Manual quick-change device for unstacking tooling

Abstract

The manual quick changing device comprises a flange shaft, a first flange and a second flange, the first flange and the second flange are connected to the two ends of the flange shaft respectively, the second flange is connected with a transverse rod, and a fixing base is fixedly connected to the upper side of the transverse rod and used for being connected with an end picking-up device; a connecting seat in butt joint with the fixing seat is arranged at the connecting end of the tooling, a guide pin hole is formed in the connecting seat, a guide pin is arranged on the positioning seat in a matched mode, and the fixing seat and the connecting seat are locked through a lock catch mechanism after being positioned in a guiding mode. According to the manual quick replacement device for the unstacking tooling, quick disassembly and replacement of the tooling are achieved, the replacement time of the tooling is shortened, the waiting time of a production line is shortened, and the efficiency of the production line is improved while the inventory cost of spare parts of the tooling of multiple specifications is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of material grasping equipment for automated production lines, and particularly relates to a manual quick-change device for a palletizing end effector. Background Art

[0002] In traditional automated line robot palletizing end effectors, vacuum suction cup universal end effectors are used. Due to materials with different sheet thicknesses and different convexities and concavities, different models of end effectors often need to be replaced to meet the material grasping requirements of different material thicknesses and convexities and concavities. This results in a large number of end effector specifications, and the inventory cost of a complete set of multiple specifications of end effectors is relatively high, and it also occupies a large inventory space. In addition, the quick disassembly and assembly of the end effector and the rapid replacement of the end effector are also important factors in ensuring high production efficiency and automation level. Therefore, in view of the above problems of the single applicability of the end effector, the large number of equipped specifications, and the convenient disassembly and assembly, it is necessary to start from improving the structure of the end effector itself to solve the above problems. Summary of the Invention

[0003] In view of the above problems existing in the structure of the end effector in the prior art, the present invention provides a manual quick-change device for a palletizing end effector, which can reduce the configuration specifications of a complete set of end effectors while realizing quick disassembly and assembly.

[0004] The object of the present invention is achieved as follows. A manual quick-change device for a palletizing end effector, characterized in that it includes a flange shaft, a first flange and a second flange respectively connected to both ends of the flange shaft. The first flange is used to connect to the end of the robot, and the second flange is connected with a cross bar. A fixed seat is fixedly connected to the upper side of the cross bar, and the fixed seat is used to connect to the end effector; a connecting seat for docking with the fixed seat is provided at the connecting end of the end effector. A guiding pin hole is provided on the connecting seat, and a guiding pin is cooperatively provided on the positioning seat. After guiding and positioning between the fixed seat and the connecting seat, they are locked by a locking mechanism.

[0005] In the above-mentioned manual quick-change device for a palletizing end effector of the present invention, the connection part with the end of the robot is a common component, and the fixed connection with the end of the robot does not need to be disassembled and replaced. According to the changing requirements of the end effector specifications, a grasping end of the end effector that is convenient for disassembly and assembly is set. When replacing end effectors of different specifications, only the grasping end needs to be replaced, and it is not necessary to disassemble the whole set. And after the parts connected to the cross bar and the fixed seat are guided and corresponding, they are locked by a locking mechanism, which is convenient for realizing quick disassembly and replacement, reducing the time for end effector replacement, shortening the waiting time of the production line, reducing the inventory cost of spare parts of multiple specifications of end effectors, and improving the efficiency of the production line at the same time.

[0006] For the stable connection of the end effector, the cross-section of the cross bar is square. The middle part of the cross bar in the length direction is laterally fixedly connected to the second flange by a plurality of bolts. Two groups of end effectors are symmetrically connected to both sides of the cross bar in the length direction. Two fixing seats are respectively arranged at the connection positions of each side of the end effector and the cross bar. Each group of fixing seats is respectively arranged in cooperation with the connection seat on the end effector and locked.

[0007] To adapt to the connection with the cross bar, the second flange is a square flange plate, and a cushion block is arranged at the connection position of the second flange on the side of the cross bar.

[0008] To facilitate the fitting connection between the fixing seat and the connection seat, the fixing seat is fixed on the upper surface of the cross bar. The connection seat is clamped on the upper surface of the cross bar and fits with the fixing seat. The connection seat is provided with a bayonet facing the cross bar at the position corresponding to the cross bar. Two guide pins are arranged in cooperation on each group of fixing seats, and the axial direction of the guide pins is consistent with the length direction of the cross bar. When connecting the end effector and the cross bar, the connection seat together with the end effector is clamped downward from the upper side of the cross bar, and then translated along the length direction of the cross bar, so that the guide pins and the guide holes are gradually inserted in a guiding manner. Finally, when the connection seat fits with the fixing seat, the locking mechanism is locked to realize the fixation of the end effector and the cross bar.

[0009] To facilitate the disassembly of quick locking, the locking mechanism includes a caliper and a buckle respectively fixed on the top sides of the fixing seat and the connection seat.

[0010] To further strengthen the connection between the end effector and the cross bar, a pneumatic expansion sleeve is also arranged between the guide pin and the guide hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 The explosion diagram of the palletizing end effector manual quick change device of the present invention.

[0012] Figure 2 The schematic diagram after the palletizing end effector manual quick change device is installed and clamped.

[0013] Figure 3 The top view of the palletizing end effector manual quick change device.

[0014] Wherein, 1 flange shaft; 2 first flange; 3 second flange; 4 cross bar; 5 fixing seat; 6 guide pin; 7 connection seat; 8 guide pin hole; 9 buckle; 10 end effector; 11 caliper. DETAILED DESCRIPTION OF THE INVENTION

[0015] As Figure 1 — Figure 3As shown in the figure, the manual quick-change device for the palletizing end effector of the present invention includes a flange shaft 1, a first flange 2 and a second flange 3 respectively connected to both ends of the flange shaft 1. The first flange 2 is used to connect to the end of the robot, and the second flange 3 is connected with a cross bar 4. A fixed seat 5 is fixedly connected to the upper side of the cross bar 4, and the fixed seat 5 is used to connect to the end effector 10; a connection seat 7 for docking with the fixed seat 5 is provided at the connection end of the end effector 10. A guide pin hole 8 is provided on the connection seat 7, and a guide pin 6 is provided in cooperation with the positioning seat 5. After the guide positioning between the fixed seat 5 and the connection seat 7, they are locked by a locking mechanism.

[0016] To facilitate the stable connection of the end effector, the cross section of the cross bar 4 is square. To match the surface shape of the cross bar 4, the second flange 3 is set as a square flange plate, and the shape of the square flange plate is rectangular, which can further increase the contact area of the connection part. The middle upper side of the cross bar 4 in the length direction is fixedly connected to the second flange 3 by a number of bolts. A cushion block is provided at the connection position between the upper side of the cross bar and the second flange 3. The bolt connection member penetrates through the second flange and the cushion block and extends into the side wall of the cross bar. Two groups of end effectors 10 are symmetrically connected to both sides of the cross bar 4 in the length direction. Two fixed seats 5 are respectively provided at the connection positions of each side of the end effector 4 and the cross bar 4. Each fixed seat 5 is respectively provided in cooperation with the connection seat 7 on the end effector 10 and locked.

[0017] To facilitate the mating connection between the fixed seat 5 and the connection seat 7, the fixed seat 5 is fixed on the upper surface of the cross bar 4, and the connection seat 7 is clamped on the upper surface of the cross bar 4 and fits with the fixed seat 5. The connection seat 7 is provided with a bayonet facing the cross bar 4 at the position corresponding to the cross bar 4. Two guide pins 6 are provided in cooperation with each group of fixed seats 5, and the axial direction of the guide pin 6 is the same as the length direction of the cross bar 4. When connecting the end effector 10 and the cross bar 4, the connection seat 7 together with the end effector 10 is clamped downward from the upper side of the cross bar 4 onto the upper side of the cross bar 4. At this time, there is a certain distance between the connection seat 7 and the fixed seat 5 and they are not yet in contact. Then, it is translated along the length direction of the cross bar 4 so that the guide pin 6 and the guide hole 8 are gradually inserted in a guiding manner. Finally, when the connection seat 7 and the fixed seat 5 are in contact, the locking mechanism is locked to realize the fixation of the end effector 10 and the cross bar 4.

[0018] To facilitate quick locking and disassembly, the locking mechanism of the present invention includes a manual caliper 11 and a buckle 9 respectively fixed on the top sides of the fixed seat 5 and the connection seat 7.

[0019] To further ensure the firm locking of the connection seat 7 and the fixed seat 4, a pneumatic expansion sleeve can also be provided between the guide pin 6 and the guide hole 8.

[0020] For the above-mentioned manual quick-change device of the unstacking end effector of the present invention, the flange shaft 1, the first flange 2, and the second flange 3 at the connection part with the robot end are common connecting parts, and after being fixedly connected to the robot end, they do not need to be frequently disassembled. According to the changing requirements of the end effector specifications, an end effector 10 that is easy to disassemble and assemble is provided. When replacing the end effector 10 of different specifications, only the end effector at the grasping end needs to be replaced, and the whole set does not need to be disassembled. Moreover, at the connection part with the cross bar 4 and the fixed seat 5, after the orientation is corresponding, a quick locking is achieved through a manual and pneumatic double locking mechanism, which is convenient for quick disassembly and replacement, reduces the time for end effector replacement, shortens the waiting time of the production line, reduces the inventory cost of multi-specification end effector spare parts, and improves the efficiency of the production line at the same time.

Claims

1. A manual quick-change device for a palletizing end effector, characterized in that, It includes a flange shaft, a first flange and a second flange respectively connected to both ends of the flange shaft, a cross bar is connected to the second flange, a fixing seat is fixedly connected to the upper side of the cross bar, and the fixing seat is used for connecting with an end effector; a connecting seat for docking with the fixing seat is provided at the connecting end of the end effector, a guiding pin hole is provided on the connecting seat, a guiding pin is cooperatively provided on the positioning seat, and after guiding and positioning between the fixing seat and the connecting seat, it is locked by a locking mechanism.

2. The manual quick-change device for the palletizing end effector according to claim 1, wherein, The cross bar has a square cross section, the middle side of the cross bar in the length direction is fixedly connected to the second flange by a plurality of bolts, two groups of end effectors are symmetrically connected to both sides of the cross bar in the length direction, two fixing seats are respectively arranged at the connection positions of each side of the end effector and the cross bar, and each group of fixing seats is respectively cooperatively arranged and locked with the connecting seat on the end effector.

3. The manual quick-change device for the palletizing end effector according to claim 1, characterized in that, The second flange is a square flange plate, and a cushion block is provided at the connection position of the second flange on the side of the cross bar.

4. The manual quick-change device for the palletizing end effector according to claim 1, characterized in that, The fixing seat is fixed on the upper surface of the cross bar, the connecting seat is clamped on the upper surface of the cross bar and is attached to the fixing seat, a bayonet facing the cross bar is cooperatively provided at the position of the connecting seat corresponding to the cross bar, two guiding pins are cooperatively provided on each group of fixing seats, and the axial direction of the guiding pin is consistent with the length direction of the cross bar.

5. The manual quick-change device for the palletizing end effector according to claim 1, characterized in that, The locking mechanism includes a caliper and a buckle respectively fixed on the top sides of the fixing seat and the connecting seat.

6. The manual quick-change device for the palletizing end effector according to claim 1, characterized in that, An air-operated expansion sleeve is also provided between the guiding pin and the guiding hole.

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