Quick-change gripping device and stamping equipment

Abstract

The utility model provides a quick-change gripping device and stamping equipment, the quick-change gripping device comprises a gripping male end and a gripping female end, a plug-in unit and a locking unit are arranged between the gripping male end and the gripping female end, the locking unit comprises a locking matching part arranged on the gripping female end and a moving driving part arranged on the gripping male end, and the moving driving part is connected with the plug-in unit and the locking matching part. And the locking part is connected to the power output end of the movable driving part, the locking part and the locking matching part are connected in an inserted mode, the grabbing female end can move along with the mechanical arm, the locking part and the locking matching part are unlocked, and the mechanical arm can drive the grabbing male end and the grabbing female end to cancel insertion connection. The quick-change grabbing device is convenient to assemble and disassemble, can be quickly replaced, is applied to stamping equipment, can improve stamping efficiency, reduces labor, saves manpower, and has good practicability.

Description

Technical Field

[0001] The utility model relates to the technical field of automated grabbing devices suitable for vehicle parts processing, and in particular to a quick-change grabbing device. At the same time, the utility model also relates to a stamping device using the quick-change grabbing device. Background Art

[0002] Automation relies on various advanced technical means, such as computer technology, information technology, control technology, etc., to enable machines, equipment or systems to receive, process and execute instructions, thereby realizing automated operations. It aims to reduce or replace direct human participation, improve production efficiency and quality, and enable people to engage in more complex and creative work.

[0003] With the rapid development of the automation industry, the demand for automobile manufacturing automation is becoming more and more urgent. Automobile manufacturing automation refers to the application of automation technology in the automobile manufacturing process to improve production efficiency, reduce costs, improve product quality and consistency, and reduce manual intervention.

[0004] Automotive automation has the functions of improving production efficiency, reducing costs, improving product quality and enhancing flexibility. It mainly includes stamping automation, welding automation, painting automation, assembly automation and testing automation.

[0005] A gripping device is a mechanical device or system used to grasp, move or manipulate objects. In the current automotive automation industry, taking stamping automation equipment as an example, due to the large number of parts that need to be processed and the variety of part specifications, different parts usually require different gripping devices. When processing different parts, it is usually necessary to replace the gripping device, resulting in low production efficiency and waste of manpower and material resources. Utility Model Content

[0006] In view of this, the utility model aims to provide a quick-change gripping device that can be installed on a robot arm to achieve the purpose of increasing production capacity, saving manpower and labor.

[0007] In order to achieve the above object, the technical solution of the utility model is implemented as follows:

[0008] A quick-change gripping device comprises a gripping male end for connecting to a mechanical arm, and a gripping female end capable of being connected to the gripping male end;

[0009] A plug-in unit and a locking unit are provided between the grabbing male end and the grabbing female end, and the locking unit includes a locking matching portion provided on the grabbing female end, a moving driving portion provided on the grabbing male end, and a locking portion connected to a power output end of the moving driving portion;

[0010] When the mechanical arm drives the grasping male end and the grasping female end to be plugged in a first direction, the moving driving part drives the locking part to move, and the locking part and the locking matching part can be plugged in a second direction and locked, and when the moving driving part drives the locking part to move in the opposite direction, the locking part and the locking matching part are unlocked, and the mechanical arm can drive the grasping male end and the grasping female end to cancel the plugging;

[0011] The first direction and the second direction are arranged crosswise.

[0012] Further, the grabbing female end includes a female end mounting plate and a workpiece grabbing structure arranged on the female end mounting plate; the locking mating portion is arranged on the female end mounting plate of the grabbing female end;

[0013] The grabbing male end includes a mounting portion, a bearing portion connected to one side of the mounting portion, the grabbing male end is connected to the mechanical arm through the mounting portion, and the moving driving portion is arranged on the bearing portion;

[0014] The plug-in unit is arranged between the bearing portion and the female end mounting plate.

[0015] Further, the mobile driving part includes a cylinder mounted on the bearing part;

[0016] The bearing portion is provided with a first gas circuit interface, the female end mounting plate is provided with a second gas circuit interface, and the second gas circuit interface is arranged in a one-to-one correspondence with the first gas circuit interface.

[0017] Furthermore, the plug-in unit includes a plug-in column arranged on the bearing portion, and a plug-in hole arranged on the female end mounting plate, and the plug-in column can be inserted into the plug-in hole.

[0018] Furthermore, the locking units are provided on both sides of the female end mounting plate.

[0019] Furthermore, the quick-change gripping device further comprises a female end support structure, and the female end support structure comprises a female end support plate;

[0020] The female end support plate is provided with a female end support portion for supporting the grasping female end, and a positioning unit is provided between the female end support plate and the female end mounting plate, and the positioning unit is used to limit the installation position of the female end mounting plate on the female end support plate.

[0021] Furthermore, the positioning unit includes a positioning pin provided on the female end support plate, and a positioning hole provided on the female end mounting plate, and the positioning pin can be inserted into the positioning hole.

[0022] Furthermore, the female end support structure includes a support column, and a height adjustment structure is provided between the support column and the female end support plate, and the height adjustment structure is used to adjust the height position of the female end support plate on the support column.

[0023] Furthermore, a detection unit is provided on the female end support plate, and the detection unit is used to detect the installation position of the female end mounting plate on the female end support plate.

[0024] Compared with the prior art, the utility model has the following advantages:

[0025] The quick-change gripping device described in the utility model is particularly suitable for use with a robotic arm. Its mobile driving part drives the locking part to move, so that the locking part and the locking matching part can be locked and unlocked. It is easy to assemble and disassemble, and can realize rapid replacement of the gripping device. When applied to stamping equipment, it can improve stamping efficiency and increase production line rhythm, reduce labor, save manpower and cost investment, and has good practicality.

[0026] In addition, a female end mounting plate and a bearing part are provided, and the two are conveniently plugged in and matched, and a locking unit is conveniently provided. The bearing part is provided on one side of the mounting part, which is convenient for fixing the mobile drive part. The mobile drive part includes a cylinder, which has a simple structure and is easy to install and maintain. Existing standard parts can also be used, and the cost is low. The first gas circuit interface and the second gas circuit interface are provided, which is convenient for gas circuit layout. Locking units are provided on both sides of the female end mounting plate, which is conducive to improving the reliability of locking between the grasping male end and the grasping female end.

[0027] In addition, the female end support structure is provided to facilitate the support of the grab female end, which is conducive to improving the convenience of grabbing the female end for replacement. The positioning unit is provided to improve the accuracy of the installation of the female end mounting plate on the female end support plate, thereby facilitating the smooth cooperation between the grab female end and the grab male end.

[0028] The female end support structure includes a support column, and a height adjustment structure is provided between the support column and the female end support plate, which is conducive to adjusting the height position of the female end support plate, and is conducive to adjusting the placement position of the grasping female end, which can further facilitate the smooth cooperation between the grasping female end and the grasping male end. A detection unit is provided on the female end support plate, and the detection unit is used to detect the installation position of the female end mounting plate on the female end support plate, which also facilitates the smooth cooperation between the grasping female end and the grasping male end.

[0029] Another object of the present invention is to provide a stamping device, wherein the stamping device comprises the quick-change gripping device as described above.

[0030] The punching equipment described in the present invention has the same beneficial effects as the above-mentioned quick-change gripping device relative to the prior art, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the accompanying drawings:

[0032] Figure 1 This is a schematic diagram of the structure of the quick-change grabbing device in the application state according to an embodiment of the utility model;

[0033] Figure 2 It is a structural schematic diagram of the grabbing male end according to an embodiment of the utility model;

[0034] Figure 3 It is a front view of the grabbing male end described in the embodiment of the utility model;

[0035] Figure 4 It is a rear view of the grabbing male end according to the embodiment of the utility model;

[0036] Figure 5 This is a schematic diagram of the structure of the grabbing female end according to an embodiment of the utility model;

[0037] Figure 6 It is a front view of the grabbing female end described in the embodiment of the utility model;

[0038] Figure 7 It is a rear view of the grabbing female end according to the embodiment of the utility model;

[0039] Figure 8 It is a structural schematic diagram of the female end support structure described in an embodiment of the utility model.

[0040] Description of reference numerals:

[0041] 1. Grab the male end; 2. Grab the female end; 3. Female end support structure; 4. Robotic arm; 5. Stamping equipment; 6. Workpiece;

[0042] 101, mounting part; 1011, locking mechanism; 1012, main connecting arm; 1013, main mounting base plate; 1014, auxiliary mounting base plate; 1015, air circuit support; 1016, main air pipe joint; 1017, tee; 102, bearing part; 1021, mobile driving part; 10211, cylinder front end plate; 10212, front connecting plate; 1022, locking part; 10221, plug connector; 1023, plug column; 1025, first air circuit interface;

[0043] 201, female end mounting plate; 2011, locking mating portion; 20111, plug-in slot; 2012, plug-in hole; 2013, positioning hole; 2014, second air path interface; 2015, female end air pipe connector;

[0044] 202, workpiece grasping structure; 2021, main rod; 2022, main rod fixing mechanism; 2023, support rod; 2024, cylinder clamp;

[0045] 301, support column; 302, female end support plate; 3021, female end support portion; 3022, positioning pin; 303, adjustment bolt; 304, adjustment nut; 305, detection unit mounting bracket;

[0046] 501. Pillar. DETAILED DESCRIPTION

[0047] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0048] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0049] In addition, in the description of the present invention, unless otherwise clearly defined, the terms "installation", "connection", "connection", and "connector" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood in combination with specific circumstances.

[0050] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0051] Embodiment 1

[0052] Based on the above design concept, an exemplary structure of the quick-change gripping device of this embodiment is as follows: Figure 1 As shown, it has the effect of improving the quick-change efficiency by improving its own structure, and can optimize the gripper replacement operation in a two-person collaborative manner, making the operation safe and labor-saving.

[0053] It should be noted here that the quick-change grasping device of this embodiment is particularly suitable for use in conjunction with a robotic arm 4, and is thus used in equipment such as stamping equipment 5, welding equipment, painting equipment, assembly equipment and testing equipment to grasp workpieces 6, which can better improve the quick-change efficiency.

[0054] In this embodiment, the workpiece 6 grasped by the grasping device can be, for example, the side outer panel, left and right pillars and other parts of the automobile. In order to improve the safety factor and increase its hardness and rigidity, these workpieces 6 are generally formed by hot stamping. Therefore, this embodiment is explained by taking the quick-change grasping device applied to the stamping equipment 5 as an example.

[0055] The robot arm 4 in this embodiment can be, for example, an existing truss robot arm, also known as a truss manipulator, which is a robot arm 4 with multiple joints. For details, reference can be made to the existing structure. The truss robot arm is a three-axis structure, which is based on a truss structure and has the advantages of high strength, high rigidity, strong load-bearing capacity, and easy maintenance. The operating principle of the truss robot arm is to provide sufficient driving and braking capabilities through a servo drive motor, so that the robot arm 4 can complete various complex operating tasks at high speed and high precision.

[0056] In this embodiment, refer to Figure 1 As shown, the X-axis of the truss robot arm realizes left and right movement in the production line direction, the Y-axis realizes forward and backward movement in the production line direction, and the Z-axis realizes up and down movement. The truss robot arm is installed on the two columns 501 on the feeding side of the press 1 by bolt fixing through a crossbeam extending along the X-axis direction.

[0057] Next, refer to Figures 2 to 8 The quick-change grabbing device of the present embodiment is explained. In terms of overall structure, the quick-change grabbing device of the present embodiment mainly includes a grabbing male end 1 and a grabbing female end 2, wherein the grabbing male end 1 is used to be connected to a robot arm 4, and the robot arm 4 is used to be installed on a column 501 of a stamping equipment 5, and the grabbing female end 2 is used to be placed on the female end support structure 3 described below, and the robot arm 4 can drive the grabbing male end 1 to move above the grabbing female end 2, thereby facilitating the grabbing male end 1 and the grabbing female end 2 to be connected together.

[0058] Specifically, the structure of the grabbing male end 1 of this embodiment can refer to Figures 2 to 4 As shown, the structure of the grab female end 2 can refer to Figures 5 to 7 As shown, a plug-in unit and a locking unit are provided between the grabbing male end 1 and the grabbing female end 2. The plug-in unit is used to realize the pre-connection between the grabbing male end 1 and the grabbing female end 2, and the locking unit is used to realize the stable and reliable connection between the grabbing male end 1 and the grabbing female end 2, so that the robot arm 4 can drive the grabbing female end 2 to move through the grabbing male end 1, and the grabbing female end 2 can be used to grab the workpiece 6, thereby realizing the robot arm 4 drives the workpiece 6 to move. In this embodiment, the robot arm 4 drives the grabbing female end 2 to drive the workpiece 6 to move to the processing position of the stamping equipment 5.

[0059] like Figure 2 and Figure 5As shown, the locking unit includes a locking matching part 2011 provided on the grasping female end 2, a moving driving part 1021 provided on the grasping male end 1, and a locking part 1022 connected to the power output end of the moving driving part 1021. When the mechanical arm 4 drives the grasping male end 1 and the grasping female end 2 to plug in the first direction, the moving driving part 1021 drives the locking part 1022 to move, and the locking part 1022 and the locking matching part 2011 can be plugged in the second direction and locked, and the grasping female end 2 can drive the grasped workpiece 6 to move with the mechanical arm 4, and the moving driving part 1021 drives the locking part 1022 to move in the opposite direction, and the locking part 1022 and the locking matching part 2011 are unlocked, and the mechanical arm 4 can drive the grasping male end 1 and the grasping female end 2 to cancel the plugging.

[0060] It should be noted that in order to improve the locking effect and facilitate the matching of the grabbing male end 1 and the grabbing female end 2, the first direction and the second direction are arranged crosswise. For example, in this embodiment, the direction of the grabbing male end 1 and the grabbing female end 2 plugging is the up-down direction (Z-axis direction), that is, the first direction, and the direction of the locking portion 1022 and the locking matching portion 2011 plugging is the left-right direction (X-axis direction), that is, the second direction. The first direction and the second direction are arranged orthogonally, so that when the locking portion 1022 and the locking matching portion 2011 are plugged, it is helpful to prevent the grabbing male end 1 and the grabbing female end 2 from being disengaged in the first direction.

[0061] As a preferred embodiment, Figures 5 to 7 As shown, the grabbing female end 2 includes a female end mounting plate 201 and a workpiece grabbing structure 202 disposed on the female end mounting plate 201 , and a locking mating portion 2011 is disposed on the female end mounting plate 201 of the grabbing female end 2 .

[0062] In this embodiment, the female end mounting plate 201 is generally in the shape of a flat plate. Figure 6 and Figure 7 In the state shown, locking fitting parts 2011 are fixedly provided on both the left and right sides of the female end mounting plate 201, and each locking fitting part 2011 is specifically installed on the female end mounting plate 201 by bolts. One side of the female end mounting plate 201 is provided with a locking fitting part 2011, and the other side is provided with two locking fitting parts 2011, and the two locking fitting parts 2011 are arranged with a vertical spacing, and each locking fitting part 2011 is provided with a plug-in slot 20111 on the side facing away from the female end mounting plate 201, and each plug-in slot 20111 extends in the vertical direction.

[0063] like Figures 2 to 4As shown, the grabbing male end 1 mainly includes a mounting portion 101, and a bearing portion 102 connected to one side of the mounting portion 101. The grabbing male end 1 is connected to the mechanical arm 4 through the mounting portion 101. The moving driving portion 1021 is arranged on the bearing portion 102, and the plug-in unit is arranged between the bearing portion 102 and the female end mounting plate 201. Here, the female end mounting plate 201 and the bearing portion 102 are arranged, and the two are conveniently plugged and matched, and the locking unit is conveniently arranged. The bearing portion 102 is arranged on one side of the mounting portion 101, which is convenient for fixing the moving driving portion 1021.

[0064] The mounting part 101 mainly includes a main mounting substrate 1013 and an auxiliary mounting substrate 1014. The main mounting substrate 1013 and the auxiliary mounting substrate 1014 are connected together by bolts, and the mounting part 101 is connected to the robot arm 4 through the main mounting substrate 1013. The connection between the main mounting substrate 1013 and the robot arm 4 is also connected by bolts.

[0065] The locking mechanism 1011 is connected to the side wall of the main connecting arm 1012 by bolts, and the locking mechanism 1011 is also fixedly installed on the main mounting base plate 1013 by bolts. The main mounting base plate 1013 is designed with a sink corresponding to the installation position of the locking mechanism 1011. After the locking mechanism 1011 is fixedly installed, the lower plane of the installation position is flush with the lower plane of the main mounting base plate 1013.

[0066] The auxiliary mounting substrate 1014 is connected to the main mounting substrate 1013 by bolts. For example, the auxiliary mounting substrate 1014 can be connected to the lower plane and the left and right side vertical surfaces of the main mounting substrate 1013 by bolts respectively.

[0067] The air circuit support 1015 is fixedly installed on the main connecting arm 1012, specifically installed on the main connecting arm 1012 by bolts. Two main air pipe joints 1016 are installed on the air circuit support 1015. The external air source is connected to the main air pipe joint 1016 along the stamping equipment 5 such as the column 501 of the press and the mechanical arm 42. The other end of each main air pipe joint 1016 is connected to the tee 1017 of the corresponding air circuit. The tee 1017 of each air circuit leads out two air circuits respectively, so as to lead to the corresponding first air circuit interface 1025.

[0068] At Figure 3 and Figure 4 In the state shown, the main connecting arm 1012 extends in the left-right direction, the bearing part 102 is fixedly installed on the right end of the main connecting arm 1012 by bolts, and the front end connecting plate is fixedly installed on the left end of the bearing part 102 by bolts.

[0069] like Figure 2As shown, the cross-section of the bearing portion 102 is groove-shaped, and the mobile driving portion 1021 is fixedly installed in the groove of the bearing portion 102 by bolts, and there are two mobile driving portions 1021, which are arranged back to back, and a locking portion 1022 is provided at the power output end of each mobile driving portion 1021.

[0070] As in this embodiment, a locking portion 1022 is provided at the power output end of one mobile driving portion 1021, and two locking portions 1022 are provided at the power output end of the other mobile driving portion 1021. The cross-section of each locking portion 1022 is an inverted "L" shape, and a plug connector 10221 is provided on the side of each locking portion 1022 facing the load-bearing portion 102 to facilitate the plugging of the plug-in groove 20111 on the corresponding locking mating portion 2011.

[0071] It should be noted here that, in this embodiment, the example in which the plug connector 10221 is provided on the locking portion 1022 and the plug groove 20111 is provided on the locking matching portion 2011 is used for explanation. In addition, the plug groove 20111 may be provided on the locking portion 1022 and the plug connector 10221 may be provided on the locking matching portion 2011, or a plug rod may be provided on the locking portion 1022 and a plug hole may be provided on the locking matching portion 2011, or a plug hole may be provided on the locking portion 1022 and a plug rod may be provided on the locking matching portion 2011.

[0072] In a preferred embodiment, the power output end of each mobile driving part 1021 is sequentially connected to the cylinder front end plate 10211, the front connecting plate 10212 and the locking part 1022. Specifically, the cylinder front end plate 10211 is connected to the power output end of the mobile driving part 1021, such as the cylinder rod, by bolts, the front connecting plate 10212 is fixedly installed on the cylinder front end plate 10211 by bolts, and the plug connector 10221 can be provided on the locking part 1022 by bolts. In addition, the locking part 1022 with the plug connector 10221 can also be integrally formed.

[0073] like Figures 5 to 7 As shown, in this embodiment, the workpiece grasping structure 202 includes two main rods 2021, each of which is installed on the female end mounting plate 201 through two main rod fixing mechanisms 2022. The main rod 2021 preferably adopts an aluminum tube with a diameter of 40 mm. The support rod 2023 is fixedly installed on the main rod 2021 through a fixing part such as a lock or a clamp. The other end of the support rod 2023 is installed with a cylinder clamp 2024. By controlling the air inlet and outlet of the two air pipe joints on the cylinder clamp 2024, the clamping and loosening of the cylinder clamp 2024 are realized, thereby realizing the grasping and putting down of the workpiece 6 such as a plate.

[0074] In addition, four female air pipe connectors 2015 are installed on the female mounting plate 201 , and the threaded end of each female air pipe connector 2015 is installed in a corresponding threaded hole on the female mounting plate 201 to communicate with the corresponding second air path interface 2014 .

[0075] When the male end 1 and the female end 2 are engaged, the four plug-in columns 1023 are inserted into the corresponding plug-in holes 2012 on the female end 2, so that the lower plane of the bearing part 102 is tightly fitted with the upper plane of the female end mounting plate 201 of the female end 2, so that the first air circuit interface 1025 is connected with the corresponding second air circuit interface 2014, and the air pipe end of the female end air pipe connector 2015 is connected to the corresponding cylinder clamp 2024.

[0076] It should be noted that the workpiece grasping structure 202 may adopt other structures in addition to the above description, as long as the structure on the female end mounting plate 201 is consistent, so as to facilitate the same grasping male end 1 to cooperate with different grasping female ends 2. For example, the workpiece grasping structure 202 may adopt a vacuum suction cup.

[0077] As a preferred embodiment, the mobile driving part 1021 includes a cylinder installed on the bearing part 102, which has a simple structure, is easy to install and maintain, and can also use existing standard parts, which is relatively low in cost.

[0078] As a preferred embodiment, a first gas circuit interface 1025 is provided on the bearing portion 102, and a second gas circuit interface 2014 is provided on the female end mounting plate 201. The second gas circuit interface 2014 is arranged in a one-to-one correspondence with the first gas circuit interface 1025. The first gas circuit interface 1025 and the second gas circuit interface 2014 arranged here facilitate gas circuit arrangement.

[0079] like Figure 2 As shown, in this embodiment, the number of the first gas path interfaces 1025 is four, and two first gas path interfaces 1025 are respectively provided on both sides of the bearing portion 102. Figure 5 As shown, the number of the second gas circuit interfaces 2014 is also four. After the grabbing male end 1 and the grabbing female end 2 are plugged in and relatively locked, each second gas circuit interface 2014 is connected to the corresponding first gas circuit interface 1025.

[0080] As a preferred embodiment, Figure 2 and Figure 5 As shown, the plug-in unit includes a plug-in column 1023 arranged on the bearing portion 102, and a plug-in hole 2012 arranged on the female end mounting plate 201, and the plug-in column 1023 can be inserted into the plug-in hole 2012, so that the grasping male end 1 and the grasping female end 2 are plugged in a first direction.

[0081] In this embodiment, four plug-in posts 1023 are provided on the bearing part 102, specifically, two plug-in posts 1023 are provided on each side of the female end mounting plate 201, and the plug-in holes 2012 on the female end mounting plate 201 are arranged one-to-one with the plug-in posts 1023 on the bearing part 102, so as to facilitate the plug-in of the grabbing male end 1 and the grabbing female end 2 in the first direction, and the plug-in stability and reliability are high. It should be understood that the number of plug-in posts 1023 and plug-in holes 2012 can of course be set to other numbers.

[0082] As a preferred embodiment, as described above, locking units are provided on both sides of the female end mounting plate 201, which is beneficial to improving the reliability of locking between the grasping male end 1 and the grasping female end 2, and the overall structure is simple and convenient to arrange. It should be understood that the locking unit can of course be arranged only on one side of the female end mounting plate 201. At this time, in order to improve the locking reliability, the matching depth of the plug slot 20111 and the plug connector 10221 should be increased.

[0083] As a preferred embodiment, the quick-change gripping device further includes a female end support structure 3, such as Figure 8 As shown, the female end support structure 3 includes a female end support plate 302, and a female end support portion 3021 for supporting and grasping the female end 2 is provided on the female end support plate 302. Figure 8 As shown, in this embodiment, the female end support portion 3021 is specifically four support blocks, so as to stably support and grasp the female end 2. It should be understood that the number of the female end support portions 3021 can of course be set to other values ​​as needed.

[0084] As a preferred embodiment, a positioning unit is provided between the female end support plate 302 and the female end mounting plate 201, and the positioning unit is used to limit the installation position of the female end mounting plate 201 on the female end support plate 302. The female end support structure 3 provided here facilitates the support for grasping the female end 2, and helps to improve the convenience of grasping the female end 2 for replacement.

[0085] In a preferred embodiment, the positioning unit specifically includes a positioning pin 3022 provided on the female end support plate 302, and a positioning hole 2013 provided on the female end mounting plate 201, and the positioning pin 3022 can be inserted into the positioning hole 2013. The positioning unit is provided here to improve the accuracy of the installation of the female end mounting plate 201 on the female end support plate 302, so as to facilitate the smooth cooperation between the grasping female end 2 and the grasping male end 1.

[0086] In a preferred embodiment, the positioning hole 2013 is provided on the positioning member, and the positioning member is installed in the through hole on the female end mounting plate 201 by bolts. The positioning member is provided with a positioning hole 2013 on the lower side for the positioning pin 3022 to be inserted.

[0087] For example, in this embodiment, the number of the positioning pins 3022 on the female end support plate 302 is two, and the number of the positioning holes 2013 on the female end mounting plate 201 is arranged in a one-to-one correspondence with the number of the positioning pins 3022, so that each positioning pin 3022 can be inserted into the corresponding positioning hole 2013. It should be understood that the number of positioning units can be set to other values ​​as needed, and the positioning holes 2013 can be set on the female end support plate 302, and the positioning pins 3022 can be set on the female end mounting plate 201.

[0088] As a preferred embodiment, the female end support structure 3 includes a support column 301, and a height adjustment structure is provided between the support column 301 and the female end support plate 302, and the height adjustment structure is used to adjust the height position of the female end support plate 302 on the support column 301.

[0089] In this structure, the female end support structure 3 includes a support column 301, and a height adjustment structure is set between the support column 301 and the female end support plate 302, which is conducive to adjusting the height position of the female end support plate 302, and is conducive to adjusting the placement position of the grasping female end 2, which can further facilitate the smooth cooperation between the grasping female end 2 and the grasping male end 1.

[0090] like Figure 8 As shown, the cross-section of the support column 301 is square, and a flat plate is fixed on the top surface of the support column 301, and an adjusting bolt 303 is passed through the flat plate. The upper end of the adjusting bolt 303 is fixed on the female end support plate 302, and the adjusting bolt 303 is threadedly connected to at least two adjusting nuts 304. Adjusting bolts 303 are provided on the upper and lower sides of the flat plate on the top surface of the support column 301, so that the height position of the female end support plate 302 can be adjusted by tightening or loosening the adjusting bolt 303.

[0091] In order to facilitate the adjustment of the height position of the female end support plate 302, there are four groups of height adjustment structures, which are arranged around the support column 301 to stably support the female end support plate 302. It should be understood that the number of height adjustment structures can also be set to other values ​​as needed, and the female end support plate 302 can be directly fixed on the support column 301 in addition to being arranged on the support column 301 through the height adjustment structure.

[0092] In a preferred embodiment, the support column 301 is fixed to the ground by four expansion bolts, and the four female end support parts 3021, two positioning pins 3022 and the detection unit mounting bracket 305 described below are all fixedly mounted on the corresponding positions of the female end support plate 302 by bolts.

[0093] As a preferred embodiment, a detection unit is provided on the female end support plate 302, and the detection unit is used to detect the installation position of the female end mounting plate 201 on the female end support plate 302. Figure 8As shown, a detection unit mounting bracket 305 is provided on the female end support plate 302, and the detection unit mounting bracket 305 is used to install the detection unit, and the detection unit, such as a position sensor, a distance sensor, etc., is used to detect the installation position of the female end mounting plate 201 on the female end support plate 302, which can facilitate the smooth coordination between grabbing the female end 2 and grabbing the male end 1.

[0094] The quick-change gripping device of this embodiment is applied to the robot arm 4 on the stamping equipment 5. The robot arm 4 is specifically installed on the column 501 of the stamping equipment 5. The structure of the stamping equipment 5 refers to the existing structure, which mainly includes the column 501, the upper slider and the workbench, etc. The following describes the use process of the quick-change gripping device of this embodiment, which is mainly used to facilitate the loading of the stamping equipment 5.

[0095] Reference Figure 1 As shown, two female end support structures 3 are provided outside the column 501 of the stamping device 5 near the stamping device 5, and the two female end support structures 3 are arranged at intervals along the inner and outer directions (Y-axis direction), and the inner and outer directions refer to the directions orthogonal to the planes where the up-down direction and the left-right direction are located. For the convenience of description, the two female end support structures 3 are respectively referred to as the first female end support structure and the second female end support structure below.

[0096] The first female end support structure and the second female end support structure are installed side by side on the ground, one is used to place the standby grab female end 2, and the other is used as an empty platform. In the following description of this embodiment, the first female end support structure is used to place the standby grab female end 2, and the second female end support structure is an empty platform.

[0097] For the convenience of description, the workpiece 6 being produced, such as a plate, is defined as plate A, and the plate to be produced is defined as plate B. The specific process is as follows:

[0098] S1: During the production of sheet A, workers can enter the guardrail of the stamping equipment 5 at any time to place the grabbing female end 2 corresponding to sheet B on the first female end support structure. The four female end support parts 3021 can ensure that the grabbing female end 2 is placed stably, and the two positioning pins 3022 and the positioning holes 2013 can achieve accurate placement of the grabbing female end 2, and the detection switch can be used to confirm that the grabbing female end 2 is in place.

[0099] S2: After manually placing the grabbing female end 2 of the plate B, leave the guardrail and press the ready button.

[0100] S3: After the production of sheet A is completed, the robot arm 4 automatically executes the quick-change program and runs to the top of the second female end support structure, and descends to 5 mm from the upper surface of the female end support plate 302 of the second female end support structure. The program controls the mobile drive unit 1021 to drive the locking unit 1022 to extend, so that the plug connector 10221 is disengaged from the corresponding plug slot 20111, and under the action of gravity, the grasped female end 2 falls onto the second female end support structure.

[0101] S4: After putting down the grabbing female end 2 of plate A, the robot arm 4 moves to the top of the first female end support structure, and descends to the position of the grabbing female end 2 of plate B on the first female end support structure. The program controls the mobile drive unit 1021 to retract, so that the plug connector 10221 is locked into the corresponding plug slot 20111. At this time, the grabbing male end 1 and the grabbing female end 2 of plate B are engaged.

[0102] S5: The robot arm 4 executes the program and moves to the position just above the centering position of the conveyor line of the corresponding plate B, waiting to grab the plate B for production.

[0103] S6: Manually enter the guardrail to remove the grabbing female end 2 of the plate A on the second female end support structure, and place the grabbing female end 2 corresponding to the next batch of production plates on the first female end support structure, leave the guardrail and press the ready button, and repeat this cycle.

[0104] The quick-change gripping device of this embodiment is particularly suitable for use with a robot arm 4. Its mobile driving part 1021 drives the locking part 1022 to move, so that the locking part 1022 and the locking matching part 2011 can be locked and unlocked. It is easy to assemble and disassemble, and can realize rapid replacement of the gripping device. When used in the stamping equipment 5, it can improve the stamping efficiency and increase the production line rhythm, reduce labor, save manpower and cost investment, and has good practicality.

[0105] In addition, the male end 1 is mounted on the mechanical arm 4, and the manual operation only needs to replace the female end 2, which greatly reduces the weight of manual handling and can effectively reduce the labor intensity. The quick-change gripping device allows the existing two-person collaborative operation mode to be adjusted to a single-person operation mode, optimizes the operating personnel, and helps reduce labor cost investment.

[0106] Embodiment 2

[0107] This embodiment relates to a stamping device 5 , on which a quick-change gripping device as in the first embodiment is installed on a mechanical arm 4 .

[0108] The stamping equipment 5 of this embodiment has the same beneficial effects as the quick-change gripping device of the first embodiment relative to the prior art, and will not be described in detail here.

[0109] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A quick-change grabbing device, characterized in that: It comprises a grasping male end (1) for connecting to a mechanical arm (4), and a grasping female end (2) capable of being connected to the grasping male end (1); A plug-in unit and a locking unit are provided between the grabbing male end (1) and the grabbing female end (2), and the locking unit comprises a locking matching portion (2011) provided on the grabbing female end (2), a moving driving portion (1021) provided on the grabbing male end (1), and a locking portion (1022) connected to the power output end of the moving driving portion (1021); When the mechanical arm (4) drives the grasping male end (1) and the grasping female end (2) to be plugged in a first direction, the moving driving part (1021) drives the locking part (1022) to move, and the locking part (1022) and the locking matching part (2011) can be plugged in a second direction and locked, and when the moving driving part (1021) drives the locking part (1022) to move in the opposite direction, the locking part (1022) and the locking matching part (2011) are unlocked, and the mechanical arm (4) can drive the grasping male end (1) and the grasping female end (2) to cancel the plugging; The first direction and the second direction are arranged crosswise.

2. The quick-change gripping device according to claim 1, characterized in that: The grabbing female end (2) comprises a female end mounting plate (201) and a workpiece grabbing structure (202) arranged on the female end mounting plate (201); the locking matching portion (2011) is arranged on the female end mounting plate (201) of the grabbing female end (2); The grabbing male end (1) comprises a mounting portion (101), a bearing portion (102) connected to one side of the mounting portion (101), the grabbing male end (1) is connected to the mechanical arm (4) via the mounting portion (101), and the moving driving portion (1021) is arranged on the bearing portion (102); The plug-in unit is arranged between the bearing portion (102) and the female end mounting plate (201).

3. The quick-change grabbing device according to claim 2, characterized in that: The mobile driving part (1021) comprises a cylinder installed on the bearing part (102); The bearing portion (102) is provided with a first gas circuit interface (1025), and the female end mounting plate (201) is provided with a second gas circuit interface (2014), and the second gas circuit interface (2014) is arranged in a one-to-one correspondence with the first gas circuit interface (1025).

4. The quick-change grabbing device according to claim 2, characterized in that: The plug-in unit comprises a plug-in column (1023) provided on the bearing portion (102), and a plug-in hole (2012) provided on the female end mounting plate (201), and the plug-in column (1023) can be plugged into the plug-in hole (2012).

5. The quick-change grabbing device according to claim 2, characterized in that: The locking units are provided on both sides of the female end mounting plate (201).

6. The quick-change gripping device according to any one of claims 2 to 5, characterized in that: The quick-change gripping device further comprises a female end support structure (3), wherein the female end support structure (3) comprises a female end support plate (302); The female end support plate (302) is provided with a female end support portion (3021) for supporting the grasping female end (2), and a positioning unit is provided between the female end support plate (302) and the female end mounting plate (201), and the positioning unit is used to limit the installation position of the female end mounting plate (201) on the female end support plate (302).

7. The quick-change gripping device according to claim 6, characterized in that: The positioning unit comprises a positioning pin (3022) provided on the female end support plate (302), and a positioning hole (2013) provided on the female end mounting plate (201), and the positioning pin (3022) can be inserted into the positioning hole (2013).

8. The quick-change gripping device according to claim 6, characterized in that: The female end support structure (3) comprises a support column (301), and a height adjustment structure is provided between the support column (301) and the female end support plate (302), wherein the height adjustment structure is used to adjust the height position of the female end support plate (302) on the support column (301).

9. The quick-change gripping device according to claim 6, characterized in that: The female end support plate (302) is provided with a detection unit, and the detection unit is used to detect the installation position of the female end mounting plate (201) on the female end support plate (302).

10. A stamping device, characterized in that: The stamping equipment includes the quick-change gripping device according to any one of claims 1-9.

Images