Quick butt joint device for cross rods of multi-station three-coordinate manipulator

Abstract

The device comprises a feeding rod connecting block and a middle rod connecting block, a V-shaped groove is formed in the upper end of the side, close to the feeding rod connecting block, of the middle rod connecting block, a V-shaped protrusion is arranged at the lower end of the side, close to the feeding rod connecting block, of the middle rod connecting block, and a V-shaped protrusion matched with the V-shaped groove of the middle rod is arranged on the feeding rod connecting block; during butt joint, the feeding rod connecting block firstly axially moves to the position below the middle rod connecting block and then ascends, and X-direction accurate positioning is achieved through the double-V-shaped structure. A fixed pin is arranged in the middle rod connecting block, a slidable sliding pin is arranged in the feeding rod connecting block, the sliding pin moves towards the fixed pin and is pressed after butt joint, and Z-direction relative displacement is eliminated; the contact surfaces of the two connecting blocks are respectively provided with a positioning key and a matched key slot, and the positioning key and the matched key slot are embedded into the key slot after the V-shaped structures are butted, so that no relative movement in the Y direction is realized. Through triple locking of a V-shaped structure, pin pressing and a positioning key, the butt joint precision, the connection rigidity and the stability are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of sheet metal processing, specifically to a multi-station three-coordinate robotic arm crossbar quick docking device. Background Technology

[0002] The three-coordinate feeding system for multi-station automatic stamping lines mainly consists of a feed rod, a lifting shaft, an intermediate rod, and a clamping shaft. When the feeding system is activated, the feed rod moves and docks with the intermediate rod. The feed rod, lifting shaft, and clamping shaft drive the intermediate rod to achieve three-degree-of-freedom translational motion, and the sheet metal is placed on the intermediate rod, thus realizing three-coordinate feeding.

[0003] The three-axis feeding motion of a multi-station automatic stamping line relies on the successful docking of the feed rod and the intermediate rod. Therefore, the docking device between the feed rod and the intermediate rod significantly impacts the docking success rate and production efficiency. Currently available docking devices suffer from the following problems: 1. Occasional docking failures or separations; 2. The locking pin detection switch is easily damaged and inconvenient to disassemble and assemble; 3. Dock failures can easily damage the pneumatic / electric docking plug, resulting in significant losses; 4. Hydraulic docking devices require a dedicated hydraulic pump station, leading to high energy consumption and cost. Summary of the Invention

[0004] The purpose of this invention is to solve the above-mentioned problems and provide a multi-station three-coordinate robot arm crossbar quick docking device with high positioning accuracy, high connection rigidity, and good economy.

[0005] The technical solution adopted by this invention to solve its technical problem is: A multi-station three-coordinate robot arm crossbar quick docking device includes a feed rod connecting block disposed at the end of the feed rod and an intermediate rod connecting block disposed at the end of the intermediate rod. The intermediate rod connecting block has a V-shaped groove on the upper end of the side near the feed rod connecting block, and a V-shaped protrusion on the upper end of the side near the intermediate rod connecting block that mates with the upper V-shaped groove of the intermediate rod connecting block. The feed rod connecting block has a V-shaped groove on the lower end of the side near the intermediate rod connecting block, and a V-shaped protrusion on the lower end of the side near the feed rod connecting block that mates with the lower V-shaped groove of the feed rod connecting block. The intermediate rod connecting block is provided with a fixing pin, and the feeding rod connecting block is provided with a sliding pin that slides within the feeding rod connecting block; A positioning key is provided at the position where the upper end of the feed rod connecting block contacts the middle rod connecting block, and a positioning key is also provided at the position where the lower end of the middle rod connecting block contacts the feed rod connecting block.

[0006] Furthermore, the contact area between the feed rod connecting block and the intermediate rod connecting block is a mutually contacting inclined surface.

[0007] Furthermore, the fixing pin is fixed to the intermediate rod connecting block by a pressure plate.

[0008] Furthermore, the side where the fixing pin and the sliding pin contact is an inclined slope.

[0009] Furthermore, the feed rod connecting block is equipped with a drive cylinder, and the piston rod end of the drive cylinder is connected to the sliding pin.

[0010] Furthermore, the feed rod is equipped with a locking pin detection switch, and the piston rod of the drive cylinder is equipped with a detection plate at its tail end.

[0011] Furthermore, the feed rod is equipped with a guide cylinder, the piston rod end of the guide cylinder is equipped with a pneumatic-electric combination plug, and the intermediate rod connecting block is equipped with a pneumatic-electric combination socket.

[0012] The beneficial effects of this invention are: 1. This invention includes a feed rod connecting block and an intermediate rod connecting block disposed at the end of the feed rod. The intermediate rod connecting block has a V-shaped groove on its upper end near the feed rod connecting block, and a V-shaped protrusion on its upper end near the intermediate rod connecting block that mates with the upper V-shaped groove of the intermediate rod connecting block. The feed rod connecting block also has a V-shaped groove on its lower end near the intermediate rod connecting block, and a V-shaped protrusion on its lower end near the feed rod connecting block that mates with the lower V-shaped groove of the feed rod connecting block. When the feed rod and the intermediate rod are connected, firstly, the feed rod connecting block moves axially to a suitable position below the intermediate rod connecting block. Then, the feed rod moves vertically upwards. Positioning and axial fixation are achieved through the engagement of the V-shaped protrusion and V-shaped groove of the feed rod connecting block and the intermediate rod connecting block, realizing zero relative movement between the feed rod and the intermediate rod in the X-direction, improving positioning accuracy and connection rigidity. Power is provided by a hydraulic pump station that does not require rotation, resulting in good economic efficiency.

[0013] 2. The present invention provides a fixing pin in the intermediate rod connecting block and a sliding pin in the feeding rod connecting block; when the feeding rod connecting block rises until the V-shaped protrusion and V-shaped groove of the feeding rod connecting block and the intermediate rod connecting block are engaged, the sliding pin slides toward the intermediate rod connecting block until it contacts the fixing pin. After the sliding pin moves to a suitable position, it presses the fixing pin, thereby achieving no relative movement between the feeding rod and the intermediate rod in the Z direction.

[0014] 3. In this invention, a positioning key is provided at the position where the upper end of the feed rod connecting block contacts the intermediate rod connecting block, and a similar positioning key is provided at the position where the lower end of the intermediate rod connecting block contacts the feed rod connecting block. Keyways are provided at corresponding positions on the feed rod connecting block and the intermediate rod connecting block. When the feed rod and intermediate rod double V-blocks are properly aligned, the positioning keys installed on the feed rod connecting block and the intermediate rod connecting block ensure that the two components do not move relative to each other in the Y direction. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 Sectional view at point AA; Figure 3 This is a schematic diagram of the present invention after removing the gas-electric connection device.

[0017] In the diagram: feed rod 1, feed rod connecting block 2, intermediate rod connecting block 3, fixing pin 4, sliding pin 5, positioning key 6, drive cylinder 7, locking pin detection switch 8, detection plate 9, guide cylinder 10, pneumatic-electric combination plug 11, pneumatic-electric combination socket 12. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0019] For ease of description, the coordinate system is defined as follows: Figure 1 As shown.

[0020] like Figure 1As shown, a multi-station three-coordinate robotic arm crossbar quick docking device includes a feed rod connecting block 2 disposed at the end of a feed rod 1 and an intermediate rod connecting block 3 disposed at the end of an intermediate rod. The intermediate rod connecting block is fixed on the shaft end of the intermediate rod of the three-coordinate feeding system of an automatic stamping line. The upper end of the intermediate rod connecting block 3 near the feed rod connecting block 2 is provided with a V-shaped groove, and the upper end of the feed rod connecting block 2 near the intermediate rod connecting block 3 is provided with a V-shaped protrusion that mates with the upper V-shaped groove of the intermediate rod connecting block 3. The lower end of one side of the connecting block 3 is provided with a V-shaped groove, and the lower end of the intermediate rod connecting block 3 near the feeding rod connecting block 2 is provided with a V-shaped protrusion that mates with the V-shaped groove at the lower end of the feeding rod connecting block 2. When the feeding rod and the intermediate rod are connected, firstly, the feeding rod connecting block moves axially to a suitable position below the intermediate rod connecting block, and then the feeding rod moves vertically upward. Positioning and axial fixation are achieved through the engagement of the V-shaped protrusion and V-groove of the feeding rod connecting block and the intermediate rod connecting block, realizing no relative movement between the feeding rod and the intermediate rod in the X direction, improving positioning accuracy and connection rigidity. Power is provided by a hydraulic pump station that does not require rotation, resulting in good economic efficiency.

[0021] like Figure 2 As shown, the intermediate rod connecting block 3 is provided with a fixing pin 4, and the feed rod connecting block 2 is provided with a sliding pin 5 that slides within the feed rod connecting block 2. When the feed rod connecting block rises until the V-shaped protrusion and V-shaped groove of the feed rod connecting block and the intermediate rod connecting block are engaged, the sliding pin 5 slides toward the intermediate rod connecting block 3 until it contacts the fixing pin 4. After the sliding pin moves to the appropriate position, it presses the fixing pin, thus achieving no relative movement between the feed rod and the intermediate rod in the Z direction.

[0022] like Figure 1 and Figure 2 As shown, a positioning key 6 is provided at the position where the upper end of the feed rod connecting block 2 contacts the middle rod connecting block 3, and a positioning key 6 is also provided at the position where the lower end of the middle rod connecting block 3 contacts the feed rod connecting block 2. Keyways are provided at corresponding positions of the feed rod connecting block 2 and the middle rod connecting block 3. When the feed rod and the middle rod double V-block are docked, the positioning key 6 installed on the feed rod connecting block and the middle rod connecting block can achieve no relative movement between the two parts in the Y direction.

[0023] like Figure 2 As shown, the contact points between the feed rod connecting block 2 and the intermediate rod connecting block 3 are inclined surfaces that contact each other.

[0024] The fixing pin 4 is fixed to the intermediate rod connecting block 3 by a pressure plate, which restricts its axial and circumferential movement.

[0025] like Figure 2 As shown, the side where the fixed pin 4 and the sliding pin 5 contact is an inclined slope.

[0026] like Figure 1 As shown, the feed rod connecting block 2 is equipped with a drive cylinder 7, and the piston rod end of the drive cylinder 7 is connected to the sliding pin 5. When the V-shaped protrusion and V-shaped groove of the feed rod connecting block 2 and the intermediate rod connecting block 3 are engaged, the piston rod of the drive cylinder 7 drives the front sliding pin 5 to move forward until the sliding pin 5 and the fixed pin 4 make contact on the inclined surface. The feed rod connecting block 2 is fixed to the shaft end of the feed rod 1, and the drive cylinder 7 is installed on the feed rod connecting block through a fixed block and fasteners; the sliding pin is installed at the front end of the drive cylinder telescopic rod.

[0027] like Figure 1 As shown, the feed rod 1 is equipped with a locking pin detection switch 8, and a bracket for supporting the locking pin detection switch 8 is also provided on the feed rod 1. Two locking pin detection switches 8 are arranged side by side, and a detection plate 9 is provided at the tail end of the piston rod of the drive cylinder 7. Before and after the sliding pin 5 moves, the two locking pin detection switches 8 detect the position of the sliding pin 5 to ensure that the sliding pin 5 moves to the appropriate position before proceeding with subsequent actions. Both locking pin detection switches 8 are installed on the bracket of the feed rod 1, and the installation position is safe and reliable, and convenient for later maintenance. The locking pin detection switches 8 can be ordinary proximity switches or other common detection switches, which are low in cost, safe and reliable in installation position, and convenient for later maintenance.

[0028] like Figure 1 As shown, the feed rod 1 is equipped with a guide cylinder 10, the piston rod end of the guide cylinder 10 is equipped with a pneumatic-electric combination plug 11, and the intermediate rod connecting block 3 is equipped with a pneumatic-electric combination socket 12.

[0029] The outer side of the guide cylinder 10 is equipped with a protective cover.

[0030] After the V-shaped protrusions and V-shaped grooves of the feed rod connecting block 2 and the intermediate rod connecting block 3 are engaged, the guide cylinder 10 is activated, driving the pneumatic-electric combination plug 11 to dock with the pneumatic-electric combination socket 12. The docking of the pneumatic-electric combination plug 11 is driven by a separate cylinder, which ensures that the connector is locked before operation, solving the problem of damage to the pneumatic-electric combination plug 11 caused by inaccurate docking position.

[0031] In the description of the present invention, it should be noted that the terms "left", "right", "up", "down", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0032] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A multi-station crossbar quick-connection device, characterized in that, It includes a feed rod connecting block (2) set at the end of the feed rod (1) and an intermediate rod connecting block (3) set at the end of the intermediate rod. The intermediate rod connecting block (3) has a V-shaped groove at the upper end of the side near the feed rod connecting block (2), and the feed rod connecting block (2) has a V-shaped protrusion at the upper end of the side near the intermediate rod connecting block (3) that matches the upper V-shaped groove of the intermediate rod connecting block (3). The feed rod connecting block (2) has a V-shaped groove at the lower end of the side near the intermediate rod connecting block (3), and the intermediate rod connecting block (3) has a V-shaped protrusion at the lower end of the side near the feed rod connecting block (2) that matches the lower V-shaped groove of the feed rod connecting block (2). The intermediate rod connecting block (3) is provided with a fixing pin (4), and the feeding rod connecting block (2) is provided with a sliding pin (5) that slides within the feeding rod connecting block (2). A positioning key (6) is provided at the position where the upper end of the feed rod connecting block (2) contacts the middle rod connecting block (3), and a positioning key (6) is also provided at the position where the lower end of the middle rod connecting block (3) contacts the feed rod connecting block (2).

2. The multi-station three-coordinate robot arm crossbar quick docking device as described in claim 1, characterized in that, The contact points between the feed rod connecting block (2) and the intermediate rod connecting block (3) are inclined surfaces that contact each other.

3. The multi-station three-coordinate robot arm crossbar quick docking device as described in claim 1, characterized in that, The fixing pin (4) is fixed to the intermediate rod connecting block (3) by a pressure plate.

4. The multi-station three-coordinate robot arm crossbar quick docking device as described in claim 1, characterized in that, The side where the fixed pin (4) and the sliding pin (5) contact is an inclined slope.

5. The multi-station three-coordinate robot arm crossbar quick docking device as described in claim 1, characterized in that, The feed rod connecting block (2) is provided with a drive cylinder (7), and the piston rod end of the drive cylinder (7) is connected to the sliding pin (5).

6. The multi-station three-coordinate robot arm crossbar quick docking device as described in claim 5, characterized in that, The feed rod (1) is equipped with a locking pin detection switch (8), and the piston rod of the drive cylinder (7) is equipped with a detection plate (9) at its tail end.

7. The multi-station three-coordinate robot arm crossbar quick docking device as described in claim 1, characterized in that, The feed rod (1) is provided with a guide cylinder (10), the piston rod end of the guide cylinder (10) is provided with a pneumatic-electric combination plug (11), and the intermediate rod connecting block (3) is provided with a pneumatic-electric combination socket (12).

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