Storage assembly for octagonal pipe gripper of column type robot and using method of storage assembly

Abstract

The invention relates to the field of tool storage, in particular to a storage assembly for octagonal pipe grippers of a column type robot and a using method of the storage assembly. A storage unit is arranged on the stand column unit. The stand column unit comprises longitudinal stand columns. The storage unit comprises a supporting unit and a pin shaft unit; the supporting unit comprises a mounting beam connected to the stand column unit. A supporting mechanism is arranged on the mounting beam; the supporting mechanism comprises a supporting seat arranged on the mounting beam; the pin shaft unit comprises a hanging beam connected to the stand column unit. A pin shaft mechanism used for connecting the hanging lug units is arranged on the hanging beam; the storage unit at least comprises two pin shaft units and a supporting unit; the two pin shaft mechanisms and the supporting unit are distributed in an isosceles triangle shape. According to the storage assembly disclosed by the invention, a placement place can be provided for placement of the octagonal pipe gripper of the robot; and the octagonal pipe gripper of the robot is convenient to place and arrange.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of tool storage, in particular to a column robot octagonal pipe gripper storage assembly and its use method. BACKGROUND

[0002] With the continuous improvement of industrial automation level, industrial robots are widely used in production links such as welding, handling and assembly.

[0003] In order to realize the flexibility and efficiency of the production line, the rapid and automatic replacement of the robot end effector (such as clamp, gripper and other tools) has become one of the key technical links of modern intelligent manufacturing system.

[0004] Correspondingly, it is very important to provide safe, reliable and efficient storage and management solutions for these robot tools to ensure production rhythm, reduce equipment downtime, improve space utilization and tool service life.

[0005] At present, in the industrial field, the common methods for storing robot octagonal pipe grippers mainly include:

[0006] Simple support or platform storage: the gripper is directly placed on a customized workbench or a simple support. Although this method has low cost, it usually has poor positioning accuracy and insufficient stability. The gripper is easily displaced by external collision or vibration, which requires complex secondary positioning when the robot automatically takes it, affecting the tool changing efficiency and success rate. At the same time, the horizontal placement method occupies valuable floor space and lacks effective protection, and the tool is easily contaminated with dust, oil or accidentally damaged.

[0007] Special storage cabinet or shelf storage: each gripper is equipped with an independent storage cabinet or multi-layer shelf. This method improves the protection and management standard to some extent, but the equipment is usually large in size, complex in structure and high in cost. The storage position is usually designed for general use, and the fit with the specific gripper body is limited, which cannot provide accurate and repeatable positioning reference, and the robot still needs to rely on high-precision visual or force sensing auxiliary positioning when taking it.

[0008] Dispersed hanging: simple hooks or hanging rods are set on the wall or column near the robot working area. This method saves some floor space, but usually only relies on a single or a few hanging points, and the support stability is poor, which may cause the gripper to swing or even fall off. The storage positions of different grippers are scattered and have different standards, which is not conducive to unified management and quick identification, and the automation integration degree is low.

[0009] The existing patent CN 105966908 A mainly discloses an octagonal pipe gripper; and does not disclose the technical content of solving the arrangement of the octagonal pipe gripper.

[0010] Therefore, in order to improve or solve the above at least one technical problem, it is necessary to provide an auxiliary device to realize the arrangement of the octagonal pipe gripper. SUMMARY

[0011] The purpose of the present application is to provide a column storage assembly which occupies small space and can realize the arrangement of the octagonal pipe gripper.

[0012] In order to achieve the above purpose, the technical scheme adopted by the present application is:

[0013] A column robot octagonal pipe gripper storage assembly, comprising a vertical column unit; the vertical column unit is provided with a storage unit;

[0014] The vertical column unit comprises a longitudinal vertical column;

[0015] The storage unit comprises a support unit and a pin shaft unit;

[0016] The support unit comprises a mounting beam connected to the vertical column unit; the mounting beam is provided with a support mechanism; the support mechanism comprises a support seat arranged on the mounting beam;

[0017] The pin shaft unit comprises a hanging beam connected to the vertical column unit; the hanging beam is provided with a pin shaft mechanism for connecting the lug unit;

[0018] The storage unit comprises at least two pin shaft units and one support unit; the two pin shaft mechanisms and one support unit are distributed in an isosceles triangle.

[0019] The storage assembly comprises at least one storage unit.

[0020] The pin shaft mechanism comprises a positioning pin arranged on the hanging beam.

[0021] The positioning pin is connected to the hanging beam through a connecting structure; the connecting structure comprises a connecting plate, the connecting plate is provided with a connecting block, and the connecting block is provided with a positioning pin.

[0022] The positioning pin and the connecting block are of an integral structure; the connecting plate and the connecting block are connected through a fastener; the connecting plate and / or the connecting block can be directly connected to the hanging beam.

[0023] The support seat comprises a transverse block, the transverse block is provided with a lateral block at both ends respectively, and the two lateral blocks are perpendicular to the transverse block; the transverse block and / or the lateral block are provided with a support block or a regulating block.

[0024] The storage unit further comprises a protection unit connected to the vertical column unit, the protection unit comprises a protection cover; the protection cover is connected with a control mechanism; the control mechanism can drive the protection cover to rotate.

[0025] The control mechanism comprises a driving cylinder connected with the protective cover through a rotating arm; the driving cylinder can drive the protective cover to rotate through the rotating arm; and the driving cylinder is connected to the mounting beam through a connecting frame.

[0026] A method for using the storage assembly for the column robot octagonal pipe gripper, the method comprising the following steps:

[0027] Step 1: determine the model and size of the octagonal pipe gripper; assemble the corresponding storage assembly according to the model and size of the octagonal pipe gripper;

[0028] Step 2: after step 1 is completed, the octagonal pipe gripper can be stored and taken on the storage assembly;

[0029] When storing: store the corresponding octagonal pipe gripper on the corresponding storage unit; and then use the protective unit to cover the corresponding octagonal pipe gripper;

[0030] When taking: first open the protective unit in the corresponding storage unit; and then the robot grasps the corresponding octagonal pipe gripper through the tool clamp.

[0031] The octagonal pipe gripper comprises a gripper body, and a lug unit is arranged on the gripper body; the lug unit comprises a limiting lug; the limiting lug is connected with a pin shaft unit through a bridge connecting beam; the bridge connecting beam is provided with a hanging hole at the end; and the bridge connecting beam is hung on the positioning pin in the pin shaft unit through the hanging hole.

[0032] The advantages of the present application are as follows:

[0033] The application discloses a storage assembly for a column robot octagonal pipe gripper and a use method thereof.

[0034] The storage assembly disclosed by the present application can realize the storage of the robot octagonal pipe gripper and provide a storage place, and facilitates the storage and arrangement of the robot octagonal pipe gripper.

[0035] Meanwhile, the column storage assembly is adopted, so that the space occupation in a factory area can be reduced; one or more storage units can be arranged on a longitudinal column, when a plurality of storage units are arranged, the storage and arrangement of a plurality of robot octagonal pipe grippers can be realized, and the space utilization rate of the factory area is optimized.

[0036] In the present application, the lug unit is integrated on the robot octagonal pipe gripper; the lug unit is designed as a standard part, and in subsequent use, the robot octagonal pipe gripper shell is directly hung on the pin shaft unit in the storage assembly through the lug unit, so that the hanging and installation of the robot octagonal pipe gripper are facilitated.

[0037] The present invention, through the cooperation of the support unit and the pin unit, can realize the support and attachment of the robot octagonal tube gripper, which can effectively ensure the accuracy and stability of the robot octagonal tube gripper placement position. Attached Figure Description

[0038] The following is a brief explanation of the contents of each of the accompanying drawings and the markings in the drawings:

[0039] Figure 1 This invention provides an implementation scheme for arranging two vertical storage units.

[0040] Figure 2 for Figure 1 A magnified view of a portion of region A in the middle.

[0041] Figure 3 for Figure 1 A magnified view of a portion of region B in the middle.

[0042] Figure 4 An implementation scheme for arranging a vertical storage unit according to the present invention.

[0043] Figure 5 An embodiment of the present invention is provided for arranging a horizontal storage unit.

[0044] Figure 6 This is a schematic diagram of the second embodiment of the support base in this invention.

[0045] Figure 7 This is a schematic diagram of the locating pin connection on the connecting structure in this invention.

[0046] The markings in the above figures are all:

[0047] 1-1, Column unit; 1-2, Storage unit; 11, Longitudinal column; 2, Pin unit; 3, Support unit; 4, Protective unit; 5, Hanging ear unit. Detailed Implementation

[0048] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and the description of the preferred embodiments.

[0049] This invention discloses a storage assembly for an octagonal tube gripper of a column robot and its usage method, which aims to provide a standardized, compact and safe storage place for the robot end effector - the octagonal tube gripper, so as to optimize the factory space layout and improve the standardization and efficiency of tool management.

[0050] The core components of the storage assembly of this invention include a column unit 1-1 and storage units 1-2 mounted thereon. The main body of the column unit 1-1 is a longitudinal column 11. In this invention, the longitudinal column 11 is made of square tubing and is machined by a CNC machining center to ensure dimensional accuracy and surface quality. By setting one or more storage units 1-2 along the longitudinal column 11, it is possible to store different octagonal tube grippers in multiple layers in the vertical or horizontal direction, which greatly saves ground space and improves the utilization rate of factory space. It is especially suitable for modern production lines with dense robot workstations and limited ground space.

[0051] Storage units 1-2 are functional modules that realize the specific storage function of the gripper. They include at least one support unit 3 and two pin units 2; the specific number of each can be selected according to actual needs. In this invention, the support unit 3 mainly includes a mounting beam 32 fixedly connected to the longitudinal column 11. The mounting beam 32 is generally arranged perpendicular to the longitudinal column 11, and a support mechanism is set on the mounting beam 32. The support mechanism is mainly used to support the octagonal tube gripper. In this invention, the support mechanism includes a support seat 31 installed on the mounting beam 32. The support seat 31 is designed as a transverse block 311, with lateral blocks 312 extending vertically from both ends, thus forming a roughly U-shaped structure. This design allows the support seat 31 to stably support the main body of the octagonal tube gripper from below, and the lateral blocks 312 on both sides can provide a certain lateral limiting effect on the gripper body, effectively preventing the gripper from sliding laterally during storage and ensuring the stability of the initial placement.

[0052] In this invention, the pin unit 2 mainly includes a hanging beam 21 fixedly connected to the longitudinal column 11, and a pin mechanism disposed on the hanging beam 21. The core component of the pin mechanism is a positioning pin 2, which is used to cooperate with the lug unit 5 integrated on the octagonal tube gripper to achieve suspension and fixation. The positioning pin 2 is reliably connected to the hanging beam 21 through a connecting structure. This connecting structure typically includes a connecting plate 24, on which a connecting block 23 is disposed, and the positioning pin 2 is fixed to the connecting block 23. As a preferred embodiment, the positioning pin 2 and the connecting block 23 are manufactured as an integral structure. This design eliminates assembly errors and significantly improves the positional accuracy of the positioning pin 2 and the overall structural rigidity. The connecting plate 24 and the connecting block 23 are connected by fasteners. At the same time, the connecting plate 24 and / or the connecting block 23 can be directly fixed to the hanging beam 21. This modular connection method facilitates quick adjustment or replacement of the pin mechanism according to the gripper model, improving the adaptability and maintenance convenience of the assembly. In storage unit 1-2, two pin mechanisms and a support base 31 are arranged in an isosceles triangle. This layout is crucial: the two pins form the suspension support points, and the lower support base 31 forms the support point, with the three points forming a stable isosceles triangular support surface. When the gripper is placed, its weight is mainly borne by the lower support base 31, while the two upper pins limit the gripper's upward lifting and back-and-forth swaying through the lugs. The three points work together to ensure the accurate positioning and static stability of the octagonal tube gripper in its storage position, avoiding the risk of displacement due to accidental collisions or vibrations.

[0053] The connecting plate 24 is an L-shaped plate, which is arranged around the connecting block 23. The connecting plate 24 and the connecting block 23 are simultaneously connected by horizontally arranged fasteners to achieve the installation and fixation of the connecting plate 24 and the connecting block 23.

[0054] In this invention, storage units 1-2 may also integrate a protective unit 4 to enhance safety. The protective unit 4 mainly includes a movable protective cover 41 and a control mechanism that drives its operation. The control mechanism preferably includes a drive cylinder 43, which is connected to the protective cover 41 via a rotating arm 42. The drive cylinder 43 is typically mounted on the mounting beam 32 via a connecting bracket 44. When the gripper needs to be stored or retrieved, the drive cylinder 43 actuates, causing the protective cover 41 to rotate and open via the rotating arm 42, exposing the operating area. When the gripper is stored, the drive cylinder 43 can rotate the protective cover 41 back to cover the outside of the gripper. This design effectively prevents dust, oil, and other foreign matter from contaminating the critical components of the gripper, while also preventing accidental contact by personnel, thus improving the safety and cleanliness of the storage process.

[0055] The system for using the storage assembly specifically includes the following steps:

[0056] Step 1: Model matching and assembly configuration; First, select or assemble the corresponding storage assembly according to the model and specific size of the octagonal tube gripper to be stored.

[0057] This step ensures that the position of the support base 31 and the pin mechanism is perfectly matched with the gripper body and the hanging lug, which is a prerequisite for achieving accurate and stable storage.

[0058] Step 2: Storage and retrieval of the gripper.

[0059] During storage, the operator or robot first places the octagonal tube gripper on the corresponding storage unit 1-2, specifically by placing the gripper body on the support base 31 and simultaneously engaging the hanging ear unit 5 on the gripper with the two positioning pins 2. After the gripper is securely placed, the protective unit 4 is activated, causing the protective cover 41 to rotate and cover the gripper, thus completing the safety locking.

[0060] When retrieving the item, the protective unit 4 is first opened, allowing the protective cover 41 to be removed. The robot can then directly grasp and remove the octagonal tube gripper, which is already precisely positioned, using its tooling fixtures (such as quick-change devices). The entire process is clear, efficient, and minimizes human intervention. The octagonal tube gripper is specifically designed to fit this storage assembly. Its gripper body integrates standardized hook units 5. Each hook unit 5 includes at least one limiting hook 51. This limiting hook 51 has a unique structure: it includes a hook body with a limiting groove machined on it. Specifically, the hook body consists of a hook base plate and two hook side plates located on opposite sides of it, with each hook side plate having an angle greater than 90 degrees with the hook base plate. This design allows the two side plates of the hanging lugs and the base plate of the hanging lugs to together form a flared opening, which facilitates matching with the side of the octagonal tube in the octagonal tube gripper, increasing the fit between the side plates of the hanging lugs and the corresponding octagonal tube; ensuring the stability of their connection; and the two can be connected by fasteners. In actual connection, the limiting hanging lug 51 is usually connected to the pin unit 2 of the storage assembly through a bridging beam 52. The end of the bridging beam 52 is provided with a hanging hole 521. When the gripper is stored, the hanging hole 521 of the bridging beam 52 fits into the positioning pin 2. Under the action of gravity, the limiting hanging lug 51 and the positioning pin 2 will naturally form a self-locking tendency, further enhancing the reliability and anti-disengagement of the suspension connection, and ensuring the absolute stability of the gripper storage under complex working conditions. In summary, the storage assembly for the octagonal tube gripper of the column robot disclosed in this embodiment and its usage method, through innovative column-type multi-layer design, isosceles triangle stable layout combining support and suspension, standardized hanging ear-pin interface, and optional automated protection, together achieve a space-saving, precise, stable, safe, and easy-to-automatic robot tool storage solution, which significantly improves the cleanliness, safety, and operational efficiency of the production site.

[0061] A storage assembly for a columnar robot octagonal tube gripper is disclosed in this invention. The storage assembly is mainly used in conjunction with the lug unit 5 in the robot octagonal tube gripper to facilitate the placement and arrangement of the robot octagonal tube gripper.

[0062] The present invention includes a column unit 1-1; a storage unit 1-2 is provided on the column unit 1-1; the column unit 1-1 includes a longitudinal column 11; the storage unit 1-2 includes a support unit 3 and a pin unit 2; the support unit 3 includes a mounting beam 32 connected to the column unit 1-1; a support mechanism is provided on the mounting beam 32; the support mechanism includes a support seat 31 provided on the mounting beam 32; the pin unit 2 includes a hanging beam 21 connected to the column unit 1-1; the hanging beam 21 is provided with a pin mechanism for connecting the hanging ear unit 5; the storage unit 1-2 includes at least two pin units 2 and one support unit 3; the two pin mechanisms and the support unit 3 are arranged in an isosceles triangle; the core components of the storage assembly of the present invention include the column unit 1-1 and the storage unit 1-2 installed thereon. The main body of the column unit 1-1 is a longitudinal column 11. In this invention, the longitudinal column 11 is made of square tube material and is processed by a CNC machining center to ensure dimensional accuracy and surface quality. By setting one or more storage units 1-2 along the longitudinal column 11, it is possible to store different octagonal tube grippers in multiple layers in the vertical or horizontal direction, which greatly saves ground space and improves the utilization rate of factory space. It is especially suitable for modern production lines with dense robot workstations and limited ground space. The column unit 1-1 disclosed in this invention is the core load-bearing frame and installation foundation of the entire storage assembly.

[0063] The lower end of the longitudinal column 11 in column unit 1-1 can be connected to the lower base and subsequently fixed to the factory ground; at the same time, the longitudinal column 11 realizes the vertical expansion of the storage facilities, concentrating multiple storage positions that may have originally occupied space horizontally onto a single column, greatly saving ground space in the production site and optimizing the workshop layout; the longitudinal column 11 provides a shared installation carrier for multiple storage units 1-2, making it possible to realize multi-layer, multi-station gripper storage on a single physical support point, improving the modularity and space utilization of the system.

[0064] In this invention, storage unit 1-2 mainly includes support unit 3 and pin unit 2. Storage unit 1-2 is a functional module that directly interacts with the octagonal tube gripper, responsible for receiving, positioning, and fixing the gripper. The separation of the load-bearing (support unit 3) and suspension positioning (pin unit 2) functions makes the structure clear and facilitates independent optimization and adjustment for different functions.

[0065] This provides a unified physical storage interface for octagonal tube grippers. As long as the gripper integrates a matching lug unit 5, it can be stored on this system, promoting the standardization of tool management.

[0066] In this invention, the support unit 3 mainly includes a mounting beam 32 and a support base 31; it mainly bears the weight of the gripper and provides initial radial restraint.

[0067] In this invention, the gripper body is directly supported by the support base 31, which effectively distributes and bears most of the weight of the gripper, ensuring the stability of the storage base.

[0068] There are many types of support base 31. It can be a rectangular block structure or the inverted U-shaped support base 31 structure of this application.

[0069] In this invention, the pin unit 2 mainly includes a hanging beam 21; the hanging beam 21 is provided with a pin mechanism; and the pin mechanism mainly includes a positioning pin 2 connected to the hanging beam 21; the pin mechanism is precisely matched with the hanging ear unit 5 on the gripper to realize the precise suspension positioning and anti-detachment of the gripper.

[0070] Based on the above design, the high-rigidity positioning pin 2, in conjunction with the slot of the gripper lug, strictly limits the gripper's degrees of freedom in multiple directions, ensuring that the gripper returns to almost the exact same position each time it is stored, thus guaranteeing extremely high repeatability. The pin mechanism bears the suspension force of the gripper, effectively preventing the gripper from falling off the storage position when subjected to vibration or unexpected external forces, thereby improving safety.

[0071] The storage unit 1-2 described in this invention includes at least two pin shaft units 2 and one support unit 3; the two pin shaft units and the support unit 3 are arranged in an isosceles triangle; with the above design, a stable support system can be formed: the two upper pin shaft suspension points and the lower support bearing point form an isosceles triangle, which conforms to the principle of stable structure in mechanics. This layout allows the gripper to naturally tend to a stable state under the action of gravity.

[0072] The support base 31 mainly bears the vertical downward gravity, while the two pins are jointly responsible for constraining the overturning moment, back and forth swing and possible rotation of the gripper, realizing a balance between reasonable force distribution and all-round constraint; by using the principle of three points to determine a plane, the gripper's storage posture in space is forcibly fixed, avoiding posture distortion caused by random placement, and providing the necessary conditions for the robot to accurately and automatically pick up the gripper.

[0073] The storage assembly described in this invention includes at least one storage unit 1-2; in this invention, at least one storage unit 1-2 is generally provided on the longitudinal column 11; each storage unit 1-2 can realize the placement and arrangement of an octagonal tube gripper.

[0074] In actual design, storage units 1-2 can be arranged in the horizontal or vertical area; the specific arrangement method can be selected according to the needs; in subsequent arrangement, the corresponding number of storage units 1-2 can be arranged according to the height of the vertical column 11.

[0075] The pin mechanism described in this invention includes a positioning pin 2 disposed on the hanging beam 21; the positioning pin 2, as a precision component that directly cooperates with the gripper lug unit 5, is the final actuator for suspension and positioning functions. The positioning pin 2 is a cylinder that mates with the hole in the gripper lug, determining the final suspension position and angle of the gripper.

[0076] In this invention, the positioning pin 2 is connected to the hanging beam 21 via a connecting structure. The connecting structure includes a connecting plate 24, on which a connecting block 23 is provided, and on which the positioning pin 2 is provided. The connecting structure serves as the connector between the positioning pin 2 and the hanging beam 21, enabling reliable force transmission and precise positioning. This invention designs the positioning pin 2 and its connecting block 23 as a relatively independent sub-module, separate from the hanging beam 21. This design allows for independent processing, adjustment, replacement, and maintenance of the pin mechanism without altering the main frame, greatly improving the maintainability and adaptability of the system.

[0077] The connecting plate 24 and the connecting block 23 form a reinforced transition structure, which can more evenly distribute and transfer the local concentrated load on the positioning pin 2 to the larger area of ​​the hanging beam 21, avoiding stress concentration and improving the structural strength and durability of the entire suspension point.

[0078] In this invention, the positioning pin 2 and the connecting block 23 are an integral structure; the connecting plate 24 and the connecting block 23 are connected by fasteners; the connecting plate 24 and / or the connecting block 23 can be directly connected to the hanging beam 21; the integral structure of the positioning pin 2 and the connecting block 23 fundamentally ensures the geometric accuracy and mechanical properties of the core positioning component; the integral machining avoids the different axiality and perpendicularity errors and slight loosening that may occur when pressing the positioning pin 2 separately into the connecting block 23. This ensures that the axial position of the positioning pin 2 is absolutely accurate and fixed, which is the core guarantee that all grippers can be hooked to the same absolute position every time. The integral structure has no internal connection interface, and its overall rigidity and shear and bending resistance are far superior to those of the split assembly type, which can better withstand the dynamic load and potential lateral force of the gripper, and there is no risk of displacement during long-term use.

[0079] The connecting plate 24 and the connecting block 23 are connected by fasteners, providing a reliable and detachable connection. By tightening and loosening the fasteners, the position of the connecting block 23 (together with the locating pin 2) on the connecting plate 24 can be finely adjusted within a limited range, facilitating precise calibration and alignment on-site to compensate for accumulated manufacturing or installation errors. Furthermore, the connecting block 23 can be replaced as needed, making it suitable for different models of octagonal tube grippers.

[0080] In this invention, the connecting plate 24 and / or connecting block 23 can be directly connected to the hanging beam 21, providing diverse and stable installation paths. Enhanced overall stability: Whether the connecting plate 24 is directly fixed to the hanging beam 21, the connecting block 23 is directly connected to the hanging beam 21, or the connecting block 23 is connected to the hanging beam 21 via the connecting plate 24, the essence is to achieve the installation and fixation of the connecting block 23 on the hanging beam 21. In this invention, the connecting plate 24 is an L-shaped plate, and the two sides of the connecting block 23 fit against the two inner sides of the connecting plate 24, achieving mutual calibration and positioning.

[0081] In this invention, the support base 31 includes a transverse block 311, and two lateral blocks 312 are respectively provided at both ends of the transverse block 311. The two lateral blocks 312 are arranged perpendicular to the transverse block 311. Based on the above design, the vertical cross section of the support base 31 is U-shaped or [-shaped, which facilitates the subsequent support and limitation of one of the octagonal tubes in the octagonal tube gripper, thereby realizing the support and limitation of the octagonal tube gripper. At the same time, in this invention, the transverse block 311 and / or the lateral block 312 are supported by a support block 313 or a regulating block 314. The setting of the support block 313 and the regulating block 314 in this invention can realize the compression and fixation of the octagonal tube, which can facilitate the stability and accuracy of the octagonal tube gripper's placement position in the support base 31.

[0082] The transverse block 311 of this invention serves as the main load-bearing structure of the support base 31, providing the primary load-bearing surface. A support block 313 is provided at the upper end of the transverse block 311 to facilitate longitudinal support for the octagonal tube handle. Two lateral blocks 312 are located at both ends of the transverse block 311, achieving bidirectional radial limiting. The two lateral blocks 312 form a "guide groove" or "positioning groove" structure. When the gripper is inserted, one of the octagonal tubes will naturally contact the lateral block 312. This effectively prevents the gripper from sliding or drifting in the horizontal plane (front-back or left-right direction).

[0083] For grippers with non-circular cross-sections (such as octagonal tubes), the lateral blocks 312 on both sides can fit against their parallel sides, forming a preliminary constraint on the gripper's degree of freedom of rotation around the vertical axis, preventing it from rotating arbitrarily, and ensuring that it maintains a roughly correct orientation after placement, which facilitates the accurate insertion of the subsequent suspension pin into the lug.

[0084] The combined structure of the transverse block 311 and the lateral block 312 creates a "wrap-around" stabilizing effect: this three-sided enclosed structure forms a semi-encirclement around the gripper from the bottom and sides. It not only bears weight but also physically restricts the movement tendency of the gripper, significantly enhancing the static stability of storage and enabling the gripper to resist slight disturbances from multiple directions.

[0085] In this invention, the storage unit 1-2 also includes a protective unit 4 connected to the column unit 1-1; the protective unit 4 is a movable shell that physically covers and protects the gripper when it is not in use; the protective cover 41 is essentially a plate structure, and the specific size and structure can be selected as needed. It is generally designed to be circular and mainly serves as a pressure plate to facilitate the stability of the octagonal tube gripper's placement position on the storage unit 1-2.

[0086] During the storage of the gripper, under the control of the control mechanism, the protective cover 41 presses onto the octagonal tube handle, thereby achieving the pressing and fixing of the octagonal tube handle.

[0087] In this invention, the protective unit 4 includes a protective cover 41; the protective cover 41 is connected to a control mechanism; the control mechanism can drive the protective cover 41 to rotate. The protective cover 41 is mainly a shell covering the outside of the gripper. This invention adopts a rotating opening and closing mechanism, and its movement trajectory is designed to completely allow the gripper's picking and placing path when open, and to fully cover when closed, with clean and crisp movements that do not interfere with the gripper or robot.

[0088] When in use, the protective cover 41 should be arranged parallel to the octagonal tube handle. When not in use, the protective cover 41 should be arranged perpendicular to the octagonal tube handle.

[0089] The control mechanism of this invention can control the protective cover to flip 4190 degrees.

[0090] The control mechanism provides power and transmission for the opening and closing of the protective cover 41, and is the core of achieving automated management. The opening and closing of the protective cover 41 can be controlled by electrical signals (such as PLC), and can be easily integrated into the robot's production cycle or the factory's equipment management system to achieve automatic management of the storage status without manual intervention.

[0091] In this invention, the control mechanism includes a drive cylinder 43, which is connected to the protective cover 41 via a rotating arm 42. The drive cylinder 43 can drive the protective cover 41 to rotate via the rotating arm 42. The drive cylinder 43 is connected to the mounting beam 32 via a connecting frame 44. The drive cylinder 43 serves as a power source, converting pneumatic energy into linear mechanical energy. The rotating arm 42 serves as a transmission mechanism, converting the linear motion of the cylinder into the rotational motion required by the protective cover 41. The rotating arm 42, through the lever principle, efficiently completes the power transmission and motion transformation with a simple mechanical structure, serving as a key bridge connecting the linear power source and the rotary actuator.

[0092] The length of the rotating arm 42 and the position of the hinge point can be designed to amplify the output force (torque) of the cylinder or adjust the final opening and closing angle of the protective cover 41, making the design more flexible to adapt to different spatial layouts.

[0093] The connecting bracket 44 securely mounts the entire control mechanism (cylinder) onto the mounting beam 32. This ensures the rigidity and stability of the mechanism's installation: providing a stable mounting base for the drive cylinder 43, effectively absorbing the reaction force and vibration generated during cylinder operation, preventing the entire mechanism from shaking, and ensuring the efficiency and accuracy of power transmission.

[0094] The control section of the protection unit 4 is tightly integrated into the mounting beam 32 of the storage unit 1-2 via the connecting bracket 44, maintaining the compactness and integrity of the structure, without requiring additional independent space, and is also easy to disassemble as a whole during maintenance.

[0095] In actual implementation, the drive cylinder 43 can be a swing cylinder; the output end of the swing cylinder is connected to the rotating arm 42 through the swing bracket.

[0096] Other connection methods can also be used for the drive cylinder 43; essentially, the drive cylinder 43 drives the rotating arm 42 to rotate.

[0097] A method of using the storage assembly for the octagonal tube gripper of the column robot, the method comprising the following steps:

[0098] Step 1: Determine the model and size of the octagonal tube gripper; assemble the corresponding storage assembly according to the model and size of the octagonal tube gripper;

[0099] Determining the model size and corresponding assembly, and carrying out pre-use preparations and system configuration are prerequisites for ensuring successful subsequent operations.

[0100] Achieving precise matching and personalized configuration: By pre-selecting or adjusting the positions of the support base 31, positioning pin 2, and protective cover 41 according to the specific gripper model and size, it is ensured that every physical interface of the storage assembly (support surface, positioning point, protective space) perfectly matches the target gripper, laying the foundation for subsequent precise storage and stable protection. This demonstrates the system's high adaptability and flexibility; one system can be configured to serve multiple tools.

[0101] This step mandates prior planning and verification, preventing potential safety risks such as unstable placement, inaccurate positioning, protective failure, or even structural interference that may result from mismatched tools and storage locations. It eliminates potential problems before operation.

[0102] Step 2: After Step 1 is completed, the octagonal tube gripper can be stored and retrieved on the storage assembly;

[0103] During storage: Place the corresponding octagonal tube gripper on the corresponding storage unit 1-2; then use the protective unit 4 to cover the corresponding octagonal tube gripper.

[0104] When retrieving: First open the protective unit 4 in the corresponding storage unit 1-2; then the robot uses the tool fixture to grab the corresponding octagonal tube gripper.

[0105] The gripper is placed and then covered with protective unit 4; the procedure is executed to safely and accurately place the gripper in the storage position and activate the protection. A stable "three-in-one" storage is achieved: the operator or auxiliary equipment first places the gripper body on the support base 31 (to obtain stable load-bearing and initial limiting), and simultaneously hooks the gripper's lugs onto the positioning pin 2 of the pin mechanism (to achieve precise positioning and prevent detachment). This process fully utilizes the isosceles triangle stable structure formed by the support unit 3 and the pin unit 2, ensuring that the gripper is completely constrained in the predetermined position in physical space.

[0106] The crucial final step is to use the protective unit 4 for pressing. This not only puts a "protective shell" on the gripper, but also enables the octagonal tube handle to be pressed and fixed from the side.

[0107] The gripper's retrieval operation (the robot grasps after the protective cover is opened); follows safety interlock logic to prevent misoperation: strictly stipulates "open the protective unit 4 first," establishing a mandatory safety sequence. This avoids serious collisions that may occur if the robot attempts to grasp while the protective cover 41 is still closed, and the opening action of the protective cover 41 itself can also be sent to the robot as a "permission to retrieve" signal.

[0108] Since the gripper is precisely fixed in its storage position by the support base 31 and the positioning pin 2, the robot only needs to drive its tool holder (such as the main plate of the quick-change device) to the predetermined gripping coordinate point to achieve fast and accurate docking and gripping. This greatly simplifies the positioning difficulty and programming complexity of robot gripping, improves the cycle time and success rate of tool changing, and is a key link in improving the overall efficiency of the production line.

[0109] In this invention, the octagonal tube gripper includes a gripper body, on which a hanging lug unit 5 is provided. The hanging lug unit 5 includes a limiting hanging lug 51. The limiting hanging lug 51 can be connected to the pin unit 2 via a bridging beam 52. The end of the bridging beam 52 is provided with a hanging hole 521. The bridging beam 52 is hung on the positioning pin 2 in the pin unit 2 via the hanging hole 521. The limiting hanging lug 51 serves as a standardized mechanical interface between the gripper body and the storage assembly. It provides a unified and standardized physical connection interface for octagonal tube grippers of different models and functions, making all grippers compatible with the standardized storage assembly, greatly simplifying tool management and changeover processes.

[0110] With the cooperation of the limiting lug 51, the positioning pin 2, and the support base 31, the octagonal tube gripper can automatically fall into and lock in the preset precise position without the need for power or complex active adjustment when stored, relying solely on its own weight.

[0111] The bridging beam 52 serves as an intermediate component connecting the limiting lug 51 and the gripper body. It provides design flexibility and decouples stress by separating the mounting module (limiting lug 51) from the gripper body structure. This allows for the optimal placement of the bridging beam 52's mounting points based on the gripper body's specific shape and center of gravity, without altering the lug's design. Simultaneously, it buffers and disperses localized stress from the lug points, preventing stress from directly acting on the gripper's precision housing.

[0112] The bridging beam 52 can be manufactured in a standardized manner, reducing the processing difficulty of the complex gripper body. If the connecting part is damaged, it may be necessary to replace only the bridging beam 52 instead of the entire gripper body.

[0113] The hanging hole 521 at the end of the bridging beam 52 is mainly used for the final mating interface with the positioning pin 2 on the storage assembly; the purpose is to achieve a fast and accurate hanging action: the smooth cylindrical hole mates with the positioning pin 2, with low friction, making it easy for robots or humans to hang or remove the gripper. At the same time, the circular hole provides a cover for the positioning pin 2, which is the reference for the initial suspension.

[0114] Typically, the mounting hole 521 is responsible for bearing the vertical suspension force.

[0115] Obviously, the specific implementation of this invention is not limited to the above-described methods. Any non-substantial improvements made using the inventive concept and technical solution of this invention are within the protection scope of this invention.

Claims

1. A storage assembly for a columnar robotic octagon tube gripper, comprising: The column unit is provided with a storage unit; The column unit comprises a longitudinal column; The storage unit comprises a support unit and a pin shaft unit; The support unit comprises a mounting beam connected to the column unit; the mounting beam is provided with a support mechanism; the support mechanism comprises a support seat arranged on the mounting beam; The pin shaft unit comprises a hanging beam connected to the column unit; the hanging beam is provided with a pin shaft mechanism for connecting the lug unit; The storage unit comprises at least two pin shaft units and one support unit; the two pin shaft mechanisms and the support unit are distributed in an isosceles triangle.

2. A storage assembly for a column robot octagonal tube gripper as claimed in claim 1, wherein, The storage assembly comprises at least one storage unit.

3. A storage assembly for a column robot octagonal tube gripper according to any of claims 1-2, characterized in that, The pin shaft mechanism comprises a positioning pin arranged on the hanging beam.

4. A storage assembly for a column robot octagon tube gripper as claimed in claim 3, wherein, The positioning pin is connected to the hanging beam through a connecting structure; the connecting structure comprises a connecting plate, the connecting plate is provided with a connecting block, and the connecting block is provided with a positioning pin.

5. A storage assembly for a column robot octagon tube gripper as claimed in claim 4, wherein, The positioning pin and the connecting block are of an integral structure; the connecting plate and the connecting block are connected through a fastener; the connecting plate and / or the connecting block can be directly connected to the hanging beam.

6. A column robot octagonal tube gripper storage assembly according to claim 1, wherein, The support seat comprises a transverse block, the transverse block is provided with a lateral block at both ends, and the two lateral blocks are perpendicular to the transverse block; the transverse block and / or the lateral block are provided with a support block or a regulating block.

7. A storage assembly for use with a columnar robotic octagon tube gripper as defined in claim 1, wherein, The storage unit further comprises a protection unit connected to the column unit, the protection unit comprises a protection cover; the protection cover is connected with a control mechanism; the control mechanism can drive the protection cover to rotate.

8. A storage assembly for a column robot octagon tube gripper as claimed in claim 7, wherein, The control mechanism comprises a driving cylinder, the driving cylinder is connected to the protection cover through a rotating arm; the driving cylinder can drive the protection cover to rotate through the rotating arm; the driving cylinder is connected to the mounting beam through a connecting frame.

9. The method of using a storage assembly for a columnar robotic octagon tube gripper of any of claims 1-8, wherein, The use method comprises the following steps: Step 1: determine the model and size of the octagonal pipe gripper; assemble the corresponding storage assembly according to the model and size of the octagonal pipe gripper; Step 2: after step 1 is completed, the octagonal pipe gripper can be stored and taken on the storage assembly; When storing: store the corresponding octagonal pipe gripper in the corresponding storage unit, and then use the protection unit to cover the corresponding octagonal pipe gripper; When taking: first open the protection unit in the corresponding storage unit; then the robot grasps the corresponding octagonal pipe gripper through the tool clamp.

10. The method of using a storage assembly for a column robot octagon tube gripper of claim 9, wherein, The octagonal pipe gripper comprises a gripper body, the gripper body is provided with a lug unit; the lug unit comprises a limiting lug; the limiting lug can be connected to the pin shaft unit through a bridge connecting beam; the bridge connecting beam is provided with a hanging hole at the end; the bridge connecting beam is hung on the positioning pin in the pin shaft unit through the hanging hole.

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