Automatic replacement device for tooling

Abstract

The invention discloses an automatic tooling replacement device, which belongs to the field of tooling replacement and comprises a base, a turntable is arranged on the top surface of the base, a rotating shaft is fixed on the bottom surface of the turntable, the bottom end of the rotating shaft penetrates through the top surface of the base, the rotating shaft is rotatably connected with the base, and a gear rack rotating cylinder is arranged on the inner top surface of the base. The bottom end of the rotating shaft is fixedly connected with a gear on the gear rack rotating air cylinder, a rotating seat is fixed to the top face of the rotating disc, a stand column is fixed to the top face of the rotating seat, first supporting frames are fixed to the two side faces of the stand column, two positioning seats are fixed to the top faces of the first supporting frames, and mounting grooves used for mounting tooling are formed in the top faces of the positioning seats. The stand column is provided with a limiting piece used for limiting the tooling installed on the positioning base. The tooling replacement device has the effects that the tooling can be conveniently and automatically replaced, and the replacement efficiency of the tooling is improved.

Description

Technical Field

[0001] This invention relates to the field of end effector replacement technology, and in particular to an automatic end effector replacement device. Background Technology

[0002] An end effector is a mechanism used for grasping and transporting objects. It can be installed on robots or automated equipment to grasp and transport objects. When the shape of the object changes or the end effector is damaged, it needs to be replaced.

[0003] Traditional end effector replacement methods are generally done manually, which is extremely inefficient. Furthermore, during the replacement process, the operator needs to touch the end effector, which can easily damage the surface of the end effector, making it difficult to replace and reducing the efficiency of end effector replacement. Summary of the Invention

[0004] To address the issues of inconvenient end effector replacement and reduced end effector replacement efficiency, this application provides an automatic end effector replacement device.

[0005] The automatic end effector changing device provided in this application adopts the following technical solution: An automatic end effector replacement device includes a base, a turntable on the top surface of the base, a rotating shaft fixed on the bottom surface of the turntable, the bottom end of the rotating shaft passing through the top surface of the base and rotatably connected to the base, a gear and rack rotary cylinder on the inner top surface of the base, the bottom end of the rotating shaft being fixedly connected to a gear on the gear and rack rotary cylinder, a rotating seat fixed on the top surface of the turntable, a column fixed on the top surface of the rotating seat, support frames fixed on both sides of the column, two positioning seats fixed on the top surface of the support frames, mounting slots for mounting end effectors on the top surface of the positioning seats, and limiting members for limiting the position of the end effector mounted on the positioning seats on the column.

[0006] By adopting the above technical solution, the end effector to be replaced is hung on two positioning seats on the support frame. Then, the hanging end effector is limited by the limiting component. Then, the gear and rack rotary cylinder is activated. The gear on the gear and rack rotary cylinder drives the rotating shaft to rotate. The rotating shaft drives the turntable to rotate. The turntable drives the column to rotate. The column drives the positioning seat to rotate. The positioning seat drives the end effector to be replaced to rotate 30°. The end effector rotates to the position to be replaced. Then, the robot picks up and replaces the end effector, thereby realizing automatic end effector replacement and improving the end effector replacement efficiency.

[0007] Preferably, a second support frame is fixed to both sides of the column, and the limiting member includes a limiting block fixed to the top surface of the second support frame, and a slot is provided on the end face of the limiting block away from the column.

[0008] By adopting the above technical solution, when the end effector is attached to the two positioning seats, the bottom end of the end effector is pushed toward the direction of the limiting block, so that the bottom end of the end effector is locked in the slot. Thus, when the column drives the end effector to rotate, the limiting block restricts the possibility of the bottom end of the end effector swinging.

[0009] Preferably, protective mesh frames are fixed to both ends of the column.

[0010] By adopting the above technical solution, protective net frames are installed at both ends of the column, thereby reducing the possibility of safety accidents occurring when workers walk into the production area during end effector replacement.

[0011] Preferably, a stop block is fixed to the bottom surface of the rotating seat, and mounting blocks are fixed to both sides of the top surface of the base. A shock-absorbing piston is provided through the side of the mounting block, and a rubber block is fixed to the end face of the piston rod of the shock-absorbing piston.

[0012] By adopting the above technical solution, when the rotating shaft drives the turntable to rotate, the turntable drives the rotating seat to rotate, and the rotating seat drives the column to rotate at a certain degree, the stop block abuts against the rubber block, thereby facilitating the limiting of the rotation position of the column-driven end effector.

[0013] Preferably, a support plate is fixed to both sides of the column, a clearance groove is provided on the end face of the support plate away from the column, and an arc-shaped groove is provided on both sides of the top surface of the support plate. The limiting member includes a sliding block slidably disposed in the arc-shaped groove. A clamping plate is fixed to the opposite end face of the two sliding blocks. A power member is provided on the support plate for driving the two clamping plates to move toward each other or away.

[0014] By adopting the above technical solution, when the end effector is attached to the two positioning seats, the bottom end of the end effector is located in the clearance groove. When the power component is activated, the power component drives the two sliding blocks to move toward each other, so that the two sliding blocks drive the two clamping plates to move toward each other, thereby clamping the end effector and reducing the possibility of the end effector falling off the positioning seat during the movement.

[0015] Preferably, each of the two sliding blocks has a drive rod hinged to its side near the column. The end of the drive rod away from the sliding block is fixed with a vertically arranged rotating shaft. The rotating shaft is rotatably mounted on the top surface of the support plate. The power component includes a drive cylinder disposed between the two drive rods. The two ends of the drive cylinder are respectively hinged to the two drive rods.

[0016] By adopting the above technical solution, the cylinder is started, and the piston rod of the cylinder pulls the drive rod, causing the ends of the two drive rods away from the rotating shaft to move towards each other, thereby causing the ends of the two drive rods away from the rotating shaft to drive the two sliding blocks to move towards each other.

[0017] Preferably, each of the two rotating shafts is fitted with an incomplete gear, and the two incomplete gears mesh with each other.

[0018] By adopting the above technical solution, when the cylinder is started, the piston rod of the cylinder drives the two drive rods to rotate around the rotating shaft, and the rotating shaft also drives the incomplete gear to rotate, so that the two drive rods rotate simultaneously.

[0019] Preferably, rubber pads are fixed to the opposite sides of both clamping plates.

[0020] By adopting the above technical solution, rubber pads are fixed on the opposite sides of the two clamping blocks, so that when the two clamping blocks clamp the end effector, the rubber pads protect the surface of the end effector.

[0021] Preferably, the support plate is provided with a sensor for detecting the end effector, the base is provided with a controller, the output end of the sensor is electrically connected to the input end of the controller, and the output end of the controller is electrically connected to the control end of the drive cylinder.

[0022] By adopting the above technical solution, when the end effector is attached to the two positioning seats, the sensor detects the end effector and transmits the detected signal to the controller. When the controller receives the sensor signal, the controller controls the cylinder to start, so that the piston rod of the cylinder drives the two drive rods to rotate around the rotating shaft, so that the ends of the two drive rods away from the rotating shaft move towards each other, thereby causing the two sliding blocks to drive the two clamping plates to move towards each other, so that the two clamping plates clamp the end effector.

[0023] In summary, this application includes at least one of the following beneficial technical effects: 1. The end effector to be replaced is attached to the two positioning seats on the support frame. The end effector is then limited by the limiting device. The gear and rack rotary cylinder is then activated. The gear on the gear and rack rotary cylinder drives the rotating shaft to rotate. The rotating shaft drives the turntable to rotate. The turntable drives the column to rotate. The column drives the positioning seats to rotate. The positioning seats drive the end effector to be replaced to rotate 180°. The end effector is then rotated to the position to be replaced. The robot then picks up and replaces the end effector, thereby realizing automatic end effector replacement and improving the end effector replacement efficiency. 2. When the end effector is attached to the two positioning seats, the bottom end of the end effector is located in the clearance groove. The power unit is activated, and the power unit drives the two sliding blocks to move toward each other. The two sliding blocks drive the two clamping blocks to move toward each other, so that the two clamping blocks clamp the end effector, thereby reducing the possibility of the end effector falling off the positioning seat during the movement. 3. When the end effector is attached to the two positioning seats, the sensor detects the end effector and transmits the detected signal to the controller. When the controller receives the sensor signal, the controller controls the cylinder to start, so that the piston rod of the cylinder drives the two drive rods to rotate around the rotating shaft. This causes the ends of the two drive rods away from the rotating shaft to move towards each other, thereby causing the two sliding blocks to drive the two clamping plates to move towards each other, so that the two clamping plates clamp the end effector. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the automatic end effector replacement device in Embodiment 1 of this application.

[0025] Figure 2 This is a schematic diagram of the base structure in Embodiment 1 of this application.

[0026] Figure 3 This is a schematic diagram of the turntable structure in Embodiment 1 of this application.

[0027] Figure 4 This is a schematic diagram of the positioning seat in Embodiment 1 of this application.

[0028] Figure 5 This is a schematic diagram of the shock-absorbing piston in Embodiment 1 of this application.

[0029] Figure 6 This is a schematic diagram of the overall structure of the automatic end-capsule replacement device in Embodiment 2 of this application.

[0030] Figure 7 This is a schematic diagram of the support plate in Embodiment 2 of this application.

[0031] Reference numerals in the attached diagram: 1. Base; 11. Gear and rack rotary cylinder; 12. Rotating shaft; 2. Turntable; 21. Rotating seat; 22. Column; 23. Support frame one; 24. Positioning seat; 25. Mounting groove; 26. Protective mesh frame; 3. Support frame two; 31. Limiting block; 32. Slot; 4. Stop block; 41. Mounting block; 42. Shock-absorbing piston; 43. Rubber block; 44. Limiting rod; 5. Support plate; 51. Clearance groove; 52. Arc groove; 53. Sliding block; 54. Clamping plate; 55. Rubber pad; 56. Drive rod; 57. Rotating shaft; 58. Drive cylinder; 59. Incomplete gear; 6. Controller; 61. Sensor. Detailed Implementation

[0032] The following is in conjunction with the appendix Figure 1-7 This application will be described in further detail.

[0033] This application discloses an automatic end effector replacement device. Example

[0034] Reference Figure 1 , Figure 2 and Figure 3 As shown, an automatic end effector replacement device includes a base 1, a turntable 2 on the top surface of the base 1, and a rotating shaft 12 fixed to the bottom surface of the turntable 2. The bottom end of the rotating shaft 12 passes through the top surface of the base 1, and the rotating shaft 12 is rotatably connected to the base 1. A gear and rack rotary cylinder 11 is installed on the top surface inside the base 1, and the bottom end of the rotating shaft 12 is coaxially and fixedly connected to the gear inside the gear and rack rotary cylinder 11. A rotating seat 21 is fixed to the top surface of the turntable 2 by bolts, and a column 22 is fixed to the top surface of the rotating seat 21. Protective mesh frames 26 are fixed to both ends of the column 22.

[0035] Reference Figure 1 and Figure 4 Support bracket 1 23 is fixed to both sides of the column 22. Two positioning seats 24 are fixed to the top surface of support bracket 1 23. The top surface of positioning seat 24 is provided with mounting groove 25 for attaching end effector. Support bracket 22 3 is fixed to both sides of the column 22. Support bracket 22 3 is located below support bracket 1 23. Limiting block 31 is fixed to the top surface of support bracket 22 3. The end face of limit block 31 away from column 22 is provided with slot 32.

[0036] Reference Figure 1 and Figure 5 A stop block 4 is fixed to one end of the bottom surface of the rotating seat 21. Mounting blocks 41 are fixed to both sides of the top surface of the base 1. A shock-absorbing piston 42 is fixed through the side of the mounting block 41. A rubber block 43 is fixed to the end of the piston rod of the shock-absorbing piston 42 near the stop block 4. The rubber block 43 abuts against the side of the stop block 4. A limiting rod 44 is provided through the side of the mounting block 41 and is threadedly connected to the mounting block.

[0037] The implementation principle of Example 1 is as follows: The end effector is attached to the mounting slots 25 on the two positioning seats 24. Then, the bottom end of the end effector is pushed towards the limiting block 31, so that the bottom end of the end effector is locked in the slot 32. Then, the gear and rack rotating cylinder 11 is activated, so that the gear on the gear and rack rotating cylinder 11 drives the rotating shaft 12 to rotate. The rotating shaft 12 drives the turntable 2 to rotate, and the turntable 2 drives the rotating seat 21 to rotate. The rotating seat 21 drives the column 22 to rotate, and the column 22 drives the end effector to rotate 180°. The stop block 4 abuts against the rubber block 43 at one end of the top surface of the base 1, so that the end effector rotates to the replacement area. Then, the robot picks up the end effector to be replaced and replaces the end effector, thereby realizing automatic end effector replacement and improving the end effector replacement efficiency. When replacing the end effector, the protective net frame 26 protects the end effector replacement area to prevent personnel from entering the end effector replacement area, thereby reducing the occurrence of safety accidents. Example

[0038] Reference Figure 6 and Figure 7 The difference between this embodiment and Embodiment 1 is that: Support plates 5 are fixed to both sides of the column 22, and the support plates 5 are located below the support frame 23. A clearance groove 51 is provided on the end face of the support plate 5 away from the column 22, allowing the bottom end of the end effector to move into the clearance groove 51. Two arc-shaped grooves 52 are provided on the top surface of the support plate 5, and sliding blocks 53 are slidably disposed within these grooves. Clamping plates 54 are fixed to the ends of the two sliding blocks 53 that are close to each other. Rubber pads 55 are fixed to the sides of the clamping plates 54 away from the sliding blocks 53. Drive rods 56 are hinged to the sides of the two clamping plates 54 near the column 22. A vertically arranged rotating shaft 57 is fixed to the bottom surface of the end of the drive rod 56 away from the sliding blocks 53, and the bottom end of the rotating shaft 57 is rotatably mounted on the top surface of the support plate 5. A drive cylinder 58 is disposed between the two drive rods 56, with both ends of the drive cylinder 58 hinged to the two drive rods 56 respectively. Incomplete gears 59 are fixedly fitted onto the outer circumferential surfaces of both rotating shafts 57, and the two incomplete gears 59 mesh with each other. A sensor 61 for detecting the end effector is fixed on the top surface of the support plate 5, and a controller 6 is fixed inside the base 1. The output end of the sensor 61 is electrically connected to the input end of the controller 6, and the output end of the controller 6 is electrically connected to the control end of the drive cylinder 58.

[0039] The implementation of Example 2 is as follows: The operator hangs the end effector to be replaced on two positioning seats 24, with the bottom end of the end effector located in the clearance groove 51. The sensor 61 transmits the signal of detecting the end effector to the controller 6. When the controller 6 receives the signal transmitted by the sensor 61, the controller 6 controls the drive cylinder 58 to start, so that the piston rod of the drive cylinder 58 pulls the drive rod 56, causing the two drive rods 56 to rotate around the central axis of the two rotating shafts 57 respectively. This causes the ends of the two drive rods 56 away from the column 22 to move towards each other, causing the two drive rods 56 to drive the two sliding blocks 53 to move towards each other. The two sliding blocks 53 drive the two clamping plates 54 to move towards each other, thereby clamping the bottom end of the end effector with the two clamping plates 54, thus reducing the possibility of the end effector falling off the positioning seat 24 when the column 22 drives the end effector to rotate.

[0040] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An automatic end effector changing device, characterized in that: The system includes a base (1), a turntable (2) on the top surface of the base (1), a rotating shaft (12) fixed on the bottom surface of the turntable (2), the bottom end of the rotating shaft (12) passing through the top surface of the base (1), the rotating shaft (12) being rotatably connected to the base (1), a gear and rack rotary cylinder (11) on the inner top surface of the base (1), the bottom end of the rotating shaft (12) being fixedly connected to the gear on the gear and rack rotary cylinder (11), and the rotating shaft (12) being rotatably connected to the gear on the gear and rack rotary cylinder (11). A rotating seat (21) is fixed on the top surface of the disc (2). A column (22) is fixed on the top surface of the rotating seat (21). A support frame (23) is fixed on both sides of the column (22). Two positioning seats (24) are fixed on the top surface of the support frame (23). An installation groove (25) for installing an end effector is opened on the top surface of the positioning seat (24). A limiting member for limiting the end effector installed on the positioning seat (24) is provided on the column (22).

2. The automatic end effector changing device according to claim 1, characterized in that: Both sides of the column (22) are fixed with support frame two (3), and the limiting member includes a limiting block (31) fixed to the top surface of the support frame two (3). The end face of the limiting block (31) away from the column (22) is provided with a slot (32).

3. The automatic end effector replacement device according to claim 1, characterized in that: Protective mesh frames (26) are fixed to both ends of the column (22).

4. The automatic end effector changing device according to claim 1, characterized in that: The bottom surface of the rotating seat (21) is fixed with a stop block (4), and the top surface of the base (1) is fixed with mounting blocks (41) on both sides. The mounting block (41) is provided with a shock-absorbing piston (42) on its side, and the end face of the piston rod of the shock-absorbing piston (42) is fixed with a rubber block (43).

5. The automatic end effector changing device according to claim 1, characterized in that: Support plates (5) are fixed on both sides of the column (22). The end face of the support plate (5) away from the column (22) is provided with a clearance groove (51). Arc grooves (52) are provided on both sides of the top surface of the support plate (5). The limiting member includes a sliding block (53) that is slidably disposed in the arc groove (52). Clamping plates (54) are fixed on the opposite end faces of the two sliding blocks (53). A power member is provided on the support plate (5) for driving the two clamping plates (54) to move toward each other or away.

6. The automatic end effector changing device according to claim 5, characterized in that: Both sliding blocks (53) are hinged to drive rods (56) on the side near the column (22). A vertically arranged rotating shaft (57) is fixed to one end of the drive rod (56) away from the sliding block (53). The rotating shaft (57) is rotatably mounted on the top surface of the support plate (5). The power component includes a drive cylinder (58) disposed between the two drive rods (56). The two ends of the drive cylinder (58) are respectively hinged to the two drive rods (56).

7. The automatic end effector changing device according to claim 6, characterized in that: Incomplete gears (59) are fixedly fitted on both of the two rotating shafts (57), and the two incomplete gears (59) mesh with each other.

8. An automatic end effector changing device according to claim 7, characterized in that: Rubber pads (55) are fixed to the opposite sides of the two clamping plates (54).

9. An automatic end effector replacement device according to claim 8, characterized in that: The support plate (5) is provided with a sensor (61) for detecting the end effector, and the base (1) is provided with a controller (6). The output end of the sensor (61) is electrically connected to the input end of the controller (6), and the output end of the controller (6) is electrically connected to the control end of the drive cylinder (58).

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