change device for a two-station end effector according to claim 1, wherein, The first quick-change disk includes a first quick-change main disk and a first quick-change sub-disk that are quickly docked. The first quick-change main disk is fixed to the connecting flange by a plurality of bolts at a docking ring. The connecting flange is provided with a positioning guide pin at a docking ring. The docking ring of the first quick-change main disk is provided with a guide hole. The first quick-change sub-disk is connected to a side of the quick-change sub-flange plate corresponding to the quick-change sub-flange plate by a plurality of bolts arranged circumferentially. The second quick-change disk includes a second quick-change main disk and a second quick-change sub-disk. The second quick-change sub-disk is docked with the quick-change main flange plate. The docking ring of the quick-change main flange plate is provided with a positioning guide pin. The corresponding position of the second quick-change sub-disk is provided with a guide hole. The outer side of the second quick-change main disk is connected with a transition flange, and the transition flange is used to connect with the robot end.

5. The automatic quick-change device for a two-station end effector according to claim 1, wherein When used for automatic docking and replacement of the end picker, at least one of the double stations is an empty station to be docked.

6. The automatic quick-change device for double-station end effectors according to claim 1, wherein, The quick-change disk structure of the first quick-change disk and the second quick-change disk includes a main disk and a sub-disk. A piston cavity is provided at the center of the disk body of the main disk. A piston is provided in the piston cavity. A cover body is provided on one side of the piston cavity corresponding to the sub-disk. Air intake ports A and B are respectively provided on the side walls of the disk body on both sides of the piston. A steel ball retaining ring is provided on the side of the cover body facing the sub-disk. A number of steel ball grooves are provided on the circumference of the steel ball retaining ring. Steel balls are provided in the steel ball grooves. A piston rod is connected to the piston. A piston rod through-hole is provided at the center of the cover body. A locking cam is connected to the extending end of the piston rod. A docking cavity that is cooperatively sleeved with the steel ball retaining ring is provided on one side of the sub-disk corresponding to the main disk. Steel ball locking grooves are provided on the circumference of the docking cavity corresponding to the steel ball grooves. After the main disk and the sub-disk are docked, the steel ball retaining ring is cooperatively sleeved into the docking cavity. The piston acts and drives the locking cam to act, pushing the steel balls into the steel ball locking grooves to achieve the docking and locking of the connecting part of the main disk and the connecting part of the sub-disk.

7. The automatic quick-change device for double-station end effectors according to claim 6, characterized in that, A pressure maintaining spring is provided on the other side of the piston.

8. An automatic quick-connection replacement method for the double-station end effector automatic quick-change device according to any one of claims 1-7. When the end effector is used to pick up workpieces on the production line, the end of the robot is connected to the transition flange. The second quick-change disk is in a locked state to carry the end effector for on-line use on the production line. The quick-change sub-disk of the first quick-change disk is unlocked and separated from the quick-change main disk. The quick-change sub-disk and the first quick-change sub-disk are connected to the end of the robot and the end effector. The first quick-change main disk is connected to the connection flange of the empty-station column, waiting for the end effector used on the production line to be returned; at the other station, the end effector is full and waiting for the robot to replace it; the specific on-line automatic quick-connection replacement method is as follows: Step 1, the robot carries the old end effector from the production line and approaches the empty station. The first quick-change sub-disk gradually approaches the first quick-change main disk on the empty station. After approaching, the two docking parts are docked and fitted under the guiding action of the guiding pins. The locking mechanism of the first quick-change disk acts to complete the locking action; then the unlocking mechanism of the second quick-change main disk and the second quick-change sub-disk quickly unlocks to complete the separation of the end of the robot and the old end effector. Step 2, the end of the robot that has separated the old end effector approaches the full station. The second quick-change main disk at the end of the robot gradually approaches the second quick-change sub-disk at the full station. After being docked and fitted under the action of the guiding pins on the docking surface, the unlocking mechanism of the second quick-change disk completes the quick unlocking; then the unlocking mechanism of the first quick-change disk completes the unlocking and separation. Thus, the automatic quick-connection replacement of the old and new end effectors is completed.

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