Quick change structure of stamping automatic tooling

Abstract

The invention discloses a quick-change structure of a stamping automatic tooling, which is used for manufacturing the stamping automatic tooling. A first main support positioning plate and a quick-change mounting plate assembly are assembled together through a second quick-insertion fixing bolt, the tooling quick-change body assembly is connected with a robot through a standard part quick-insertion part and one side of a main arm, and a first suction cup assembly grabs and carries parts. When the tooling quick-changing device is used, a second quick-inserting handle is lifted upwards, a second main support anti-disengaging key is disengaged from a second quick-inserting fixing bolt U-shaped groove, the second quick-inserting fixing bolt is pulled out of a tooling quick-changing body assembly, a first quick-inserting tooling assembly is separated from the tooling quick-changing body assembly, and the first quick-inserting tooling assembly is taken down and hung on the mold. According to the molded surface and the size of the part, a second quick-insertion tooling assembly can be additionally arranged on the other side of the tooling quick-change main body assembly, and a tooling quick-insertion structure can be additionally arranged on the other side of the main arm. According to the invention, a special area for storing the tooling in a production field is omitted, the time for searching and transferring the tooling is saved, and the production efficiency is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of stamping automation, and particularly to a quick-change structure for a new type of end effector used in stamping automation. Background Art

[0002] Due to the advantages of less personnel requirement, high production efficiency, and strong product stability in stamping automation production, it is becoming more and more common in the manufacturing industry. When a robot in stamping automation production transports parts, an end effector is an essential device. Currently, most end effectors are provided by automation manufacturers. Their assembly structure is firm, with good stability and accurate positioning when handling parts. However, there are also the following defects: 1. The price of the end effector is relatively high. Especially in the development stage of a stamping automation project, the procurement cost of the end effector is relatively high, greatly increasing the project R & D cost.

[0003] 2. The structure of the end effector is relatively large. During the production process, generally a dedicated area needs to be prepared to store the end effector, which will occupy limited production site space resources, making management troublesome. Moreover, a dedicated transfer cart needs to be manufactured to transfer the end effector, with high manufacturing cost and low production efficiency. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the invention object of the present invention is to provide a quick-change structure for a stamping automation end effector to achieve the purpose of convenient storage and quick replacement of the end effector.

[0005] To achieve the above invention object, the end effector quick-change structure of the present invention includes an end effector quick-change main body assembly and a first quick-change end effector assembly. A quick-insert fixing pin two assembles the main bracket positioning plate one of the end effector quick-change main body assembly and the quick-change mounting plate assembly of the first quick-change end effector assembly together. The end effector quick-change main body assembly is connected to the robot through a standard quick-change part and the C side at the B end of the main arm. The suction cup assembly one of the first quick-change end effector assembly grabs and transports parts. The quick-insert handle two of the end effector quick-change main body assembly is lifted upward, the main bracket anti-detachment key two disengages from the U-shaped groove of the quick-insert fixing pin two, the quick-insert fixing pin two is pulled out from the end effector quick-change main body assembly, the first quick-change end effector assembly is separated from the end effector quick-change main body assembly, and the first quick-change end effector assembly is taken off and hung on the mold.

[0006] Further, the second main bracket positioning plate of the end effector quick-change main body assembly is assembled with the quick-change mounting plate assembly of the quick-change end effector assembly II through the first quick-insert fixing pin, and the first main bracket positioning plate of the end effector quick-change main body assembly is assembled with the quick-change mounting plate assembly of the quick-change end effector assembly I through the second quick-insert fixing pin, jointly forming the end effector quick-insert structure. The second suction cup assembly of the quick-change end effector assembly II and the first suction cup assembly of the quick-change end effector assembly I jointly grasp and transport the parts; when the first quick-insert handle and the second quick-insert handle of the end effector quick-change main body assembly are lifted upward, the first main bracket anti-disengagement key and the second main bracket anti-disengagement key are respectively disengaged from the U-shaped grooves of the first quick-insert fixing pin and the second quick-insert fixing pin, and the first quick-insert fixing pin and the second quick-insert fixing pin are respectively withdrawn from the end effector quick-change main body assembly. The quick-change end effector assembly I and the quick-change end effector assembly II are respectively separated from the end effector quick-change main body assembly, and the removed quick-change end effector assembly II and the quick-change end effector assembly I are hung on the mold; the end effector quick-insert structure can also be connected to the robot through the standard quick-insert parts, the D side of the B end of the main arm, and the suction cup assemblies of the quick-change end effector assemblies of multiple groups of end effector quick-insert structures jointly grasp and transport the parts.

[0007] Further, the robot is fixed to the A end of the main arm, the standard quick-insert female end is fixed to the C side of the B end of the main arm, the end effector quick-change main body assembly presses the aluminum alloy pipe, the A end of the aluminum alloy pipe extends into the standard quick-insert male end and is locked with bolts, the standard quick-insert male end is inserted into the standard quick-insert female end, and the pressing handle is pulled to lock the standard quick-insert male end; the air pipe connects the first L-shaped air pipe joint and the second L-shaped air pipe joint on the end effector quick-change main body assembly with the air pipe joint on the standard quick-insert male end; the two quick positioning holes of the quick-change mounting plate of the quick-change end effector assembly I are aligned with the third threaded positioning pin and the fourth threaded positioning pin of the quick-change main bracket of the end effector quick-change main body assembly, and the quick-change end effector assembly I is assembled with the end effector quick-change main body assembly. The second quick-insert fixing pin is inserted into the square hole of the main bracket body of the quick-change main bracket from the square hole of the quick-change mounting plate, the second main bracket anti-disengagement key is stuck in the U-shaped groove of the second quick-insert fixing pin, and the second quick-insert fixing pin presses the quick-change mounting plate on the quick-change main bracket. The second sealing gasket for preventing air leakage in the air pipe channel is pressed between the quick-change mounting plate and the first main bracket positioning plate; the first galvanized pipe and the first suction cup assembly of the quick-change end effector assembly I are adjusted so that the suction cup adsorbs on the part surface. When the air pipe channel forms a vacuum, the quick-change end effector assembly I grasps and transports the part.

[0008] Further, the center distance between the third threaded positioning pin and the fourth threaded positioning pin of the first main bracket positioning plate of the end effector quick-change main body assembly can be different from the center distance between the first threaded positioning pin and the second threaded positioning pin of the second main bracket positioning plate.

[0009] Further, the quick-change main bracket of the end effector quick-change main body assembly is fixed by a first threaded positioning pin, a second threaded positioning pin, a third threaded positioning pin, a fourth threaded positioning pin, a first circular positioning pin, a second circular positioning pin, a third circular positioning pin, and a fourth circular positioning pin to connect a first main bracket connecting block, a second main bracket connecting block, a first main bracket matrix, a second main bracket matrix, a first main bracket positioning plate, and a second main bracket positioning plate together, and the seam positions are connected by welding; a first welded square nut is welded inside the second main bracket positioning plate, and a second welded square nut is welded inside the first main bracket positioning plate. The first threaded positioning pin and the fourth threaded positioning pin are screwed in from both sides of the second main bracket connecting block, and the second threaded positioning pin and the third threaded positioning pin are screwed in from both sides of the first main bracket connecting block. The first circular positioning pin and the second circular positioning pin are sequentially inserted into the holes of the first main bracket connecting block, the second main bracket matrix, and the second main bracket connecting block, and the third circular positioning pin and the fourth circular positioning pin are sequentially inserted into the holes of the first main bracket connecting block, the first main bracket matrix, and the second main bracket connecting block. There is an interference fit between the holes of the second main bracket positioning plate and the first threaded positioning pin and the second threaded positioning pin sleeved therein, and there is an interference fit between the holes of the first main bracket positioning plate and the third threaded positioning pin and the fourth threaded positioning pin sleeved therein; square holes for inserting a second quick-insert fixing pin and corresponding to the square holes on the quick-change mounting plate of the first quick-change end effector assembly are provided on the first main bracket matrix and the first main bracket positioning plate, and square holes for inserting a first quick-insert fixing pin and corresponding to the square holes on the quick-change mounting plate of the second quick-change end effector assembly are provided on the second main bracket matrix and the second main bracket positioning plate; the arc surfaces of the first main bracket connecting block and the second main bracket connecting block are adapted to the outer circle of the aluminum alloy tube.

[0010] Further, the end effector quick-change main body assembly is assembled by a quick-change main support, a first L-shaped air pipe joint, a second L-shaped air pipe joint, a first sealing washer, a second sealing washer, a first wire spring, a second wire spring, a first anti-disengagement key of the main support, a second anti-disengagement key of the main support, a first snap ring pin, a second snap ring pin, a first quick-insert handle, a second quick-insert handle, a first bolt, a second bolt, a third bolt, a fourth bolt, a first main support fixing block, and a second main support fixing block; the thread of the first L-shaped air pipe joint is screwed into the welded square nut one, the thread of the second L-shaped air pipe joint is screwed into the welded square nut two, the first sealing washer is installed in the hole of the second main support positioning plate, and the first sealing washer is in interference fit with the hole of the second main support positioning plate. The second sealing washer is installed in the hole of the first main support positioning plate, and the second sealing washer is in interference fit with the hole of the first main support positioning plate; the first wire spring is sleeved on the first anti-disengagement key of the main support, the first anti-disengagement key of the main support passes through the hole of the second main support body from bottom to top, the first quick-insert handle is sleeved on the first anti-disengagement key of the main support from top to bottom, and the first snap ring pin is inserted into the holes of the first quick-insert handle and the first anti-disengagement key of the main support from the side. The bottom of the first anti-disengagement key of the main support is provided with an inclined surface; the second wire spring is sleeved on the second anti-disengagement key of the main support, the second anti-disengagement key of the main support passes through the hole of the first main support body from bottom to top, the second quick-insert handle is sleeved on the second anti-disengagement key of the main support from top to bottom, and the second snap ring pin is inserted into the holes of the second quick-insert handle and the second anti-disengagement key of the main support from the side. The bottom of the second anti-disengagement key of the main support is provided with an inclined surface; the second bolt and the third bolt lock the first main support fixing block on the first main support connecting block from bottom to top, and the first bolt and the fourth bolt lock the second main support fixing block on the second main support connecting block from bottom to top. The first main support connecting block and the second main support fixing block clamp the aluminum alloy pipe.

[0011] Further, the quick-change mounting plate assembly of the first quick-change end effector assembly is welded and assembled by a quick-change mounting plate, a third welded square nut, an air pipe joint, a saddle clamp, a fifth bolt, and a sixth bolt; the third welded square nut is welded on the corresponding hole of the quick-change mounting plate, the air pipe joint is screwed into the third welded square nut, the fifth bolt and the sixth bolt lock the saddle clamp on the quick-change mounting plate, and the two round holes of the quick-change mounting plate are matched with the third threaded locating pin and the fourth threaded locating pin of the quick-change main support to accurately position the quick-change mounting plate on the quick-change main support; the hole corresponding to the third welded square nut of the quick-change mounting plate is opposite to the hole of the second sealing washer of the end effector quick-change main body assembly.

[0012] Further, the first quick-change end effector assembly is composed of a quick-change mounting plate assembly, a first galvanized pipe, a hook, a first suction cup assembly, and an air pipe assembly; the A end of the first galvanized pipe is inserted into the fixing hole of the first suction cup assembly, and the seventh bolt fixes the A end of the first galvanized pipe. The B end of the first galvanized pipe is inserted into the U-shaped groove of the saddle clamp, and the fifth bolt and the sixth bolt are tightened so that the saddle clamp presses the first galvanized pipe on the quick-change mounting plate. The hook is welded on the first galvanized pipe, and the air pipe connects the fourth air pipe joint and the third L-shaped air pipe joint.

[0013] Compared with the prior art, the present invention has a simple structure and is easy to disassemble and assemble. While ensuring the firm structure, accurate positioning, and stable handling of parts of the end effector, it greatly reduces the manufacturing cost of the end effector. Moreover, the overall structural dimensions of the end effector are relatively small. When not in production, it can be hung on the corresponding mold, and can be directly removed from the mold and quickly assembled during each production, eliminating the need for a dedicated storage area for the end effector at the production site, saving the time for searching and transporting the end effector, effectively improving production efficiency, and reducing labor intensity. Brief Description of the Drawings

[0014] Figure 1 It is a structural schematic diagram of the quick-change main bracket of the quick-change main body assembly of the end effector of the present invention.

[0015] Figure 2 is Figure 1 exploded view of.

[0016] Figure 3 It is a structural schematic diagram of the quick-change main body assembly of the end effector of the present invention.

[0017] Figure 4 is Figure 3 exploded view of.

[0018] Figure 5 It is a structural schematic diagram of the first assembly of the quick-change end effector assembly of the present invention.

[0019] Figure 6 It is an assembly structural schematic diagram of the quick-change main body assembly of the end effector and the first assembly of the quick-change end effector assembly.

[0020] Figure 7 It is an application schematic diagram of the present invention.

[0021] In the figure: 1. Quick-change main support; 2. End effector quick-change main body assembly; 3. Quick-change mounting plate assembly; 4. Threaded positioning pin 1; 5. Welded square nut 1; 6. Threaded positioning pin 2; 7. Main support connection block 1; 8. Circular positioning pin 1; 9. Circular positioning pin 2; 10. Circular positioning pin 3; 11. Circular positioning pin 4; 12. Main support body 1; 13. Main support positioning plate 1; 14. Threaded positioning pin 3; 15. Threaded positioning pin 4; 16. Welded square nut 2; 17. Main support connection block 2; 18. Main support body 2; 19. Main support positioning plate 2; 20. L-shaped air pipe joint 1; 21. Quick-insert handle 1; 22. Circlip pin 1; 23. Sealing washer 1; 24. Aluminum alloy pipe; 25. Wire spring 1; 26. Main support anti-disengagement key 1; 27. Main support fixing block 1; 28. Bolt 1; 29. Bolt 2; 30. Bolt 3; 31. Bolt 4; 32. Main support fixing block 2; 33. Wire spring 2; 34. Main support anti-disengagement key 2; 35. Sealing washer 2; 36. Circlip pin 2; 37. Quick-insert handle 2; 38. L-shaped air pipe joint 2; 39. Quick-change mounting plate; 40. Rider clamp; 41. Bolt 5; 42. Hook; 43. Galvanized pipe 1; 44. A end of galvanized pipe 1; 45. Suction cup assembly 1; 46. L-shaped air pipe joint 3; 47. Bolt 6; 48. B end of galvanized pipe 1; 49. Air pipe joint; 50. Welded square nut 3; 51. Quick-insert fixing pin 1; 53. Quick-insert fixing pin 2; 54. Quick-insert end effector assembly 2; 56. Standard part quick-insert female end; 57. Standard part quick-insert male end; 58. Suction cup assembly 2; 59. End effector quick-insert structure; 60. A end of main arm; 61. B end of main arm; 63. C side; 64. D side; 65. Compression handle; 66. Quick-change end effector assembly 1; 67. Bolt 7. Detailed implementation mode

[0022] Such as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7As shown in the figure, in the actual application of the stamping automation end effector quick-change structure of the present invention, the quick-insert fixed pin II 53 assembles the main bracket positioning plate I 13 of the end effector quick-change main body assembly 2 with the quick-change mounting plate assembly 3 of the quick-change end effector assembly I 66. The A end 60 of the main arm is fixed to the robot, and the standard quick-insert female end 56 is fixed on the C side 63 of the B end 61 of the main arm. The end effector quick-change main body assembly 2 presses the aluminum alloy pipe 24, and the A end 62 of the aluminum alloy pipe extends into the standard quick-insert male end 57 and is locked with bolts. The standard quick-insert male end 57 is inserted into the standard quick-insert female end 56, and the pressing handle 65 is pulled to lock the standard quick-insert male end 57. The air pipe connects the L-shaped air pipe joint I 20 and the L-shaped air pipe joint II 38 on the end effector quick-change main body assembly 2 with the air pipe joint on the standard quick-insert male end 57. The two quick positioning holes of the quick-change mounting plate 39 of the quick-change end effector assembly I 66 are aligned with the threaded positioning pin III 14 and the threaded positioning pin IV 15 of the quick-change main bracket 1 of the end effector quick-change main body assembly 2, and the quick-change end effector assembly I 66 is assembled with the end effector quick-change main body assembly 2. The quick-insert fixed pin II 53 is inserted into the square hole of the main bracket matrix I 12 of the quick-change main bracket 1 from the square hole of the quick-change mounting plate 39. The main bracket anti-detachment key II 34 is stuck in the U-shaped groove of the quick-insert fixed pin II 53. The quick-insert fixed pin II 53 presses the quick-change mounting plate 39 on the quick-change main bracket 1, and the sealing washer II 35 is pressed between the quick-change mounting plate 39 and the main bracket positioning plate I 13 to prevent air leakage in the air pipe channel. Adjust the galvanized pipe I 43 and the suction cup assembly I 45 of the quick-change end effector assembly I 66 to make the suction cup adsorb on the part surface. When a vacuum is formed in the air pipe channel, the quick-change end effector assembly I 66 grabs and transports the part. When the mold stops production, the quick-insert handle II 37 of the end effector quick-change main body assembly 2 is lifted upward, the main bracket anti-detachment key II 34 is disengaged from the U-shaped groove of the quick-insert fixed pin II 53, the quick-insert fixed pin II 53 is pulled out from the end effector quick-change main body assembly 2, the quick-change end effector assembly I 66 is separated from the end effector quick-change main body assembly 2, the quick-change end effector assembly I 66 is removed, and the hook 42 of the quick-change end effector assembly I 66 is hung on the corresponding mold to realize the placement of the quick-change end effector assembly I 66 with the mold, saving space for its storage and also saving the time for finding the end effector during use.

[0023] In practical applications of the present invention, according to the part surface and part size, a quick-insert end effector assembly two 54 can be added to the other side of the end effector quick-change main body assembly 2. Adjust the galvanized pipe two 52 and the suction cup assembly two 58 of the quick-change end effector assembly two 54 so that the suction cup adsorbs on the part surface. When the air pipe channel forms a vacuum, the quick-change end effector assembly two 54 grabs and transports the part; an end effector quick-insert structure 59 combining the quick-change end effector assembly one 66 and the quick-change end effector assembly two 54 can also be added to the D side 64 of the B end 61 of the main arm. Connect the end effector quick-insert structure 59 to the robot through standard quick-insert parts. The suction cup assemblies of the quick-change end effector assemblies of multiple groups of end effector quick-insert structures 59 jointly grab and transport the part. By adjusting the galvanized pipe and the suction cup assembly, ensure that the suction cup fits the part surface, the end effector grabs the part firmly, and ensure stable automated production. For the adsorption of different parts, simply replace the corresponding quick-change end effector assembly to improve the compatibility of the end effector quick-change structure.

[0024] The main bracket positioning plate two 19 of the end effector quick-change main body assembly 2 is assembled with the quick-change mounting plate assembly 3 of the quick-change end effector assembly two 54 through the quick-insert fixing pin one 51, and the main bracket positioning plate one 13 of the end effector quick-change main body assembly 2 is assembled with the quick-change mounting plate assembly 3 of the quick-change end effector assembly one 66 through the quick-insert fixing pin two 53, jointly forming the end effector quick-insert structure 59. The suction cup assembly two 58 of the quick-change end effector assembly two 54 and the suction cup assembly one 45 of the quick-change end effector assembly one 66 together grab and transport the part; when the mold stops production, the quick-insert handle one 21 and the quick-insert handle two 37 of the end effector quick-change main body assembly 2 are lifted upward, the main bracket anti-disengagement key one 26 and the main bracket anti-disengagement key two 34 respectively disengage from the U-shaped grooves of the quick-insert fixing pin one 51 and the quick-insert fixing pin two 53, the quick-insert fixing pin one 51 and the quick-insert fixing pin two 53 are respectively pulled out from the end effector quick-change main body assembly 2, the quick-change end effector assembly one 66 and the quick-change end effector assembly two 54 are respectively separated from the end effector quick-change main body assembly 2, and the quick-change end effector assembly two 54 and the quick-change end effector assembly one 66 are taken off and hung on the corresponding mold.

[0025] To prevent the wrong installation of the positions of the quick-change end effector assembly one 66 and the quick-change end effector assembly two 54, the center distance between the threaded positioning pin three 14 and the threaded positioning pin four 15 of the main bracket positioning plate one 13 of the end effector quick-change main body assembly 2 can be designed to be different from the center distance between the threaded positioning pin one 4 and the threaded positioning pin two 6 of the main bracket positioning plate two 19.

[0026] Such as Figure 1 , Figure 2As shown, the quick-change main bracket 1 of the end effector quick-change main body assembly 2 is fixed together with the main bracket connecting block 1-7, main bracket connecting block 2-17, main bracket matrix 1-12, main bracket matrix 2-18, main bracket positioning plate 1-13 and main bracket positioning plate 2-19 by the thread positioning pin 1-4, thread positioning pin 2-6, thread positioning pin 3-14, thread positioning pin 4-15, round positioning pin 1-8, round positioning pin 2-9, round positioning pin 3-10, and round positioning pin 4-11. The seam positions are connected by welding; the welded square nut 1-5 is welded inside the main bracket positioning plate 2-19, and the welded square nut 2-16 is welded inside the main bracket positioning plate 1-13. The thread positioning pin 1-4 and thread positioning pin 4-15 are screwed into the two sides of the main bracket connecting block 2-17, and the thread positioning pin 2-6 and thread positioning pin 3-14 are screwed into the two sides of the main bracket connecting block 1-7. The round positioning pin 1-8 and round positioning pin 2-9 are sequentially inserted into the holes of the main bracket connecting block 1-7, main bracket matrix 2-18, and main bracket connecting block 2-17. The round positioning pin 3-10 and round positioning pin 4-11 are sequentially inserted into the holes of the main bracket connecting block 1-7, main bracket matrix 1-12, and main bracket connecting block 2-17. There is an interference fit between the holes of the main bracket positioning plate 2-19 and the thread positioning pin 1-4 and thread positioning pin 2-6 sleeved therein, and there is an interference fit between the holes of the main bracket positioning plate 1-13 and the thread positioning pin 3-14 and thread positioning pin 4-15 sleeved therein; square holes for the quick-insert fixed pin 2-53 to insert are provided on the main bracket matrix 1-12 and main bracket positioning plate 1-13, corresponding to the square holes on the quick-change mounting plate 39 of the quick-change end effector assembly 1-66. Square holes for the quick-insert fixed pin 1-51 to insert are provided on the main bracket matrix 2-18 and main bracket positioning plate 2-19, corresponding to the square holes on the quick-change mounting plate 39 of the quick-change end effector assembly 2-54; the arc-shaped grooves of the main bracket connecting block 1-7 and main bracket connecting block 2-17 are adapted to the outer circle of the aluminum alloy tube 24. By using the thread positioning pin 1-4, thread positioning pin 2-6, thread positioning pin 3-14, thread positioning pin 4-15, round positioning pin 1-8, round positioning pin 2-9, round positioning pin 3-10, and round positioning pin 4-11 to fix the relative positions of the main bracket positioning block 1-7, main bracket connecting block 2-17, main bracket matrix 1-12, main bracket matrix 2-18, main bracket positioning plate 1-13 and main bracket connecting plate 2-19, and then welding each seam position, the round positioning pin 1-8, round positioning pin 2-9, round positioning pin 3-10, and round positioning pin 4-11 can be knocked out, and the welding of the quick-change main bracket 1 is completed.

[0027] As Figure 3 , Figure 4As shown, the end effector quick-change main body assembly 2 is assembled by a quick-change main support 1, an L-shaped air pipe joint one 20, an L-shaped air pipe joint two 38, a sealing washer one 23, a sealing washer two 35, a wire spring one 25, a wire spring two 33, a main support anti-disengagement key one 26, a main support anti-disengagement key two 34, a snap ring pin one 22, a snap ring pin two 36, a quick-insert handle one 21, a quick-insert handle two 37, a bolt one 28, a bolt two 29, a bolt three 30, a bolt four 31, a main support fixing block one 27, and a main support fixing block two 32; the thread of the L-shaped air pipe joint one 20 is screwed into the welded square nut one 5, and the thread of the L-shaped air pipe joint two 38 is screwed into the welded square nut two 16. The sealing washer one 23 is installed in the hole of the main support positioning plate two 19, and the sealing washer one 23 is in interference fit with the hole of the main support positioning plate two 19 to make it not easy to fall off. The sealing washer two 35 is installed in the hole of the main support positioning plate one 13, and the sealing washer two 35 is in interference fit with the hole of the main support positioning plate one 13 to make it not easy to fall off; the wire spring one 25 is sleeved on the main support anti-disengagement key one 26, the main support anti-disengagement key one 26 passes through the hole of the main support body two 18 from bottom to top, the quick-insert handle one 21 is sleeved on the main support anti-disengagement key one 26 from top to bottom, and the snap ring pin one 22 is inserted into the holes of the quick-change handle one 21 and the main support anti-disengagement key one 26 from the side. The bottom of the main support anti-disengagement key one 26 is provided with an inclined surface. When the quick-insert handle one 21 is lifted upward by hand, it drives the main support anti-disengagement key one 26 to move upward. After the hand is released, the wire spring one 25 pushes the main support anti-disengagement key one 26 downward. When the quick-insert handle one 21 contacts the main support body two 18, the main support anti-disengagement key one 26 stops moving downward; the wire spring two 33 is sleeved on the main support anti-disengagement key two 34, the main support anti-disengagement key two 34 passes through the hole of the main support body one 12 from bottom to top, the quick-insert handle two 37 is sleeved on the main support anti-disengagement key two 34 from top to bottom, and the snap ring pin two 36 is inserted into the holes of the quick-change handle two 37 and the main support anti-disengagement key two 34 from the side. The bottom of the main support anti-disengagement key two 34 is provided with an inclined surface. When the quick-insert handle two 37 is lifted upward by hand, it drives the main support anti-disengagement key two 34 to move upward. After the hand is released, the wire spring two 33 pushes the main support anti-disengagement key two 34 downward. When the quick-insert handle two 37 contacts the main support body one 12, the main support anti-disengagement key two 34 stops moving downward; the bolt two 29 and the bolt three 30 lock the main support fixing block one 27 on the main support connection block one 7 from bottom to top, and the bolt one 28 and the bolt four 31 lock the main support fixing block two 32 on the main support connection block two 17 from bottom to top. The main support fixing block one 27 and the main support fixing block two 32 press the aluminum alloy pipe 24 in the arc-shaped grooves of the main support connection block one 7 and the main support connection block two 17 to prevent the aluminum alloy pipe 24 from loosening.

[0028] As Figure 5As shown in the figure, the quick-change mounting plate assembly 3 of the quick-change end effector assembly 66 is welded and assembled by a quick-change mounting plate 39, a welded square nut III 50, an air pipe joint 49, a saddle clamp 40, a bolt V 41, and a bolt VI 47; the welded square nut III 50 is welded on the corresponding hole of the quick-change mounting plate 39, the air pipe joint 49 is screwed into the welded square nut III 50, and the bolt V 41 and the bolt VI 47 lock the saddle clamp 40 on the quick-change mounting plate 39. The two round holes of the quick-change mounting plate 39 are matched with the threaded positioning pin III 14 and the threaded positioning pin IV 15 of the quick-change main bracket 1 to ensure accurate positioning of the quick-change mounting plate 39 on the quick-change main bracket 1; the holes corresponding to the welded square nut III 50 of the quick-change mounting plate 39 are aligned with the holes of the sealing washer II 35 of the end effector quick-change main body assembly 2.

[0029] The quick-change end effector assembly 66 consists of a quick-change mounting plate assembly 3, a galvanized pipe I 43, a hook 42, a suction cup assembly I 45, and an air pipe assembly; the A end 44 of the galvanized pipe I is inserted into the fixing hole of the suction cup assembly I 45, and the bolt VII 67 fixes the A end 44 of the galvanized pipe I. The B end 48 of the galvanized pipe I is inserted into the U-shaped groove of the saddle clamp 40. The bolt V 41 and the bolt VI 47 are tightened so that the saddle clamp 40 presses the galvanized pipe I 43 against the quick-change mounting plate 39. The hook 42 is welded to the galvanized pipe I 43, and the air pipe connects the air pipe joint IV 49 and the L-shaped air pipe joint III 46.

Claims

1. A quick-change structure for a stamping automation end effector, characterized in that: The end effector quick-change structure includes an end effector quick-change main body assembly (2) and a quick-change end effector assembly one (66). The quick-insert fixed pin two (53) assembles the main support positioning plate one (13) of the end effector quick-change main body assembly (2) with the quick-change mounting plate assembly (3) of the quick-change end effector assembly one (66). The end effector quick-change main body assembly (2) is connected to the robot through a standard quick-insert component and the C side (63) of the B end (61) of the main arm. The suction cup assembly one (45) of the quick-change end effector assembly one (66) grabs and transports parts. When the quick-insert handle two (37) of the end effector quick-change main body assembly (2) is lifted upward, the main support anti-disengagement key two (34) disengages from the U-shaped groove of the quick-insert fixed pin two (53), and the quick-insert fixed pin two (53) is pulled out from the end effector quick-change main body assembly (2). The quick-change end effector assembly one (66) is separated from the end effector quick-change main body assembly (2), and the quick-change end effector assembly one (66) is removed and hung on the mold.

2. The quick-change structure of the stamping automation end effector according to claim 1, characterized in that: The main support positioning plate two (19) of the end effector quick-change main body assembly (2) is assembled with the quick-change mounting plate assembly (3) of the quick-change end effector assembly two (54) through the quick-insert fixed pin one (51). Together with the quick-insert fixed pin two (53) assembling the main support positioning plate one (13) of the end effector quick-change main body assembly (2) with the quick-change mounting plate assembly (3) of the quick-change end effector assembly one (66), they jointly form the end effector quick-insert structure (59). The suction cup assembly two (58) of the quick-change end effector assembly two (54) and the suction cup assembly one (45) of the quick-change end effector assembly one (66) together grab and transport parts. When the quick-insert handle one (21) and the quick-insert handle two (37) of the end effector quick-change main body assembly (2) are lifted upward, the main support anti-disengagement key one (26) and the main support anti-disengagement key two (34) respectively disengage from the U-shaped grooves of the quick-insert fixed pin one (51) and the quick-insert fixed pin two (53). The quick-insert fixed pin one (51) and the quick-insert fixed pin two (53) are respectively pulled out from the end effector quick-change main body assembly (2). The quick-change end effector assembly one (66) and the quick-change end effector assembly two (54) are respectively separated from the end effector quick-change main body assembly (2). The quick-change end effector assembly two (54) and the quick-change end effector assembly one (66) are removed and hung on the mold. The end effector quick-insert structure (59) can also be connected to the robot through a standard quick-insert component and the D side (64) of the B end (61) of the main arm. The suction cup assemblies of the quick-change end effector assemblies of multiple groups of end effector quick-insert structures (59) jointly grab and transport parts.

3. The quick-change structure of the stamping automation end effector according to claim 1, wherein: The robot is fixedly attached to the A end (60) of the main arm. The female quick-insert end of the standard part (56) is fixed on the C side (63) of the B end (61) of the main arm. The end effector quick-change body assembly (2) presses the aluminum alloy pipe (24). The A end (62) of the aluminum alloy pipe extends into the male quick-insert end of the standard part (57) and is locked with bolts. The male quick-insert end of the standard part (57) is inserted into the female quick-insert end of the standard part (56), and the compression handle (65) is pulled to lock the male quick-insert end of the standard part (57). The air pipe connects the L-shaped air pipe joint one (20) and the L-shaped air pipe joint two (38) on the end effector quick-change body assembly (2) to the air pipe joint on the male quick-insert end of the standard part (57). The two quick positioning holes of the quick-change mounting plate (39) of the quick-change end effector assembly one (66) are aligned with the threaded positioning pin three (14) and the threaded positioning pin four (15) of the quick-change main bracket (1) of the end effector quick-change body assembly (2), and the quick-change end effector assembly one (66) is assembled with the end effector quick-change body assembly (2). The quick-insert fixed pin two (53) is inserted into the square hole of the main bracket matrix one (12) of the quick-change main bracket (1) from the square hole of the quick-change mounting plate (39). The main bracket anti-detachment key two (34) is stuck in the U-shaped groove of the quick-insert fixed pin two (53). The quick-insert fixed pin two (53) presses the quick-change mounting plate (39) on the quick-change main bracket (1). The sealing gasket two (35) for preventing air leakage in the air pipe channel is pressed between the quick-change mounting plate (39) and the main bracket positioning plate one (13). The galvanized pipe one (43) and the suction cup assembly one (45) of the quick-change end effector assembly one (66) are adjusted so that the suction cup adsorbs on the part surface. When the air pipe channel forms a vacuum, the quick-change end effector assembly one (66) grabs and transports the part.

4. The quick-change structure of the stamping automation end effector according to claim 1, characterized in that: The center distance between the threaded positioning pin three (14) and the threaded positioning pin four (15) of the main bracket positioning plate one (13) of the end effector quick-change body assembly (2) can be different from the center distance between the threaded positioning pin one (4) and the threaded positioning pin two (6) of the main bracket positioning plate two (19).

5. The quick-change structure of the stamping automation end effector according to claim 1, wherein: The quick-change main bracket (1) of the end effector quick-change main body assembly (2) is fixed together by a threaded positioning pin 1 (4), a threaded positioning pin 2 (6), a threaded positioning pin 3 (14), a threaded positioning pin 4 (15), a circular positioning pin 1 (8), a circular positioning pin 2 (9), a circular positioning pin 3 (10), and a circular positioning pin 4 (11) to the main bracket connecting block 1 (7), the main bracket connecting block 2 (17), the main bracket body 1 (12), the main bracket body 2 (18), the main bracket positioning plate 1 (13), and the main bracket positioning plate 2 (19). The joint positions are connected by welding; the welded square nut 1 (5) is welded inside the main bracket positioning plate 2 (19), and the welded square nut 2 (16) is welded inside the main bracket positioning plate 1 (13). The threaded positioning pin 1 (4) and the threaded positioning pin 4 (15) are screwed in from both sides of the main bracket connecting block 2 (17), and the threaded positioning pin 2 (6) and the threaded positioning pin 3 (14) are screwed in from both sides of the main bracket connecting block 1 (7). The circular positioning pin 1 (8) and the circular positioning pin 2 (9) sequentially pass through the holes of the main bracket connecting block 1 (7), the main bracket body 2 (18), and the main bracket connecting block 2 (17). The circular positioning pin 3 (10) and the circular positioning pin 4 (11) sequentially pass through the holes of the main bracket connecting block 1 (7), the main bracket body 1 (12), and the main bracket connecting block 2 (17). There is an interference fit between the holes of the main bracket positioning plate 2 (19) and the threaded positioning pins 1 (4) and 2 (6) sleeved therein, and there is an interference fit between the holes of the main bracket positioning plate 1 (13) and the threaded positioning pins 3 (14) and 4 (15) sleeved therein. Square holes for inserting the quick-insert fixed pin 2 (53) are provided on the main bracket body 1 (12) and the main bracket positioning plate 1 (13), corresponding to the square holes on the quick-change mounting plate (39) of the quick-change end effector assembly 1 (66). Square holes for inserting the quick-insert fixed pin 1 (51) are provided on the main bracket body 2 (18) and the main bracket positioning plate 2 (19), corresponding to the square holes on the quick-change mounting plate of the quick-change end effector assembly 2 (54). The arc surfaces of the main bracket connecting block 1 (7) and the main bracket connecting block 2 (17) are adapted to the outer circle of the aluminum alloy tube (24).

6. The quick-change structure of the stamping automation end effector according to claim 1, wherein: The end effector quick-change main body assembly (2) is assembled by a quick-change main bracket (1), a first L-shaped air pipe joint (20), a second L-shaped air pipe joint (38), a first sealing washer (23), a second sealing washer (35), a first wire spring (25), a second wire spring (33), a first anti-disengagement key of the main bracket (26), a second anti-disengagement key of the main bracket (34), a first snap ring pin (22), a second snap ring pin (36), a first quick-insert handle (21), a second quick-insert handle (37), a first bolt (28), a second bolt (29), a third bolt (30), a fourth bolt (31), a first main bracket fixing block (27), and a second main bracket fixing block (32); the thread of the first L-shaped air pipe joint (20) is screwed into the welded square nut one (5), the thread of the second L-shaped air pipe joint (38) is screwed into the welded square nut two (16), the first sealing washer (23) is installed in the hole of the second main bracket positioning plate (19), and the first sealing washer (23) has an interference fit with the hole of the second main bracket positioning plate (19), the second sealing washer (35) is installed in the hole of the first main bracket positioning plate (13), and the second sealing washer (35) has an interference fit with the hole of the first main bracket positioning plate (13); the first wire spring (25) is sleeved on the first anti-disengagement key of the main bracket (26), the first anti-disengagement key of the main bracket (26) passes through the hole of the second main bracket body (18) from bottom to top, the first quick-insert handle (21) is sleeved on the first anti-disengagement key of the main bracket (26) from top to bottom, the first snap ring pin (22) penetrates into the holes of the first quick-change handle (21) and the first anti-disengagement key of the main bracket (26) from the side, and the bottom of the first anti-disengagement key of the main bracket (26) is provided with an inclined surface; the second wire spring (33) is sleeved on the second anti-disengagement key of the main bracket (34), the second anti-disengagement key of the main bracket (34) passes through the hole of the first main bracket body (12) from bottom to top, the second quick-insert handle (37) is sleeved on the second anti-disengagement key of the main bracket (34) from top to bottom, the second snap ring pin (36) penetrates into the holes of the second quick-change handle (37) and the second anti-disengagement key of the main bracket (34) from the side, and the bottom of the second anti-disengagement key of the main bracket (34) is provided with an inclined surface; the second bolt (29) and the third bolt (30) lock the first main bracket fixing block (27) on the first main bracket connecting block (7) from bottom to top, the first bolt (28) and the fourth bolt (31) lock the second main bracket fixing block (32) on the second main bracket connecting block (17) from bottom to top, and the first main bracket connecting block (27) and the second main bracket fixing block (32) clamp the aluminum alloy pipe (24).

7. The quick-change structure of the stamping automation end effector according to claim 1, characterized in that: The quick-change mounting plate assembly (3) of the quick-change end effector assembly one (66) is welded and assembled by a quick-change mounting plate (39), a welded square nut three (50), an air pipe joint (49), a saddle clamp (40), a bolt five (41), and a bolt six (47); the welded square nut three (50) is welded on the corresponding hole of the quick-change mounting plate (39), the air pipe joint (49) is screwed into the welded square nut three (50), and the bolt five (41) and the bolt six (47) lock the saddle clamp (40) on the quick-change mounting plate (39). The two round holes of the quick-change mounting plate (39) are matched with the threaded positioning pin three (14) and the threaded positioning pin four (15) of the quick-change main bracket (1) to accurately position the quick-change mounting plate (39) on the quick-change main bracket (1); the holes corresponding to the welded square nut three (50) of the quick-change mounting plate (39) are corresponding to the holes of the sealing washer two (35) of the end effector quick-change main body assembly (2).

8. The quick-change structure of the stamping automation end effector according to claim 1, wherein: The quick-change end effector assembly one (66) is composed of a quick-change mounting plate assembly (3), a galvanized pipe one (43), a hook (42), a suction cup assembly one (45), and an air pipe assembly; the A end (44) of the galvanized pipe one is inserted into the fixing hole of the suction cup assembly one (45), and the bolt seven (67) fixes the A end (44) of the galvanized pipe one. The B end (48) of the galvanized pipe one is inserted into the U-shaped groove of the saddle clamp (40), and the bolt five (41) and the bolt six (47) are tightened so that the saddle clamp (40) presses the galvanized pipe one (43) on the quick-change mounting plate (39). The hook (42) is welded on the galvanized pipe one (43), and the air pipe connects the air pipe joint four (49) and the L-shaped air pipe joint three (46).

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