Piston head automated production line robot with gripper inventory system

Abstract

This invention discloses a robotic gripper storage system for automated piston head production lines, comprising a fixed outer shell and a storage rack rotatably disposed within the fixed outer shell. The outer wall of the storage rack has several sets of receiving slots, and a positioning mechanism for fixing the robotic gripper is slidably disposed within each receiving slot. A closable door is provided on the fixed outer shell corresponding to one of the receiving slots, and a drive mechanism is provided on the storage rack corresponding to the door. This invention achieves efficient storage of multiple sets of robotic grippers through the cooperation of the rotatable storage rack and the fixed outer shell, saving equipment layout space. Furthermore, by utilizing the coordinated operation of the drive mechanism and the positioning mechanism, the target robotic gripper is automatically and smoothly transported from a vertical storage state and converted to a horizontal docking posture, thereby exposing the quick-change interface of the robotic gripper and improving the efficiency and success rate of gripper replacement.

Description

Technical Field

[0001] This invention relates to the field of automated piston head production lines, and more specifically to a robotic gripper inventory system for automated piston head production lines. Background Technology

[0002] In automated piston head production lines, robots often need to quickly change their end effectors (i.e., robot grippers) according to different assembly or processing steps. For example, they are used to grasp sub-plates, parts to be clamped in different orientations, or to perform tasks such as automatic tool changing on vertical lathes. Traditionally, operators rely on manually changing the grippers or using simple fixed brackets for storage and retrieval. This not only severely restricts the production line cycle time and production efficiency, but also increases labor costs and operational safety risks. Furthermore, it is easy to affect the reliability of subsequent gripping due to misoperation or interface contamination.

[0003] While some existing automated gripper inventory systems can store robotic grippers, these grippers are typically stored in a fixed posture. Retrieval requires the robot to perform complex spatial positioning and grasping actions, including complex multi-axis spatial positioning and grasping movements. This docking process is cumbersome and inefficient. Furthermore, these systems cannot effectively protect the robotic grippers, as there are many contaminants such as iron filings on the piston head automated production line, which can easily adhere to the robotic grippers and affect their use. Therefore, we propose a robotic gripper inventory system for piston head automated production lines. Summary of the Invention

[0004] The purpose of this invention is to provide a robotic gripper inventory system for automated piston head production lines. This system solves the problems of existing automated gripper inventory systems, which, while capable of storing robotic grippers, typically store them in a fixed posture. Retrieval requires complex spatial positioning and grasping actions by the robot itself, involving complex multi-axis spatial positioning and grasping movements. This docking process is cumbersome and inefficient. Furthermore, these systems cannot effectively protect the robotic grippers, and the presence of contaminants such as iron filings on the automated piston head production line easily adheres to the robotic grippers, affecting their usability.

[0005] The present invention achieves the above objectives through the following technical solutions: The robotic gripper inventory system for the piston head automated production line includes a fixed outer shell and an inventory rack rotatably disposed within the fixed outer shell. The outer wall of the inventory rack has several sets of receiving slots, and a positioning mechanism for fixing the robotic gripper is slidably disposed in the receiving slots. The fixed outer shell has an openable and closable door corresponding to one of the receiving slots, and the inventory rack has a drive mechanism corresponding to the door. The drive mechanism is used to drive the positioning mechanism in the corresponding receiving slot to move the robot gripper to a preset position when the door is opened. After the robot gripper moves to the preset position, the positioning mechanism drives it to rotate from the vertical storage state to the horizontal docking state to expose the quick-change interface on the back of the robot gripper for docking with the robot.

[0006] A further improvement is that the positioning mechanism includes a positioning plate, the top of which has an operating slot, and one end of which is inserted with a shaft. The two ends of the shaft are rotatably connected to sliders in two sets of slide rails. The two sets of slide rails are symmetrically arranged in the receiving groove. The slider is provided with a rotating device for driving the shaft to rotate the positioning plate to a vertical storage state or a horizontal docking state. The side of the positioning plate away from the bottom of the receiving groove is provided with a clamping part for fixing the robot gripper.

[0007] A further improvement is that the driving mechanism includes a groove at the center of the top of the storage rack, a connecting frame is movably provided at the end of the groove away from the sealing door, a push rod is horizontally provided on the connecting frame for contacting the positioning plate, the connecting frame is slidably provided at the bottom of the top plate and is moved by a telescopic device on the top plate, the top plate is in contact with the top of the storage rack and fixed to the fixed shell, a permanent magnet is embedded on the side of the positioning plate facing the bottom of the receiving groove, an electromagnetic block is provided at the end of the push rod that is energized and attracted to the permanent magnet, and an movable hole is opened at the bottom of the receiving groove for the push rod to enter.

[0008] A further improvement is that the clamping part includes an arc-shaped bearing part that is rotatably mounted on the positioning plate and movably sleeved on the outside of the robot gripper. The arc-shaped bearing part has telescopic devices symmetrically arranged at both ends on one side. The output end of the telescopic device is provided with a clamping plate for contacting the outer wall of the robot gripper. The bottom of one side of the arc-shaped bearing part is also provided with a limiting plate for supporting the robot gripper.

[0009] A further improvement is that the system also includes a chip removal mechanism located within the receiving slot. The chip removal mechanism includes a receiving cavity formed within the wall thickness of the storage rack and located above the receiving slot. The receiving cavity and the corresponding receiving slot are connected through a transverse opening. An airflow drive unit is provided within the receiving cavity. The airflow drive unit is connected to a distributor. The distributor is located within the receiving slot and above the positioning plate. Several sets of air outlets are provided at its bottom. The airflow drive unit is used to supply compressed gas to the distributor and drive the distributor to reciprocate along the transverse opening. A passage is provided at the bottom of the storage rack corresponding to the position of the receiving slot, and a collection box is detachably provided in the passage.

[0010] A further improvement is that the airflow drive unit includes a partition plate fixedly disposed within the receiving cavity. The partition plate is used to divide the receiving cavity into a sealed area located on the outside and an active area communicating with a transverse opening. An air inlet communicating with the sealed area is provided on the top of the storage rack. An air supply device for supplying compressed gas is provided on the top plate. The air outlet pipe of the air supply device is inserted into the top of the storage rack for communicating with an air inlet. A reciprocating screw is rotatably disposed within the active area. One end of the reciprocating screw extends through the partition plate into the sealed area and is provided with an impeller. A slider is threaded onto the outer wall of the reciprocating screw in the active area. The slider passes through the transverse opening and is connected to a distributor. The distributor passes through the partition plate and communicates with the sealed area via a pipe.

[0011] A further improvement is that an assembly cavity is provided within the wall thickness of the storage rack and located between each receiving slot and groove. A driven rod connected to a reciprocating screw drive is rotatably provided in the assembly cavity. Eccentric wheels are eccentrically fitted at both ends of the outer wall of the driven rod. An impact block for impacting the positioning plate to generate vibration is attached to the top of the circumferential outer wall of the eccentric wheel. One end of the impact block extends into the receiving slot and is located above the positioning plate. A vertical opening for the impact block to pass through is provided between the receiving slot and the assembly cavity. An elastic connecting member is provided between the impact block and the vertical opening.

[0012] A further improvement is that the arc-shaped bearing part includes an arc-shaped sliding member, the opening of which faces upward and the distance between the two ends of the opening is greater than the length of the operating groove. The positioning plate has arc-shaped guide members symmetrically fixed at both ends on one side, which are slidably connected to the arc-shaped sliding member. The telescopic device and the limiting plate are both located on one side of the arc-shaped sliding member. An arc-shaped groove is formed on the inner wall of the arc-shaped sliding member. An arc-shaped slider connected to the positioning plate is provided in the arc-shaped groove. The arc-shaped slider is connected to the inner wall of one side of the arc-shaped groove through an elastic member. The arc-shaped sliding member is also connected to the driven rotating rod through a transmission part. The transmission part is used to drive the arc-shaped sliding member to reciprocate and rotate a preset angle when the driven rotating rod rotates.

[0013] A further improvement is that the transmission part includes a toothed gear and a driven gear rotatably mounted on the positioning plate. The driven gear meshes with the toothed gear. The inner wall of the arc-shaped sliding member has a toothed groove that meshes with the driven gear. The toothed gear is inserted into the positioning plate via an elastic rotating shaft. A connecting rod corresponding to the elastic rotating shaft is inserted into the bottom of the receiving groove. One end of the connecting rod is connected to the elastic rotating shaft via a snap-fit ​​structure. The other end of the connecting rod extends into an assembly cavity two opened within the wall thickness of the storage rack. The assembly cavity two is located between the receiving groove and the recess. The connecting rod and the driven rotating rod are connected by a bevel gear transmission component.

[0014] A further improvement is that the storage rack is mounted on the mounting base via a rotary motor, the mounting base is fixed to the fixed housing, the fixed housing has a rectangular opening corresponding to a receiving slot, the sealing door is located in the rectangular opening, the sealing door includes a sealing plate inserted into the top of the fixed housing for closing the rectangular opening, and the sealing plate is connected to the top of the fixed housing via a telescopic device.

[0015] The beneficial effects of this invention are as follows: This invention achieves efficient storage of multiple robot grippers through the combination of a rotatable storage rack and a fixed outer shell, saving equipment layout space. Furthermore, by utilizing the coordinated operation of the drive and positioning mechanisms, the target robot gripper is automatically and smoothly transported from a vertical storage state to a horizontal docking posture, thereby exposing the quick-change interface of the robot gripper. This allows the robot to achieve rapid and accurate docking and grasping without complex spatial searching and posture adjustments, improving gripper replacement efficiency and success rate. Simultaneously, the storage rack and fixed outer shell provide excellent protection for the stored robot grippers, effectively isolating them from contaminants such as iron filings on the piston head automated production line, ensuring the cleanliness and reliability of the robot grippers during use. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the hand gripper inventory system of the present invention; Figure 2 For the present invention Figure 1 Another perspective structural diagram; Figure 3 For the present invention Figure 1 Structural sectional view; Figure 4 This is a front view of the positioning mechanism structure of the present invention; Figure 5 This is a side view of the positioning mechanism structure of the present invention; Figure 6 This is a schematic diagram of the positioning mechanism structure from another perspective.

[0017] In the diagram: 1. Mounting base; 2. Storage rack; 3. Receiving slot; 4. Positioning mechanism; 41. Positioning plate; 42. Operating slot; 43. Gear with missing tooth; 44. Clamping plate; 45. Limiting plate; 46. Telescopic device one; 47. Permanent magnet; 48. Arc-shaped guide; 49. Arc-shaped sliding component; 410. Connecting rod; 5. Robot gripper; 6. Groove; 7. Collection box; 8. Fixed outer shell; 9. Rectangular opening; 10. Enclosing plate; 11. Telescopic device two; 12. Top plate; 13. Drive mechanism; 131. Telescopic device three; 132. Connecting frame; 133. Push rod; 14. Chip removal mechanism; 141. Receiving cavity; 142. Reciprocating screw; 143. Air supply equipment; 144. Impeller; 145. Diverter; 146. Elastic connector; 147. Impact block; 148. Eccentric wheel; 15. Slide rail. Detailed Implementation

[0018] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0019] Example 1 Please see the appendix Figure 1-3 The piston head automated production line robot gripper inventory system includes a fixed outer shell 8 and an inventory rack 2 rotatably disposed within the fixed outer shell 8. In this embodiment, both the fixed outer shell 8 and the inventory rack 2 have circular cross-sections, with the upper and lower ends of the fixed outer shell 8 being hollow. The outer wall of the inventory rack 2 is provided with several sets of receiving slots 3, preferably at least six sets of receiving slots 3, for storing ≤ six sets of robot grippers 5. These robot grippers 5 are used in the piston head automated production line to perform diverse tasks such as gripping sub-plates, gripping two different orientations of parts to be clamped and aligned, and performing automatic tool changing for the robot lathe. A positioning mechanism 4 for fixing the robot gripper 5 is slidably provided in the receiving slot 3. A door that can be opened and closed is provided on the fixed outer shell 8 corresponding to the position of one of the receiving slots 3. A drive mechanism 13 is provided on the storage rack 2 corresponding to the position of the door. The drive mechanism 13 is used to drive the positioning mechanism 4 in the corresponding receiving slot 3 to move the robot gripper 5 to a preset position when the sealing door is opened. After the robot gripper 5 moves to the preset position, the positioning mechanism 4 drives it to rotate from the vertical storage state to the horizontal docking state to expose the quick-change interface on the back of the robot gripper 5 and dock with the robot. It should be noted that the end of the robot arm has a structure to fix the robot gripper 5, which will not be described in detail here. In the above way, the efficient storage and fully automatic quick replacement of multiple sets of robot grippers 5 are realized, which improves the switching efficiency of the production line for different processes. On the other hand, when not in use, the fixed shell 8 and the storage rack 2 protect the robot gripper 5 and prevent contaminants such as iron filings in the piston head automated production line from damaging the robot gripper 5.

[0020] Please see the appendix Figure 3-6 Preferably, the positioning mechanism 4 in this embodiment includes a positioning plate 41. The top of the positioning plate 41 has an operating slot 42. When the positioning plate 41 rotates to a lateral docking state, the end of the robot arm can directly dock with the robot gripper 5 through the operating slot 42 and pull it out to detach from the positioning plate 41. One end of the positioning plate 41 has a shaft inserted into it, and both ends of the shaft are rotatably connected to sliders in two sets of slide rails 15. The two sets of slide rails 15 are symmetrically arranged in the receiving groove 3. The sliders are provided with a mechanism to drive the shaft to rotate the positioning plate 41 to a vertical storage state or a lateral docking state. The rotating device includes a micro servo motor. The positioning plate 41 is provided with a clamping part for fixing the robot gripper 5 on the side away from the bottom of the receiving groove 3. When the robot gripper 5 needs to be picked up, the rotating device drives the positioning plate 41 from a vertical state to a horizontal state through the shaft, so that the quick-change interface of the robot gripper 5 is exposed upward. The end of the robot arm can then move to approach and complete the docking. After the clamping part releases the fixation of the robot gripper 5, the robot pulls the robot gripper 5 out from one end of the operating groove 42 through linear motion to achieve quick picking.

[0021] Preferably, the drive mechanism 13 in this embodiment includes a groove 6 formed at the center of the top of the storage rack 2. A connecting frame 132 is movably mounted in the groove 6 at the end away from the sealing door. When the storage rack 2 rotates, its structure will not interfere with the connecting frame 132. A push rod 133 for contacting the positioning plate 41 is horizontally mounted on the connecting frame 132. The connecting frame 132 is slidably mounted on the bottom of the top plate 12 and is driven to move by a telescopic device 131 (such as an electric push rod or a cylinder) mounted on the top plate 12. The top plate 12 and the storage rack 41 are connected by a telescopic device 131 (such as an electric push rod or a cylinder). The top of the rack 2 is fitted and fixed to the fixed outer shell 8 so that the top plate 12 will not rotate with the storage rack 2. A permanent magnet 47 is embedded in the side of the positioning plate 41 facing the bottom of the receiving groove 3. The end of the push rod 133 is provided with an electromagnetic block that is energized and attracts the permanent magnet 47. The push rod 133 is fixed to the corresponding positioning plate 41 by attracting the permanent magnet 47 through the electromagnetic block. The bottom of the receiving groove 3 has an movable hole that communicates with the groove 6 and allows the push rod 133 to enter. When the storage rack 2 rotates to align the target receiving groove 3 with the sealing door, the telescopic device... The telescopic device 131 moves the connecting frame 132 and the push rod 133 towards the receiving groove 3. The end of the push rod 133 passes through the movable hole and approaches the positioning plate 41. At this time, the electromagnetic block is energized and tightly attracted to the permanent magnet 47 on the positioning plate 41. Then, the telescopic device 131 continues to operate, pushing the positioning plate 41 and its fixed robot gripper 5 outward along the slide rail 15 to the preset position through the push rod 133. After the push is completed, the electromagnetic block is de-energized and released, the push rod 133 is retracted, and the positioning plate 41 is then rotated by its own rotating device. The drive performs an attitude change. When pulling back, the rotating device drives the positioning plate 41 to rotate from the horizontal docking state to the vertical state. Then the electromagnetic block is energized, and the telescopic device 131 is activated, pulling the connecting frame 132 and the push rod 133 fixed thereto to move backward and pull the positioning plate 41 back to the preset position inside the receiving groove 3. Preferably, a locking block can be set on one side of the positioning plate 41 to cooperate with the locking groove at the bottom of the receiving groove 3. After the positioning plate 41 is pulled back to the preset position inside the receiving groove 3, the positioning plate 41 is fixed so that it will not shake.

[0022] Preferably, the clamping part in this embodiment includes an arc-shaped support part rotatably mounted on the positioning plate 41 and movably sleeved on the outside of the robot gripper 5. The arc-shaped support part has telescopic devices 46 (such as electric push rods or cylinders) symmetrically arranged at both ends on one side. The output end of the telescopic device 46 is provided with a clamping plate 44 for contacting the outer wall of the robot gripper 5. The telescopic device 46 drives the clamping plate 44 to contact the outer wall of the robot gripper 5 to achieve clamping. The bottom of one side of the arc-shaped support part is also provided with a limiting plate 45 for supporting the robot gripper 5. When the robot gripper 5 is inserted, the robot puts it into the arc-shaped support part and places it on the limiting plate 45. Then, the telescopic devices 46 on both sides move synchronously, pushing the clamping plate 44 to move towards the center until it is tightly attached to the outer wall of the gripper, thereby locking the robot gripper 5.

[0023] Preferably, in this embodiment, the storage rack 2 is mounted on the mounting base 1 via a rotary motor, which is a stepper motor and a reducer. The mounting base 1 is fixed to the fixed housing 8. The fixed housing 8 has a rectangular opening 9 corresponding to a receiving slot 3. A sealing door is located inside the rectangular opening 9. The sealing door includes a sealing plate 10 inserted into the top of the fixed housing 8 to close the rectangular opening 9. The sealing plate 10 is connected to the top of the fixed housing 8 via a telescopic device 11 (such as an electric push rod or a cylinder). When the system needs to access the robot gripper 5, the telescopic device 11 first moves to lift the sealing plate 10 to open the rectangular opening 9. Then, the rotary motor drives the storage rack 2 to rotate, precisely aligning the target receiving slot 3 with the rectangular opening 9. After that, the system performs the gripper's push-out or pull-back operation. After the operation is completed, the sealing plate 10 descends to re-close the rectangular opening 9.

[0024] Example 2 Please see the appendix Figure 3-6 Based on Embodiment 1, the system in this embodiment also includes a chip removal mechanism 14 disposed in the receiving groove 3, which is used to remove contaminants such as iron filings that may be attached to the outer wall of the robot gripper 5. The chip removal mechanism 14 includes an elongated receiving cavity 141 formed within the wall thickness of the storage rack 2 and located above the receiving groove 3. The receiving cavity 141 and the corresponding receiving groove 3 are connected through a transverse opening. An airflow drive unit is provided inside the receiving cavity 141. The airflow drive unit is connected to a distributor 145. The distributor 145 is located inside the receiving groove 3 and above the positioning plate 41. Several sets of air outlets are provided at its bottom. The airflow drive unit is used to supply compressed gas to the distributor 145 and drive the distributor 145 to move back and forth along the transverse opening. A passage is provided at the bottom of the storage rack 2 corresponding to the position of the receiving groove 3 and communicating with it. A collection box 7 is detachably provided inside the passage. The top of the collection box 7 in this application is hollow, and it can be fixed inside the passage by bolts or buckles.

[0025] Once the robot gripper 5 is stored in the preset position in the receiving slot 3, the airflow drive unit is activated to drive the distributor 145 to move back and forth along the transverse opening. At the same time, compressed gas is supplied to the distributor 145, and the compressed gas is ejected at high speed from the outlet to form a scanning cleaning airflow that thoroughly blows away the outer wall of the robot gripper 5. The removed iron filings and other contaminants fall downwards into the collection box 7 under the influence of the airflow, effectively preventing contaminants from affecting the use of the robot gripper 5 or entering the assembly process.

[0026] Preferably, the airflow drive unit in this embodiment includes a partition plate fixedly disposed within the receiving cavity 141. The partition plate divides the receiving cavity 141 into a sealed area on the outside and an active area communicating with the transverse opening. An air inlet communicating with the sealed area is provided at the top of the storage rack 2. An air supply device 143 for supplying compressed gas is provided on the top plate 12. The air outlet pipe of the air supply device 143 is inserted into the top of the storage rack 2 and communicates with an air inlet. It should be noted that this embodiment also provides a [missing information - likely related to a specific feature or feature] around the air inlet at the top of the storage rack 2. An annular sealing ring ensures a tight seal between the air inlet and outlet pipes when they align. A reciprocating screw 142, rotating via bearings, is located within the active zone. One end of the reciprocating screw 142 extends through a partition plate into the sealed zone and is fitted with an impeller 144. The impeller 144 is driven to rotate by compressed gas injected into the sealed zone by the air supply device 143. A slider is threaded onto the outer wall of the reciprocating screw 142 within the active zone. The slider passes through a transverse opening and connects to a distributor 145. The distributor 145 connects to the sealed zone via a pipe that passes through the partition plate. When cleaning of the gripper within a specific receiving slot 3 is required, the system controls the storage rack 2 to rotate, aligning the air inlet of that receiving slot 3 with a fixed air supply pipe. Compressed gas output from the air supply device 143 enters the sealed zone, driving the impeller 144 and the reciprocating screw 142 to rotate, causing the distributor 145 to reciprocate. Subsequently, the compressed gas enters the distributor 145 through the pipe and is ejected from the outlet at its bottom.

[0027] Preferably, in this embodiment, an assembly cavity is provided within the wall thickness of the storage rack 2 and located between each receiving groove 3 and recess 6. A driven rod, rotatably connected to a reciprocating screw 142, is rotatably mounted within the assembly cavity. The driven rod and the reciprocating screw 142 can be connected by a bevel gear set (such as a rod body, with both ends of the rod body connected to the driven rod and the reciprocating screw 142 respectively via bevel gear transmission). Eccentric wheels 148 are eccentrically fitted at both ends of the outer wall of the driven rod. An impact block 147, used to impact the positioning plate 41 to generate vibration, is attached to the top of the circumferential outer wall of the eccentric wheel 148. One end of the impact block 147 extends into the receiving groove 3 and is located above the positioning plate 41. A vertical opening is provided between the receiving groove 3 and the assembly cavity for the impact block 147 to pass through. An elastic connector 146 is provided between 7 and the vertical opening. The elastic connector 146 includes a guide rod located inside the vertical opening and moving through the impact block 147, and a spring sleeved on the outer wall of the guide rod, with one end connected to the inner wall of the vertical opening and the other end connected to the impact block 147. When the reciprocating screw 142 rotates, the power is transmitted to the driven rotating rod, which drives the eccentric rotating wheel 148 to rotate. During the rotation, the eccentric rotating wheel 148 periodically lifts the impact block 147 upward. Then, under the action of the elastic connector 146, the impact block 147 resets downward and strikes the positioning plate 41, thereby causing the positioning plate 41 and its fixed robot gripper 5 to produce a slight vibration, which can effectively shake off stubborn contaminants tightly attached to the surface and crevices of the robot gripper 5, improving the thoroughness and efficiency of cleaning.

[0028] Preferably, the arc-shaped bearing part of this embodiment includes an arc-shaped slider 49, which is semi-circular. The opening of the arc-shaped slider 49 faces upward, and the distance between the two ends of the opening is greater than the length of the operating slot 42 so as not to obstruct the operating slot 42. Arc-shaped guides 48 are symmetrically fixed at both ends of one side of the positioning plate 41 and are slidably connected to the arc-shaped slider 49, so that the arc-shaped guides 48 can provide precise guidance and support for the circumferential rotation of the arc-shaped slider 49. The telescopic device 46 and the limiting plate 45 are both located on the arc-shaped bearing part. On one side of the slider 49, an arc-shaped groove is provided on the inner wall of the arc-shaped slider 49. An arc-shaped slider connected to the positioning plate 41 is provided in the arc-shaped groove. The arc-shaped slider is connected to the inner wall of the arc-shaped groove by an elastic element (such as a spring). The arc-shaped slider and the elastic element are not shown in the figure. The arc-shaped slider 49 is also connected to the driven rotating rod through a transmission part. The transmission part is used to drive the arc-shaped slider 49 to reciprocate and rotate a preset angle when the driven rotating rod rotates. The arc-shaped slider 49 drives the robot gripper 5 to achieve comprehensive chip removal of the robot gripper 5.

[0029] Preferably, the transmission unit in this embodiment includes a toothed gear 43 and a driven gear rotatably mounted on the positioning plate 41. The driven gear meshes with the toothed gear 43. The inner wall of the arc-shaped sliding member 49 has a toothed groove that meshes with the driven gear. The toothed gear 43 is inserted into the positioning plate 41 via an elastic rotating shaft. In this embodiment, the elastic rotating shaft includes a rotating shaft and a torsion spring (or clockwork). A connecting rod 410 corresponding to the elastic rotating shaft is inserted into the bottom of the receiving groove 3. One end of the connecting rod 410 and the spring... The rotating shaft is connected by a snap-fit ​​structure. When the positioning plate 41 is in a vertical position and in a preset position within the receiving groove 3, one end of the connecting rod 410 engages with one end of the elastic rotating shaft. The other end of the connecting rod 410 extends into the assembly cavity two opened within the wall thickness of the storage rack 2. The assembly cavity two is located between the receiving groove 3 and the recess 6. The connecting rod 410 and the driven rotating rod are connected by a bevel gear transmission component. The bevel gear transmission component includes a vertical rod, and the ends of the vertical rod are respectively connected by a bevel gear set (two sets of meshing gears). The bevel gear is connected to the docking rod 410 and the driven rotating rod via a transmission mechanism. When the robot gripper 5 is in a vertical storage state and the positioning plate 41 is located in the preset position within the receiving slot 3, the docking rod 410 and the elastic rotating shaft are connected as one unit through a snap-fit ​​structure. At this time, if the driven rotating rod rotates, its power will be transmitted to the docking rod 410 through the bevel gear transmission component, thereby driving the elastic rotating shaft and the toothed gear component 43 to rotate. The toothed gear component 43 drives the driven gear component, thereby driving the arc-shaped sliding component 49 along its arc-shaped guide. Part 48 rotates to a preset angle; when the toothless section of the missing-tooth gear part 43 rotates to the position corresponding to the driven gear part, the driven gear part and the arc-shaped sliding part 49 reverse and reset under the action of the elastic element in the arc-shaped groove, thus realizing the work of the arc-shaped sliding part 49 reciprocating to rotate to a preset angle. When the positioning plate 41 moves outward, the docking rod 410 and the elastic rotating shaft separate, and the elastic rotating shaft drives the missing-tooth gear part 43 to reset, so that the arc-shaped sliding part 49 returns to its initial state, ensuring that it will not block the operating groove 42.

[0030] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A gripper inventory system for automated piston head production line robots, characterized in that: The device includes a fixed outer shell (8) and a storage rack (2) rotatably disposed within the fixed outer shell (8). The outer wall of the storage rack (2) is provided with several sets of receiving slots (3). A positioning mechanism (4) for fixing a robot gripper (5) is slidably disposed in the receiving slots (3). A closable door is provided on the fixed outer shell (8) corresponding to one of the receiving slots (3). A drive mechanism (13) is provided on the storage rack (2) corresponding to the door. The drive mechanism (13) is used to drive the positioning mechanism (4) in the corresponding receiving slot (3) to move the robot gripper (5) to a preset position when the door is opened. After the robot gripper (5) moves to the preset position, the positioning mechanism (4) drives it to rotate from the vertical storage state to the horizontal docking state to expose the quick-change interface on the back of the robot gripper (5) and dock with the robot.

2. The gripper inventory system according to claim 1, characterized in that, The positioning mechanism (4) includes a positioning plate (41), the top of which is provided with an operating slot (42). One end of the positioning plate (41) is inserted with a shaft. Both ends of the shaft are rotatably connected to the sliders in two sets of slide rails (15). The two sets of slide rails (15) are symmetrically arranged in the receiving groove (3). The slider is provided with a rotating device for driving the shaft to rotate the positioning plate (41) to a vertical storage state or a horizontal docking state. The side of the positioning plate (41) away from the bottom of the receiving groove (3) is provided with a clamping part for fixing the robot gripper (5).

3. The hand glove inventory system of claim 2, wherein, The drive mechanism (13) includes a groove (6) at the center of the top of the storage rack (2). A connecting frame (132) is movably provided at one end of the groove (6) away from the sealing door. A push rod (133) for contacting the positioning plate (41) is horizontally provided on the connecting frame (132). The connecting frame (132) is slidably provided at the bottom of the top plate (12) and is driven to move by the telescopic device (131) provided on the top plate (12). The top plate (12) is attached to the top of the storage rack (2) and fixed to the fixed outer shell (8). A permanent magnet (47) is embedded on the side of the positioning plate (41) facing the bottom of the receiving groove (3). An electromagnetic block that is energized and attracted to the permanent magnet (47) is provided at the end of the push rod (133). An active hole communicating with the groove (6) and allowing the push rod (133) to enter is provided at the bottom of the receiving groove (3).

4. The hand glove inventory system of claim 3, wherein, The clamping part includes an arc-shaped bearing part that is rotatably mounted on the positioning plate (41) and movably sleeved on the outside of the robot gripper (5). The arc-shaped bearing part has telescopic devices (46) symmetrically arranged at both ends on one side. The output end of the telescopic device (46) is provided with a clamping plate (44) for contacting the outer wall of the robot gripper (5). The bottom of one side of the arc-shaped bearing part is also provided with a limiting plate (45) for supporting the robot gripper (5).

5. The hand glove inventory system of claim 4, wherein, The system also includes a chip removal mechanism (14) located in the receiving groove (3). The chip removal mechanism (14) includes a receiving cavity (141) located within the wall thickness of the storage rack (2) and above the receiving groove (3). The receiving cavity (141) and the corresponding receiving groove (3) are connected through a transverse opening. An airflow drive unit is provided in the receiving cavity (141). The airflow drive unit is connected to a distributor (145). The distributor (145) is located in the receiving groove (3) and above the positioning plate (41). Several sets of air outlets are provided at its bottom. The airflow drive unit is used to supply compressed gas to the distributor (145) and drive the distributor (145) to move back and forth along the transverse opening. The bottom of the storage rack (2) is provided with an opening corresponding to the receiving groove (3) and a collection box (7) is detachably provided in the opening.

6. The hand glove inventory system of claim 5, wherein, The airflow drive unit includes a partition plate fixedly installed in the receiving cavity (141). The partition plate is used to divide the receiving cavity (141) into a sealed area located on the outside and an active area communicating with the transverse opening. The top of the storage rack (2) is provided with an air inlet communicating with the sealed area. The top plate (12) is provided with an air supply device (143) for supplying compressed gas. The air outlet pipe of the air supply device (143) is inserted into the top of the storage rack (2) for communicating with an air inlet. A reciprocating screw (142) is rotatably installed in the active area. One end of the reciprocating screw (142) extends through the partition plate into the sealed area and is provided with an impeller (144). A slider is threaded on the outer wall of the reciprocating screw (142) in the active area. The slider passes through the transverse opening and is connected to a distributor (145). The distributor (145) passes through the partition plate through a pipe and communicates with the sealed area.

7. The hand glove inventory system of claim 6, wherein, An assembly cavity is provided within the wall thickness of the storage rack (2) and between each receiving groove (3) and recess (6). A driven rod is rotatably connected to a reciprocating screw (142) within the assembly cavity. An eccentric wheel (148) is eccentrically fitted at both ends of the outer wall of the driven rod. An impact block (147) for impacting the positioning plate (41) to generate vibration is attached to the top of the circumferential outer wall of the eccentric wheel (148). One end of the impact block (147) extends into the receiving groove (3) and is located above the positioning plate (41). A vertical opening for the impact block (147) to pass through is provided between the receiving groove (3) and the assembly cavity. An elastic connector (146) is provided between the impact block (147) and the vertical opening.

8. The hand glove inventory system of claim 7, wherein, The arc-shaped bearing part includes an arc-shaped sliding member (49). The opening of the arc-shaped sliding member (49) faces upward and the distance between the two ends of the opening is greater than the length of the operating slot (42). The positioning plate (41) has arc-shaped guide members (48) symmetrically fixed at both ends on one side, which are slidably connected to the arc-shaped sliding member (49). The telescopic device (46) and the limiting plate (45) are both located on one side of the arc-shaped sliding member (49). The inner wall of the arc-shaped sliding member (49) is provided with an arc-shaped sliding groove. The arc-shaped sliding groove is provided with an arc-shaped slider connected to the positioning plate (41). The arc-shaped slider is connected to the inner wall of one side of the arc-shaped sliding groove through an elastic member. The arc-shaped sliding member (49) is also connected to the driven rotating rod through a transmission part. The transmission part is used to drive the arc-shaped sliding member (49) to reciprocate and rotate by a preset angle when the driven rotating rod rotates.

9. The gripper inventory system according to claim 8, characterized in that, The transmission unit includes a toothed gear (43) and a driven gear rotatably mounted on the positioning plate (41). The driven gear meshes with the toothed gear (43). The inner wall of the arc-shaped sliding member (49) is provided with a toothed groove that meshes with the driven gear. The toothed gear (43) is inserted into the positioning plate (41) through an elastic rotating shaft. The bottom of the receiving groove (3) is provided with a connecting rod (410) corresponding to the elastic rotating shaft. One end of the connecting rod (410) is connected to the elastic rotating shaft through a snap-fit ​​structure. The other end of the connecting rod (410) extends into the assembly cavity two opened within the wall thickness of the storage rack (2). The assembly cavity two is located between the receiving groove (3) and the groove (6). The connecting rod (410) and the driven rotating rod are connected by a bevel gear transmission component.

10. The hand glove inventory system of claim 1, wherein, The storage rack (2) is mounted on the mounting base (1) via a rotary motor. The mounting base (1) is fixed to the fixed housing (8). The fixed housing (8) has a rectangular opening (9) corresponding to a receiving groove (3). The sealing door is located in the rectangular opening (9). The sealing door includes a sealing plate (10) inserted into the top of the fixed housing (8) and used to close the rectangular opening (9). The sealing plate (10) is connected to the top of the fixed housing (8) via a telescopic device (11).

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