Automatic quick-changing and carrying mechanism of robot

Abstract

The utility model relates to a robot automatic quick-changing and carrying mechanism which comprises a robot body, the free end of a mechanical arm of the robot body is connected with a gripper assembly through a quick-changing assembly, the gripper assembly comprises a bottom plate, and a first air cylinder is arranged on the inner surface, facing the robot body, of the bottom plate. The free end of a piston rod of the first air cylinder penetrates through the bottom plate and is connected with a connecting rod seat, a connecting rod is hinged to the connecting rod seat, a grabbing hook is hinged to the free end of the connecting rod, an installation seat is fixedly connected to the outer surface of the bottom plate, a jig is fixedly connected to the installation seat, and a vacuum suction cup is arranged in the jig. The free end of a piston rod of the servo air cylinder is connected with the vacuum suction cup and controls movement of the vacuum suction cup, products are sucked up in a vacuum mode through control of the gripper, gluing, detecting, carrying, sequential assembling and repeated circulation can be rapidly achieved, meanwhile, direct contact between harmful ingredients and a human body is avoided through machine operation, and the device is suitable for industrial production and high in practicability. And the practicability is very high.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic assembly, and in particular relates to an automatic quick-change and handling mechanism of a robot. Background Art

[0002] A patent named rivet assembly robot is disclosed in the existing Chinese patent database, with application number CN202121983968.2 and application date 2021-08-23. The device includes a clamp, a connecting piece, and a fixed frame; the fixed frame has an internal cavity, a rectangular groove on the outside, and a rotating shaft with a thread on the inside, and the two ends of the rotating shaft are respectively fixed to the upper and lower surfaces of the fixed frame through bearings, and a nut is provided on the rotating shaft. The nut is sleeved on the rotating shaft and moves up and down with the rotation of the rotating shaft. A fixing piece is provided on the nut, and the outer end of the fixing piece passes through the rectangular groove; one end of the connecting piece is connected to the outer end of the fixing piece; the clamp is an L-shaped structure, the horizontal end of which is a clamping part, and the vertical end is a rotating part. The intersection of the horizontal end and the vertical end is movably connected to the other end of the connecting piece, and the outer end of the vertical end is movably connected to the bottom hinge of the fixed frame. This structure is small in size and is formulated according to the size of the items to be transferred. It can transfer rivets or rivet storage boxes to improve production efficiency.

[0003] In the prior art, most of the production and assembly are completed manually, which has high work intensity and limited efficiency. For the operation of multiple sets of fixtures for multiple products, the traditional solution adopts flange screw connection, which is cumbersome to replace. This solution aims to propose a robot automatic quick-change and handling mechanism, which is a robot spray painting, handling, assembly and inspection integrated gripper designed for special-shaped workpieces. The quick-change component in this patent adopts application number CN202122361128.9, and its name is a quick-change structure in an automatic quick-change device for replacing grinding tools. Utility Model Content

[0004] The technical problem to be solved by the utility model is that in the prior art, most of the production and assembly are completed manually, the work intensity is high, and the efficiency is limited. For the operation of multiple sets of fixtures for multiple products, the traditional solution adopts flange screw connection, which is cumbersome to replace. In order to solve the above problem, the utility model provides a robot automatic quick change and handling mechanism.

[0005] In order to achieve the above object, the utility model is realized by the following technical solutions:

[0006] A robot automatic quick-change and handling mechanism includes a robot body, a manipulator free end of the robot body is connected to a gripper assembly via a quick-change assembly, the gripper assembly includes a base plate, a first cylinder is arranged on the inner surface of the base plate facing the robot body, the free end of the piston rod of the first cylinder passes through the base plate and is connected to a connecting rod seat, a connecting rod is hinged on the connecting rod seat, and a grab hook is hinged on the free end of the connecting rod, a mounting seat is fixedly connected to the outer surface of the base plate, a jig is fixedly connected to the mounting seat, a vacuum suction cup is arranged in the jig, and a servo cylinder is also arranged on the base plate, the free end of the piston rod of the servo cylinder is connected to the vacuum suction cup to control the movement of the vacuum suction cup.

[0007] As a preferred solution, cylinder seats are provided on both side surfaces of the jig, a pen-shaped cylinder is provided on the cylinder seat, and a bracket is also provided on the side of the jig, a vertical rotating shaft is inserted in the bracket, a stopper is sleeved on the rotating shaft, and the free end of the stopper is connected to the free end of the piston rod of the pen-shaped cylinder.

[0008] As a preferred solution, a baffle is fixedly connected to the bottom of the jig, and the edge of the baffle protrudes from the edge of the jig.

[0009] As a preferred embodiment, the grab hook is L-shaped, the free end of the vertical section of the grab hook is hinged to the free end of the connecting rod, the middle part of the vertical section of the grab hook is connected to the mounting seat distribution shaft, the free end of the horizontal section of the grab hook is integrally provided with a hook, and a pad is provided on the inner surface of the hook.

[0010] As a preferred solution, the quick-change assembly includes a connection seat connected to the robot body and a flange connected to the gripper assembly, and the flange and the connection seat are pneumatically locked.

[0011] Compared with the prior art, the utility model has the following beneficial effects: the device sucks up the product through the vacuum controlled by the gripper, and can quickly achieve gluing, testing, transportation, and assembly in sequence, and then repeat the cycle. At the same time, the machine operation avoids direct contact between harmful components and the human body. The device is suitable for industrial production and has strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of the utility model.

[0013] Figure 2 It is a schematic diagram of the back structure of the gripper assembly in the utility model.

[0014] Figure 3 It is a front structural schematic diagram of the gripper assembly in the utility model.

[0015] In the figure: 1 robot body, 2 gripper assembly, 3 bottom plate, 4 first cylinder, 5 connecting rod seat, 6 connecting rod, 7 grab hook, 701 vertical section, 702 horizontal section, 703 hook, 704 pad, 8 mounting seat, 9 jig, 10 vacuum suction cup, 11 servo cylinder, 12 cylinder seat, 13 pen-shaped cylinder, 14 bracket, 15 rotating shaft, 16 block, 17 baffle, 18 connecting seat, 19 flange, 20 quick change assembly. DETAILED DESCRIPTION

[0016] The technical solution of the present application is further described below in conjunction with the accompanying drawings and embodiments.

[0017] like Figure 1-3 As shown, a robot automatic quick-change and handling mechanism includes a robot body 1, the free end of the manipulator of the robot body 1 is connected to a gripper assembly 2 via a quick-change assembly 20, the gripper assembly 2 includes a base plate 3, a first cylinder 4 is arranged on the inner surface of the base plate 3 facing the robot body 1, the free end of the piston rod of the first cylinder 4 passes through the base plate 3 and is connected to a connecting rod seat 5, a connecting rod 6 is hinged on the connecting rod seat 5, and a grab hook 7 is hinged on the free end of the connecting rod 6, a mounting seat 8 is fixedly connected to the outer surface of the base plate 3, a jig 9 is fixedly connected to the mounting seat 8, a vacuum suction cup 10 is arranged in the jig 9, and a servo cylinder 11 is also arranged on the base plate 3, the free end of the piston rod of the servo cylinder 11 is connected to the vacuum suction cup 10 to control the movement of the vacuum suction cup 10. Cylinder seats 12 are provided on both sides of the jig 9, and a pen-shaped cylinder 13 is provided on the cylinder seat 12. A bracket 14 is also provided on the side of the jig 9. A vertical rotating shaft 15 is inserted in the bracket 14, and a stopper 16 is sleeved on the rotating shaft 15. The free end of the stopper 16 is connected to the free end of the piston rod of the pen-shaped cylinder 13. A baffle 17 is fixedly connected to the bottom of the jig 9, and the edge of the baffle 17 protrudes from the edge of the jig 9. The grab hook 7 is L-shaped, and the free end of the vertical section 701 of the grab hook 7 is hinged to the free end of the connecting rod 6. The middle part of the vertical section 701 of the grab hook 7 is connected to the mounting seat 8 through the distribution shaft. The free end of the horizontal section 702 of the grab hook 7 is integrally provided with a hook portion 703, and a cushion block 704 is provided on the inner surface of the hook portion 703. The quick-change assembly 20 includes a connection seat 18 connected to the robot body 1 and a flange 19 connected to the gripper assembly 2 , and the flange 19 and the connection seat 18 are pneumatically locked.

[0018] During operation, the operator controls the manipulator of the robot body 1 to grab the gripper assembly 2 through the quick-change assembly, moves it to the jig 9, connects the jig 9 to the fixed seat in the gripper assembly 2 through the pins, and the two first cylinders 4 push the connecting rod seat 5. A linear bearing can be set on the base plate 3 here, and a cylindrical shaft is inserted into the linear bearing, and one end of the cylindrical shaft is fixedly connected to the connecting rod seat 5, so as to ensure the stability of the first cylinder 4 in the process of driving the connecting rod seat 5 to move, so that the grab hook 7 grabs the jig 9, and the jig 9 locates the product position and moves to the product, and sucks the product through the vacuum suction cup 10, moves to the painting, testing, and gluing station, and then moves to the assembly station, the servo electric cylinder extends, pushes the vacuum suction cup 10, and pushes the gripper assembly 2 out at the same time, and cuts off the air to separate the product from the vacuum suction cup 10, thereby completing the installation of a product.

[0019] During the driving process, the two first cylinders 4 control the grabbing of the jig 9, the vacuum suction cup 10 sucks up the product, the pen-shaped cylinder 13 positions and clamps the product on the side to prevent it from loosening during the movement and other operation processes, and the servo cylinder 11 pushes the product on the vacuum suction cup 10 during the final assembly. The thrust of the servo cylinder 11 has a feedback signal to prevent the product from being crushed due to excessive force (the vacuum suction cup 10 cannot be de-energized during the entire pushing process).

[0020] The present utility model is not limited to the above-mentioned embodiments. On the basis of the technical solution disclosed in the present utility model, technicians in this field can make some substitutions and deformations to some technical features therein according to the disclosed technical content without creative labor, and these substitutions and deformations are all within the protection scope of the present utility model.

Claims

1. A robot automatic quick change and handling mechanism, characterized in that: The invention comprises a robot body (1), wherein the free end of the manipulator of the robot body (1) is connected to a gripper assembly (2) via a quick-change assembly (20), wherein the gripper assembly (2) comprises a base plate (3), wherein a first cylinder (4) is arranged on the inner surface of the base plate (3) facing the robot body (1), wherein the free end of the piston rod of the first cylinder (4) passes through the base plate (3) and is connected to a connecting rod seat (5), wherein a connecting rod (6) is hingedly connected to the connecting rod seat (5), wherein a grab hook (7) is hingedly connected to the free end of the connecting rod (6), wherein a mounting seat (8) is fixedly connected to an outer surface of the base plate (3), wherein a jig (9) is fixedly connected to the mounting seat (8), wherein a vacuum suction cup (10) is arranged in the jig (9), and wherein a servo cylinder (11) is also arranged on the base plate (3), wherein the free end of the piston rod of the servo cylinder (11) is connected to the vacuum suction cup (10) to control the movement of the vacuum suction cup (10).

2. The robot automatic quick change and handling mechanism according to claim 1, characterized in that: Cylinder seats (12) are arranged on both sides of the jig (9), and a pen-shaped cylinder (13) is arranged on the cylinder seat (12). A bracket (14) is also arranged on the side of the jig (9), and a vertical rotating shaft (15) is inserted into the bracket (14). A stopper (16) is sleeved on the rotating shaft (15), and the free end of the stopper (16) is connected to the free end of the piston rod of the pen-shaped cylinder (13).

3. The robot automatic quick change and handling mechanism according to claim 2, characterized in that: A baffle (17) is fixedly connected to the bottom of the jig (9), and the edge of the baffle (17) protrudes from the edge of the jig (9).

4. The robot automatic quick change and handling mechanism according to claim 3, characterized in that: The grab hook (7) is arranged in an L shape, the free end of the vertical section (701) of the grab hook (7) is hinged to the free end of the connecting rod (6), the middle part of the vertical section (701) of the grab hook (7) is connected to the mounting seat (8) via a distribution shaft, and the free end of the horizontal section (702) of the grab hook (7) is integrally provided with a hook portion (703), and a cushion block (704) is provided on the inner surface of the hook portion (703).

5. A robot automatic quick change and handling mechanism according to any one of claims 1 to 4, characterized in that: The quick-change assembly (20) comprises a connection seat (18) connected to the robot body (1) and a flange (19) connected to the gripper assembly (2), and the flange (19) and the connection seat (18) are pneumatically locked.

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