Quick-change gripper device

Abstract

The invention relates to the technical field of mechanical grippers, and discloses a quick-change gripper device which comprises a workbench and a manipulator, the manipulator is fixedly mounted at the top of the workbench, a plurality of supporting fork base assemblies are fixedly mounted on the edge of the top of the workbench, and the tail end of the manipulator is fixedly connected with a gripper main part through an assembling arm assembly; the assembling arm assembly comprises a fixed arm column and a plurality of movable arm columns, the gripper main part is fixedly installed at the bottom of the movable arm column, the fixed arm column is fixedly installed at the tail end of the manipulator, a wedge-shaped caulking groove is formed in the top of each movable arm column, a wedge-shaped block is fixedly connected to the bottom of each movable arm column, and an elastic pin column is arranged in each movable arm column; a pin hole is formed in the bottom of the wedge-shaped block; by means of the structural arrangement of the supporting fork base assemblies and the assembling arm assemblies, the manipulator tail end gripper main part can be rapidly disassembled and assembled, and through operation convenience, the problems that a traditional manipulator tail end tool needs to be replaced, shutdown operation is needed, and the production efficiency is seriously affected are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical grippers, and more specifically to a quick-change gripper device. Background Art

[0002] In the modern industrial production system, the manipulator has become one of the core devices in each production link due to its high degree of automation performance, playing an irreplaceable key role in promoting the efficient operation of the production process and ensuring the stability of product quality. In the field of automobile manufacturing, from the precise handling and welding of body parts to the delicate installation of interiors, the manipulator can ensure the high-quality completion of each production link with its precise motion control and strong load capacity. However, traditional manipulators have many drawbacks in the replacement of end tools, seriously restricting the efficient progress of production;

[0003] The replacement of the end gripper tool of the traditional manipulator requires shutdown operation, which will interrupt the normal production process. In a large-scale production environment, frequent shutdowns for tool replacement will accumulate a large amount of time, resulting in a significant reduction in the overall production efficiency. Moreover, the replacement operation requires professional technicians to manually adjust, and the operation process is cumbersome and complex, not only time-consuming and inefficient, but also prone to equipment damage problems due to differences in the skill levels of operators or improper operations. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a quick-change gripper device to solve the problem that the replacement of the end gripper tool of the traditional manipulator in the above-mentioned background art depends on manual disassembly and assembly, with complex operations and affecting work efficiency.

[0005] The present invention provides the following technical solutions: A quick-change gripper device includes a workbench and a manipulator. The manipulator is fixedly installed on the top of the workbench. A plurality of support fork seat components are fixedly installed on the edge of the top of the workbench. The end of the manipulator is fixedly connected with a gripper main body through an assembly arm component. The assembly arm component includes a fixed arm column and a movable arm column. The gripper main body is fixedly installed at the bottom of the movable arm column. The fixed arm column is fixedly installed at the end of the manipulator. There are several movable arm columns. A wedge-shaped groove is opened at the top of the movable arm column. A wedge-shaped block is fixedly connected to the bottom of the fixed arm column. An elastic pin column is arranged inside the movable arm column. A pin hole is opened at the bottom of the wedge-shaped block. A pressing handle for docking with the elastic pin column is arranged on the side wall of the movable arm column. The pressing handle is used to control the descent of the elastic pin column.

[0006] Further, the wedge-shaped block and the wedge-shaped groove are triangular.

[0007] Furthermore, a column groove is provided inside the movable arm column, and a through groove communicating with the column groove is formed in the side wall of the movable arm column. The elastic pin column includes an annular plate, a column cylinder is fixedly connected to the top of the annular plate, the annular plate is slidably sleeved in the column groove, the top of the column cylinder penetrates to the top of the movable arm column, the top inner wall of the column cylinder is drivingly connected to the bottom of the column groove through a spring, and the pressing handle passes through the through groove and is connected to the annular plate.

[0008] Furthermore, the diameter of the annular plate is larger than that of the column cylinder.

[0009] Furthermore, the support fork seat assembly is provided with two fork arms, two arm grooves are formed in the side wall of the movable arm column, and the two fork arms of the support fork seat assembly are respectively embedded in the two arm grooves on the side wall of the movable arm column.

[0010] Furthermore, the support fork seat assembly includes a main body fork seat, a base is fixedly connected to the bottom of the main body fork seat, a groove is formed on one side of the base, a deformation dial is arranged in the groove, the deformation dial is butted against the pressing handle, and the transverse movement of the movable arm column is used to trigger the deformation dial to press down the pressing handle.

[0011] Furthermore, the deformation dial includes an L-shaped arm, two fixed cross seats, and a connecting block. A rotating column is arranged at one end of the L-shaped arm. Sliding grooves are formed on the inner sides of the two fixed cross seats. The rotating end of one end of the L-shaped arm is slidably sleeved in the sliding grooves on the inner sides of the two fixed cross seats. An embedding opening is formed at the other end of the L-shaped arm. A convex column is arranged at the turning end of the L-shaped arm. A turning arm is movably connected to the side wall of the convex column. The other end of the turning arm is movably connected to the connecting block. The two fixed cross seats are fixedly connected to the inner wall of the base groove, and the connecting block is fixedly connected to the bottom of the main body fork seat.

[0012] The technical effects and advantages of the present invention:

[0013] Through the structural settings of several support fork seat assemblies and assembly arm assemblies, the present invention can achieve the effect of quick disassembly and assembly of the main gripper at the end of the manipulator. By facilitating the operation, the problem that the replacement of the end tool of the traditional manipulator requires shutdown operation, seriously affecting the production efficiency, is solved. In addition, the assembly arm assembly is assembled and connected through the fixed arm column and the movable arm column. The connection structure is assembled through the cooperation of the wedge block and the wedge-shaped slot. The elastic pin column can be used to combine and lock the fixed arm column and the movable arm column, so as to ensure the firmness of the structure connection while achieving quick disassembly and assembly; In addition, the structural settings of the support fork seat assembly can support the movable arm column. In addition, the support fork seat assembly can also automatically unlock the elastic pin column. Using the linear motion of the manipulator, the disassembly and assembly effect can be achieved without ventilation or power supply, further improving the convenience. Description of the drawings

[0014] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 For the present invention Figure 1 Schematic structural diagram of the assembly arm assembly;

[0016] Figure 3 For the present invention Figure 2 Schematic sectional structural diagram of the movable arm column;

[0017] Figure 4 For the present invention Figure 1 Schematic diagram of the structural cooperation between the support fork seat assembly and the assembly arm assembly;

[0018] Figure 5 For the present invention Figure 4 Schematic structural diagram of the support fork seat assembly;

[0019] Figure 6 For the present invention Figure 5 Schematic structural diagram of the deformable dialing bracket;

[0020] Reference numerals are: 1, workbench; 2, manipulator; 3, support fork seat assembly; 4, assembly arm assembly; 5, main gripper; 41, fixed arm column; 42, movable arm column; 43, wedge block; 44, wedge-shaped groove; 45, elastic pin column; 46, pressing handle; 451, ring plate; 452, column barrel; 453, spring; 421, column groove; 422, through groove; 423, arm groove; 31, main body fork seat; 32, base; 33, deformable dialing bracket; 331, L-shaped arm; 332, convex column; 333, connecting block; 334, flipping arm; 335, fixed cross seat. Detailed implementation manners

[0021] The following will describe in detail the detailed implementation manners of the present invention with reference to the accompanying drawings.

[0022] Referring to Figure 1 and Figure 2 , the present invention provides a quick-change gripper device, including a workbench 1 and a manipulator 2. The manipulator 2 is fixedly installed on the top of the workbench 1. A plurality of support fork seat assemblies 3 are fixedly installed on the top edge of the workbench 1. The end of the manipulator 2 is fixedly connected with a main gripper 5 through an assembly arm assembly 4. The assembly arm assembly 4 includes a fixed arm column 41 and a movable arm column 42. The main gripper 5 is fixedly installed at the bottom of the movable arm column 42. The fixed arm column 41 is fixedly installed at the end of the manipulator 2. There are a plurality of movable arm columns 42. Wedge-shaped grooves 44 are formed at the top of the movable arm column 42. A wedge block 43 is fixedly connected to the bottom of the fixed arm column 41. An elastic pin column 45 is arranged inside the movable arm column 42. A pin hole is formed at the bottom of the wedge block 43. A pressing handle 46 for docking with the elastic pin column 45 is arranged on the side wall of the movable arm column 42. The pressing handle 46 is used to control the descent of the elastic pin column 45.

[0023] When in use, the gripper main parts 5 with different functions can be installed through a plurality of movable arm columns 42, and the gripper main parts 5 can be connected to the manipulator 2 by placing a plurality of movable arm columns 42 on a plurality of support fork seat assemblies 3 and assembling the fixed arm columns 41 and the movable arm columns 42. The gripper main parts 5 and the manipulator 2 can be disassembled, and different movable arm columns 42 can be installed through the fixed arm columns 41 to realize the replacement of the gripper main parts 5. During installation, the manipulator 2 makes a linear motion to slide the wedge block 43 from one side of the wedge-shaped embedding groove 44 into the interior. During this process, the bottom of the wedge block 43 first exerts a downward pressure on the elastic pin 45, and then the elastic pin 45 retracts into the movable arm column 42. When the wedge block 43 completely slides into the wedge-shaped embedding groove 4 4, under the elastic action of the elastic pin 45, it is automatically embedded in the pin hole of the wedge block 43, thereby positioning the wedge block 43 and locking the combination of the fixed arm column 41 and the movable arm column 42. As the manipulator 2 continues to move linearly, the movable arm column 42 can slide out of the support fork seat assembly 3. The disassembly process is that the manipulator 2 performs linear operation to first realize the installation of the movable arm column 42 and the support fork seat assembly 3, and then the manipulator 2 continues to move, and the movable arm column 42 and the support fork seat assembly 3 form a linkage effect. The support fork seat assembly 3 can form a downward force on the pressing handle 46, driving the elastic pin 45 to move downward and disengage from the pin hole of the wedge block 43, thereby achieving an unlocking effect, whereby the fixed arm column 41 can drive the wedge block 43 to slide out of the wedge-shaped embedding groove 44 to complete automatic disengagement.

[0024] Reference Figure 2 The wedge block 43 and the wedge groove 44 are arranged in a triangular shape.

[0025] Through this arrangement, it can be ensured that the tip of the wedge block 43 enters vertically downward into the wedge-shaped embedding groove 44, first forming a downward pressure effect on the elastic pin 45, and then the wedge block 43 can slide into the wedge-shaped embedding groove 44 to form a connection relationship, thereby preventing the elastic pin 45 from blocking the wedge block 43 when the wedge block 43 slides into the wedge-shaped embedding groove 44 from one side.

[0026] Reference Figure 3 A column groove 421 is provided inside the movable arm column 42, and a through groove 422 connected to the column groove 421 is opened on the side wall of the movable arm column 42. The elastic pin column 45 includes a ring plate 451, and a column cylinder 452 is fixedly connected to the top of the ring plate 451. The ring plate 451 is slidably sleeved in the column groove 421, and the top of the column cylinder 452 passes through the top of the movable arm column 42. The top of the inner wall of the column cylinder 452 is transmission-connected to the bottom of the column groove 421 through a spring 453, and the pressing handle 46 passes through the through groove 422 and is connected to the ring plate 451.

[0027] When in use, after pressing the elastic pin column 45 to retract it, under the elastic force of the spring 453, the elastic pin column 45 can automatically reset. When the pressing handle 46 is toggled downward, the ring plate 451 of the pressing handle 46 can be driven to move downward, thereby realizing the effect of controlling the retraction of the elastic pin column 45.

[0028] Refer to Figure 3 , the diameter of the ring plate 451 is larger than the diameter of the cylinder 452. Through this setting, the situation of the elastic pin column 45 falling off can be avoided.

[0029] Refer to Figure 4 , the support fork seat assembly 3 is provided with two fork arms, and two arm grooves 423 are opened on the side wall of the movable arm column 42. The two fork arms of the support fork seat assembly 3 are respectively embedded into the two arm grooves 423 on the side wall of the movable arm column 42.

[0030] Through this setting, the stability of the support of the support fork seat assembly 3 on the movable arm column 42 can be ensured.

[0031] Refer to Figure 5 , the support fork seat assembly 3 includes a main body fork seat 31. A base 32 is fixedly connected to the bottom of the main body fork seat 31. A groove is provided on one side of the base 32, and a deformation toggle 33 is arranged in the groove. The deformation toggle 33 is docked with the pressing handle 46. The lateral movement of the movable arm column 42 is used to trigger the deformation toggle 33 to press down the pressing handle 46; when the assembling arm assembly 4 is disassembled, the linear movement of the manipulator 2 drives the assembling arm assembly 4 to be connected with the support fork seat assembly 3, and the pressing handle 46 and the deformation toggle 33 form a docking relationship. At this time, the pressing handle 46 can apply a lateral force to the deformation toggle 33 to trigger the operation of the deformation toggle 33, generating a pressing-down effect on the pressing handle 46, and thus driving the elastic pin column 45 to move downward to unlock.

[0032] Refer to Figure 6 , the deformation toggle 33 includes an L-shaped arm 331, two fixed cross seats 335, and a connecting block 333. A rotating column is arranged at one end of the L-shaped arm 331. Chute grooves are opened on the inner side surfaces of the two fixed cross seats 335. The rotating end of one end of the L-shaped arm 331 is slidably sleeved in the chute grooves on the inner side surfaces of the two fixed cross seats 335. A socket is opened at the other end of the L-shaped arm 331. A convex column 332 is arranged at the turning end of the L-shaped arm 331. A turning arm 334 is movably connected to the side wall of the convex column 332. The other end of the turning arm 334 is movably connected to the connecting block 333. The two fixed cross seats 335 are fixedly connected to the inner wall of the groove of the base 32, and the connecting block 333 is fixedly connected to the bottom of the main body fork seat 31.

[0033] The pressing handle 46 is snapped into the notch of the L-shaped arm 331, so that the deformation dialing frame 33 and the pressing handle 46 form a butt-joint relationship. When the pressing handle 46 moves horizontally, a lateral thrust is generated on the L-shaped arm 331, and thus the rotating column at one end of the L-shaped arm 331 can slide in the chute of the fixed cross base 335. At this time, the turning arm 334 can be driven to turn through the convex column 332. When the turning arm 334 turns, a downward thrust can be generated on the L-shaped arm 331, and further the L-shaped arm 331 is turned to form a downward pressure on the pressing handle 46.

[0034] The foregoing has shown and described the basic principles, main features and advantages of the present invention. The present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A quick-change gripper device, comprising a workbench (1) and a manipulator (2), wherein the manipulator (2) is fixedly installed on the top of the workbench (1), and is characterized in that: A plurality of support fork seat assemblies (3) are fixedly installed on the top edge of the workbench (1), and a gripper main part (5) is fixedly connected to the end of the manipulator (2) through an assembly arm assembly (4); the assembly arm assembly (4) comprises a fixed arm column (41) and a movable arm column (42); the gripper main part (5) is fixedly installed at the bottom of the movable arm column (42); the fixed arm column (41) is fixedly installed at the end of the manipulator (2); a plurality of movable arm columns (42) are provided; a wedge-shaped embedding groove (44) is provided at the top of the movable arm column (42); a wedge-shaped block (43) is fixedly connected to the bottom of the fixed arm column (41); an elastic pin column (45) is provided inside the movable arm column (42); a pin hole is provided at the bottom of the wedge-shaped block (43); a pressing handle (46) is provided on the side wall of the movable arm column (42) and is connected to the elastic pin column (45); the pressing handle (46) is used to control the descent of the elastic pin column (45).

2. The quick-change gripper device according to claim 1, characterized in that: The wedge-shaped block (43) and the wedge-shaped embedding groove (44) are arranged in a triangular shape.

3. The quick-change gripper device according to claim 1, characterized in that: The movable arm column (42) is provided with a column groove (421) inside, and the side wall of the movable arm column (42) is provided with a through groove (422) connected with the column groove (421). The elastic pin column (45) includes a ring plate (451), and the top of the ring plate (451) is fixedly connected with a column tube (452). The ring plate (451) is slidably sleeved in the column groove (421), and the top of the column tube (452) passes through the top of the movable arm column (42). The top of the inner wall of the column tube (452) is transmission-connected with the bottom of the column groove (421) through a spring (453), and the pressing handle (46) passes through the through groove (422) and is connected with the ring plate (451).

4. The quick-change gripper device according to claim 3, characterized in that: The diameter of the ring plate (451) is greater than the diameter of the column (452).

5. The quick-change gripper device according to claim 1, wherein: The support fork seat assembly (3) is provided with two fork arms, and the side wall of the movable arm column (42) is provided with two arm grooves (423). The two fork arms of the support fork seat assembly (3) are respectively embedded in the two arm grooves (423) of the side wall of the movable arm column (42).

6. The quick-change gripper device according to claim 1, characterized in that: The support fork seat assembly (3) comprises a main fork seat (31), the bottom of the main fork seat (31) is fixedly connected to a base (32), one side of the base (32) is provided with a groove, a deformation frame (33) is provided in the groove, the deformation frame (33) is connected to the pressing handle (46), and the movable arm column (42) moves horizontally to trigger the deformation frame (33) to press the pressing handle (46) downward.

7. The quick-change gripper device according to claim 6, characterized in that: The deformable dialing frame (33) includes an L-shaped arm (331), two fixed cross seats (335), and a connecting block (333). One end of the L-shaped arm (331) is provided with a rotating column. The inner sides of the two fixed cross seats (335) are provided with sliding grooves. The rotating end of one end of the L-shaped arm (331) is slidably sleeved in the sliding grooves on the inner sides of the two fixed cross seats (335). An embedding opening is provided at the other end of the L-shaped arm (331). A convex column (332) is provided at the turning end of the L-shaped arm (331). The side wall of the convex column (332) is movably connected to a flipping arm (334). The other end of the flipping arm (334) is movably connected to the connecting block (333). The two fixed cross seats (335) are fixedly connected to the inner wall of the groove of the base (32). The connecting block (333) is fixedly connected to the bottom of the main body fork seat (31).

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