Error-proof tooling

Abstract

Supporting rods are distributed on the two sides of a rod body of a main rod, the supporting rods comprise the first supporting rod and the second supporting rod which are integrally similar and different, the rod end sections, located outside a rod end connecting base, of the supporting rods are provided with rod end hoops in a clamped mode, and pin columns are arranged on the peripheral faces of the rod end hoops in a protruding and extending mode in the radial direction of the rod end hoops. The pin column is matched with the pin seat on the rod end connecting seat to limit axial displacement and circumferential rotation of the supporting rod, a protruding portion protruding out of the hoop face is arranged on the portion, located on the side of the pin column, of the rod end hoop, a check block is selectively arranged on the rod end connecting seat, and the check block and the protruding portion arranged on the hoop interfere with each other. When the supporting rod is installed, the protruding part and the check block interfere with each other, the pin column on the clamping hoop cannot be connected with the pin base, it shows that the installation position of the supporting rod is wrong, and the mistake proofing function is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of end picker manufacturing, in particular to an error-proof end picker. Background Art

[0002] During the use of the robot / manipulator, the socket of the end picker main rod / main disk cooperates with the end picker support rod to achieve the grasping of materials or parts. When replacing the next batch of materials or parts, due to the different shapes and sizes of the materials or parts, different end picker support rods need to be replaced in order to achieve accurate grasping. At present, the work of replacing the end picker support rod is mainly done manually, and it is inevitable that human errors in replacing the end picker rod will cause failures / danger in the subsequent production process.

[0003] The technical solution disclosed in the document entitled "An Anti-Wrong Insertion End Picker, Manipulator and Robot" (Document No. CN 213439668 U) includes an end picker socket 1 and an end picker support rod 4, wherein at least one limit slot 2 is provided at the end position plugged with the end picker support rod 4 on the end picker socket 1, and the limit slot 2 can be opened or blocked according to assembly requirements; correspondingly, at least one limit pin 6 is provided on the end picker support rod 4, and when the limit pin is set at a position corresponding to the limit slot opened on the end picker socket 1, the end picker support rod 4 can be inserted into the end picker socket 1 and complete the plugging. In this document, whether the end picker support rod 4 is correctly installed is judged based on whether the upper limit pin 6 on the end picker support rod 4 corresponds to the position of the upper limit slot 2 on the end picker socket 1. The position of the limit groove 2 processed on the end pick socket 1 must be precise and must correspond to the position of the upper limit pin 6 on the end pick support rod 4. During installation, it is not easy to determine in advance whether the upper limit pin 6 on the end pick support rod 4 corresponds to the position of the upper limit groove 2 on the end pick socket 1. Although it can prevent wrong insertion, it affects the efficiency of installation. Utility Model Content

[0004] The utility model aims to provide an anti-error end picker, which can prevent the end picker support rod from being inserted into the wrong position by means of mechanical limiting.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] An anti-error end picker, a rod end connection seat and a rod body connection seat are provided on a main rod, a rod end section of a support rod is connected to the rod end connection seat, a rod body of the support rod is connected to the rod body connection seat, the support rods are distributed on both sides of the rod body of the main rod, the support rods include a first support rod and a second support rod that are similar in overall structure but have differences, a rod end clamp is clamped on the rod end sections of the first support rod and the second support rod located outside the rod end connection seat, a pin is provided on the outer circumferential surface of the rod end clamp, the pin is provided along the radial protrusion of the rod end clamp, a pin seat is provided on the rod end connection seat, the pin seat has a pin hole that cooperates with the pin to form a limit fit to limit the axial displacement and circumferential rotation of the first support rod and the second support rod;

[0007] The rod end clamp of the first support rod or the second support rod has a convex portion protruding to the outside of the clamp surface beside the pin column, and a stopper is optionally set on the rod end connecting seat fixing the first support rod and the second support rod, and the stopper interferes with the convex portion set on the rod end clamp.

[0008] In the above scheme, when installing a support rod on a rod end connection seat provided with a stopper, if a convex portion is provided on the clamp at the rod end of the support rod to be installed, the convex portion will interfere with the block during installation of the support rod, causing the pin on the clamp to be unable to connect with the pin seat on the rod end connection seat, indicating that the support rod is installed in an incorrect position, thereby achieving the function of error prevention. In addition, when workers install the support rod, they can determine in advance the position where the support rod should be installed by observing whether the convex portion is provided on the clamp at the rod end of the support rod, thereby improving the efficiency of workers replacing the support rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a structural schematic diagram of the end picker and the manipulator of the utility model;

[0010] Figure 2 It is a partial enlarged view of the connection seat of the end picker provided with a stopper of the utility model;

[0011] Figure 3 It is a partial enlarged view of the connecting seat of the end picker of the utility model without a stopper. DETAILED DESCRIPTION

[0012] As shown in the figure, the error-proofing end picker has a rod end connection seat 20 and a rod body connection seat 30 on the main rod 1, the rod end section of the support rod 10 is connected to the rod end connection seat 20, the rod body of the support rod 10 is connected to the rod body connection seat 30, and the support rods 10 are distributed on both sides of the rod body of the main rod 1, characterized in that: the support rod 10 includes a first rod 10A and a second support rod 10B that are similar in overall shape but have differences, the rod end sections of the first support rod 10A and the second support rod 10B located outside the rod end connection seat 20 are clamped with a rod end clamp 11, a pin 111 is provided on the outer peripheral surface of the rod end clamp 11, and the pin 111 is arranged to protrude radially along the rod end clamp 11, and a pin seat 22 is provided on the rod end connection seat 20, and the pin seat 22 has a pin hole 221 that cooperates with the pin 111 to constitute a limit fit to limit the axial displacement and circumferential rotation of the first support rod 10A and the second support rod 10B;

[0013] The rod end clamp 11 of the first support rod 10A or the second support rod 10B has a convex portion protruding to the outside of the clamp surface next to the pin 111, and a stopper 21 is optionally provided on the rod end connecting seat 20 that fixes the first support rod 10A and the second support rod 10B. The stopper 21 interferes with the convex portion provided on the rod end clamp 11.

[0014] When installing the support rod 10 on the rod end connection seat 20 provided with the stopper 21, if a convex portion is provided on the clamp 11 at the rod end of the support rod 10 to be installed, the convex portion will interfere with the stopper 21 during installation of the support rod 10, resulting in the pin 111 on the clamp 11 being unable to connect with the pin seat 22 on the rod end connection seat 20, indicating that the position of the support rod 10 is wrong, thereby achieving the function of error prevention. In addition, when workers install the support rod 10, they can judge in advance the position where the support rod 10 should be installed by observing whether the convex portion is provided on the clamp 11 at the rod end of the support rod 10, thereby improving the efficiency of workers replacing the support rod 10.

[0015] Specifically, the first support rod 10A and the second support rod 10B are connected with the same number of suction cup connecting rods 60, the ends of the suction cup connecting rods 60 are connected with suction cups 61, and the suction surfaces of the suction cups 61 on the first support rod 10A and the second support rod 10B have different spacings and / or angles with the surfaces where the main rod 1 and the support rod 10 are located.

[0016] The spacing between the suction cup connecting rods 60 on the first support rod 10A is different from the spacing between the suction cup connecting rods 60 on the second support rod 10B. The overall similarities and differences between the first rod 10A and the second support rod 10B are specifically described.

[0017] The rod end clamp 11 is a Haversian structure with two arc-shaped plates hinged at one end by a hinge shaft 114 and an open end. The open end has a radially external flange 112, and the flange 112 is provided with a threaded hole or a through hole 113. The bolt 40 is connected to the threaded hole or the through hole 113 by a nut after being passed through. The bolt 40 installed on the first support rod 10A is the first bolt 40A, and the bolt 40 installed on the second support rod 10B is the second bolt 40B. The convex portion is the bolt end of the first bolt 40A or the second bolt 40B that protrudes from the outside of the flange 112 and is away from the bolt head.

[0018] The protrusion A is formed by a bolt section of the first bolt 40A or the second bolt 40B that passes through the flange edge 112 and protrudes to the outside of the flange edge 112 or a nut connected thereto.

[0019] In the example shown in the figure, the protrusion A is a bolt section of the first bolt 40A or the second bolt 40B that passes through the flange edge 112 and protrudes to the outside of the flange edge 112 .

[0020] The rod end connection seat 20 includes a connection seat 23A connected to the main rod 1 , and a cover body 23B is covered on the connection seat 23A. The connection seat 23A and the cover body 23B enclose a tubular cavity for constraining the support rod 10 , thereby constraining the position of the support rod 10 .

Claims

1. An error-proof end picker, wherein a main rod (1) is provided with a rod end connection seat (20) and a rod body connection seat (30), the rod end section of the support rod (10) is connected to the rod end connection seat (20), the rod body of the support rod (10) is connected to the rod body connection seat (30), and the support rods (10) are distributed on both sides of the rod body of the main rod (1), characterized in that: The support rod (10) comprises a first support rod (10A) and a second support rod (10B) which are similar in overall structure but have differences. The rod end sections of the first support rod (10A) and the second support rod (10B) located outside the rod end connection seat (20) are clamped with a rod end clamp (11). The outer peripheral surface of the rod end clamp (11) is provided with a pin column (111). The pin column (111) is arranged to protrude radially along the rod end clamp (11). The rod end connection seat (20) is provided with a pin seat (22). The pin seat (22) has a pin hole (221) which cooperates with the pin column (111) to form a limit fit for limiting the axial displacement and circumferential rotation of the first support rod (10A) and the second support rod (10B). A convex portion extending to the outside of the hoop surface is provided on the rod end clamp (11) of the first support rod (10A) or the second support rod (10B) beside the pin (111), and a stopper (21) is optionally provided on the rod end connection seat (20) for fixing the first support rod (10A) or the second support rod (10B), and the stopper (21) and the convex portion provided on the rod end clamp (11) interfere with each other.

2. The error-proofing end pick-up according to claim 1 is characterized in that: The first support rod (10A) and the second support rod (10B) are connected to the same number of suction cup connecting rods (60), the ends of the suction cup connecting rods (60) are connected to suction cups (61), and the suction surfaces of the suction cups (61) on the first support rod (10A) and the second support rod (10B) are at different distances and / or angles from the surfaces where the main rod (1) and the support rod (10) are located.

3. The error-proof end pick-up according to claim 1, characterized in that: The spacing between the suction cup connecting rods (60) on the first supporting rod (10A) is different from the spacing between the suction cup connecting rods (60) on the second supporting rod (10B).

4. The error-proofing end pick-up according to claim 1 is characterized in that: The rod end clamp (11) is a Haversian structure with two arc-shaped plates, one end of which is hinged by a hinge shaft (114) and the other end is open. The open end is provided with a radially external flange edge (112). The flange edge (112) is provided with a threaded hole or a through hole (113). The bolt (40) is inserted into the threaded hole or the through hole (113) and connected by a nut. The bolt (40) installed on the first support rod (10A) is a first bolt (40A), and the bolt (40) installed on the second support rod (10B) is a second bolt (40B). The protrusion is the bolt end of the first bolt (40A) or the second bolt (40B) protruding from the outside of the flange edge (112) and away from the bolt head.

5. The error-proof end pick-up according to claim 4, characterized in that: The first bolt (40A) or the second bolt (40B) is connected to the flange edge (112) and the bolt section protruding to the outside of the flange edge (112) or the nut connected thereto constitutes a convex part (A).

6. The error-proofing end pick-up according to claim 1, characterized in that: The rod end connecting seat (20) comprises a connecting seat (23A) connected to the main rod (1), a cover body (23B) covering the connecting seat (23A), and the connecting seat (23A) and the cover body (23B) enclose a tubular cavity that constrains the support rod (10).

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