Clamp storage device of manipulator

Abstract

The utility model relates to the technical field of clamp storage and taking, in particular to a clamp storage device of a manipulator, which comprises a support frame and a chuck assembly, a plurality of clamp placing layers are arranged on the supporting frame, and clamp supporting blocks are arranged on the plurality of clamp placing layers; the chuck assembly comprises a gun changing disc, a storage block used for supporting the gun changing disc and a quick changing disc which is arranged on an end effector of the mechanical arm and matched with the gun changing disc. And clamp connecting blocks are arranged on the gun changing disc, and the storage blocks are arranged on the outer side wall of the supporting frame layer by layer along the clamp placement layers. According to the utility model, the support frame with the plurality of clamp placing layers is additionally arranged, and a plurality of clamps can be stored in the support frame layer by layer through the clamp support blocks. And meanwhile, each clamp is provided with a gun changing disc through a clamp connecting block, and a quick changing disc capable of being connected with the gun changing disc is arranged on an end effector of the manipulator, so that the manipulator can quickly switch and change the clamp needing to be used through the quick changing disc.

Description

Technical Field

[0001] The utility model relates to the technical field of fixture storage and retrieval, in particular to a fixture storage device of a manipulator. Background Art

[0002] In automated production, the robot is one of the essential and important equipment. During operation, the robot needs to cooperate with the corresponding angle to achieve actions such as grabbing and processing the product. However, for some products with diverse shapes, such as bright trims used on vehicles, multiple fixtures are required for use. Not only is the storage and management of the fixtures difficult, but the connection between the fixture and the end effector of the robot needs to be manually assembled, which is time-consuming and prone to errors. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a fixture storage device for a manipulator, which can not only store a variety of fixtures conveniently, but also quickly complete the connection between the manipulator and the fixtures.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is: a fixture storage device for a manipulator, comprising a support frame and a chuck assembly; a multi-layer fixture placement layer is arranged on the support frame, and a fixture support block is arranged on the multi-layer fixture placement layer;

[0005] The chuck assembly includes a gun changing plate, a storage block for supporting the gun changing plate, and a quick changing plate arranged on the end effector of the manipulator and adapted to the gun changing plate; a clamp connecting block is arranged on the gun changing plate, and the storage blocks are arranged layer by layer on the outer side wall of the support frame along the clamp placement layer.

[0006] Furthermore, the storage block includes a connecting portion and a limiting plate; the connecting portion is connected to the fixture placement layer, and the limiting plate is relatively arranged on the connecting portion, and a limiting space for placing the fixture connection block is formed between the limiting plates.

[0007] Furthermore, the storage block also includes a support rod, the support rod is arranged between the limiting plates, and the clamp connection block is provided with a card interface corresponding to the support rod.

[0008] Furthermore, the distance between two adjacent fixture placement layers is 300 mm to 500 mm.

[0009] Furthermore, an identifier is provided on the outer side wall of the support frame, and the identifier is communicatively connected with the manipulator.

[0010] The beneficial effect of the utility model is that: a support frame with multiple layers of fixture placement is added, and multiple fixtures can be stored in the support frame layer by layer through the fixture support block. At the same time, each fixture is equipped with a gun change plate through the fixture connection block, and a quick change plate that can be connected to the gun change plate is arranged on the end effector of the manipulator, so that the manipulator can quickly switch and replace the required fixture through the quick change plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a structural schematic diagram of a fixture storage device for a manipulator proposed by the utility model;

[0012] Figure 2 A schematic diagram of the support frame structure of a fixture storage device of a manipulator proposed in the utility model;

[0013] Figure 3 This is a schematic diagram of the storage block structure of a fixture storage device of a manipulator proposed by the utility model;

[0014] Figure 4 This is a schematic diagram of the assembly structure of a gun changing plate and a fixture connecting block of a fixture storage device of a manipulator proposed by the utility model;

[0015] Description of labels:

[0016] 1. Support frame; 11. Fixture placement layer; 111. Fixture support block; 12. Identifier;

[0017] 2. Chuck assembly; 21. Gun changing plate; 211. Fixture connection block; 2111. Card interface;

[0018] 22. Storage block; 221. Connecting part; 222. Limiting plate; 223. Support rod; 23. Quick-change plate;

[0019] 3. Clamp. DETAILED DESCRIPTION

[0020] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in conjunction with the implementation modes and the accompanying drawings.

[0021] Please refer to Figure 1 and Figure 2 As shown, the utility model is a fixture storage device for a manipulator, comprising a support frame 1 and a chuck assembly 2; a multi-layer fixture placement layer 11 is arranged on the support frame 1, and a fixture support block 111 is arranged on the multi-layer fixture placement layer 11;

[0022] The chuck assembly 2 includes a gun changing plate 21, a storage block 22 for supporting the gun changing plate 21, and a quick changing plate 23 arranged on the end effector of the manipulator and adapted to the gun changing plate 21; a clamp connecting block 211 is arranged on the gun changing plate 21, and the storage block 22 is arranged layer by layer on the outer wall of the support frame 1 along the clamp placement layer 11.

[0023] Working principle: the fixtures 3 are placed layer by layer in the support frame 1 through the fixture support blocks 111 of the fixture placement layer 11; at the same time, each fixture 3 is provided with a gun changing plate 21 through the fixture connection block 211, and a quick change plate 23 that can be connected to the gun changing plate 21 is provided on the end effector of the manipulator, so that the manipulator can quickly switch and replace the fixtures 3 required to be used through the quick change plate 23. Among them, the quick connection structure of the gun changing plate 21 and the quick change plate 23 can be referred to the announcement number CN216442576U. By supplying gas to the first driving chamber and pressurizing it, the piston can be driven to move in the first direction, and the movable seat and the positioning hole are positioned, so as to realize the installation of the movable seat and the fixed seat; by supplying gas to the second driving chamber and pressurizing it, the piston can be driven to move in the second direction, at which time the movable seat can be detached from the positioning hole, and at this time the movable seat can be removed from the fixed seat, and the piston can be driven to move by changing the gas pressure, so that the piston can be stably stressed, and then the connection between the movable seat and the fixed seat is stably made. The fixed seat in the public document is the gun changing plate 21, and the movable seat is the quick changing plate 23, and the specific connection structure will not be further elaborated.

[0024] Please refer to Figure 3 As shown, further, the storage block 22 includes a connecting portion 221 and a limiting plate 222; the connecting portion 221 is connected to the fixture placement layer 11, and a limiting plate 222 is relatively arranged on the connecting portion 221, and a limiting space for placing the fixture connection block 211 is formed between the limiting plates 222.

[0025] From the above description, it can be known that the limiting plates 222 can be used to guide the manipulator to place the connecting portion 221 of the gun changing tray within the limiting space between the limiting plates 222, thereby ensuring the stability of the gun changing tray 21 on the storage block 22, that is, the stability of the clamp 3 in the support frame 1, thereby ensuring that the manipulator can accurately re-grasp the clamp 3 at a later time.

[0026] Please refer to Figure 3 and Figure 4 As shown, further, the storage block 22 also includes a support rod 223 , and the support rod 223 is arranged between the limiting plates 222 , and the clamp connection block 211 is provided with a card interface 2111 corresponding to the support rod 223 .

[0027] It can be known from the above description that the clamp connection block 211 is clamped with the support rod 223 via the clamp interface 2111 , which can further enhance the stability of the gun changing tray 21 on the storage block 22 .

[0028] Furthermore, the distance between two adjacent fixture placement layers 11 is 300 mm to 500 mm. Preferably, the distance between two adjacent fixture placement layers 11 is 300 mm, 350 mm, 400 mm, 450 mm, or 500 mm. Most preferably, the distance between two adjacent fixture placement layers 11 is 300 mm.

[0029] From the above description, it can be seen that a distance of 300 mm to 500 mm is left between two adjacent fixture placement layers 11, which can ensure that there is no interference in the process of the robot arm exchanging the fixture 3 and enable the support frame 1 to achieve the maximum storage capacity of the fixture 3.

[0030] Please refer to Figure 1 and Figure 2 As shown, further, an identifier 12 is provided on the outer wall of the support frame 1, and the identifier 12 is connected to the manipulator for communication. Specifically, a sensing module that senses the identifier 12 can be provided on the gun changing plate 21 or the fixture 3.

[0031] From the above description, it can be seen that the robot can place the fixture 3 on the fixture placement layer 11 belonging to it according to the message data sensed by the identifier 12, so as to achieve standardized storage of the fixture 3, thereby preventing the robot from obtaining the wrong fixture 3 for operation.

[0032] Embodiment 1

[0033] A fixture storage device for a robot, please refer to Figures 1 to 4 As shown, it includes a support frame 1 and a chuck assembly 2; a multi-layer fixture placement layer 11 is arranged on the support frame 1, and the distance between two adjacent fixture placement layers 11 is 300 mm, and a fixture support block 111 is arranged on the multi-layer fixture placement layer 11; the chuck assembly 2 includes a gun changing plate 21, a storage block 22 for supporting the gun changing plate 21, and a quick-changing plate 23 arranged on the end effector of the manipulator and adapted to the gun changing plate 21; a fixture connecting block 211 is arranged on the gun changing plate 21, and the storage block 22 is arranged layer by layer on the outer wall of the support frame 1 along the fixture placement layer 11. The storage block 22 includes a connection part 221, a limiting plate 222 and a support rod 223; the connection part 221 is connected to the fixture placement layer 11, and the limiting plate 222 is relatively arranged on the connection part 221. The limiting plates 222 form a limiting space for placing the fixture connection block 211. The support rod 223 is arranged between the limiting plates 222, and the fixture connection block 211 is provided with a card interface 2111 corresponding to the support rod 223. The outer wall of the support frame 1 is provided with an identifier 12, and the identifier 12 is connected to the manipulator for communication.

[0034] Working principle: the fixtures 3 are placed layer by layer in the support frame 1 through the fixture support blocks 111 of the fixture placement layer 11; at the same time, each fixture 3 is configured with a gun changing disk 21 through the fixture connecting block 211, and a quick-change disk 23 that can be connected to the gun changing disk 21 is arranged on the end effector of the manipulator, so that the manipulator can quickly switch and replace the required fixture 3 through the quick-change disk 23.

[0035] During the process of placing the gun changing tray 21, the limiting plates 222 can be used to guide the manipulator to place the connecting portion 221 of the gun changing tray within the limiting space between the limiting plates 222. At the same time, the clamp connecting block 211 is clamped with the support rod 223 via the clamp interface 2111, thereby ensuring the stability of the gun changing tray 21 on the storage block 22, that is, the stability of the clamp 3 in the support frame 1, thereby ensuring that the manipulator can accurately re-grasp the clamp 3 later.

[0036] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent transformations made using the contents of the specification and drawings of the present invention, or directly or indirectly applied in the relevant technical field, are also included in the patent protection scope of the present invention.

Claims

1. A fixture storage device for a robot, characterized in that: It comprises a support frame and a chuck assembly; a multi-layer fixture placement layer is arranged on the support frame, and a fixture support block is arranged on the multi-layer fixture placement layer; The chuck assembly includes a gun changing plate, a storage block for supporting the gun changing plate, and a quick changing plate arranged on the end effector of the manipulator and adapted to the gun changing plate; a clamp connecting block is arranged on the gun changing plate, and the storage blocks are arranged layer by layer on the outer side wall of the support frame along the clamp placement layer.

2. The fixture storage device of the robot according to claim 1, characterized in that: The storage block includes a connecting portion and a limiting plate; the connecting portion is connected to the fixture placement layer, the limiting plate is relatively arranged on the connecting portion, and a limiting space for placing the fixture connection block is formed between the limiting plates.

3. The fixture storage device of the robot according to claim 2, characterized in that: The storage block also includes a support rod, which is arranged between the limiting plates, and the clamp connection block is provided with a card interface corresponding to the support rod.

4. The fixture storage device of the robot according to claim 1, characterized in that: The distance between two adjacent fixture placement layers is 300 mm to 500 mm.

5. The fixture storage device of the robot according to claim 1, characterized in that: An identifier is arranged on the outer side wall of the support frame, and the identifier is communicatively connected with the manipulator.

Images