Quick-change connector of tooling

Abstract

The quick-change connector comprises a male disc and a female disc, a pneumatic tensioning shaft is arranged on the male disc, a plurality of sliding grooves are formed in the side wall of the pneumatic tensioning shaft, steel balls are connected into the sliding grooves in a sliding mode, and a connecting hole in sliding fit with the pneumatic tensioning shaft is formed in the center of the female disc. Clamping holes in one-to-one correspondence with the sliding grooves are formed in the inner side wall of the connecting hole, a plurality of air holes are formed in the side wall of the periphery of the male disc and externally connected with high-pressure gas or negative-pressure gas, automatic switching of connection or separation of the male disc and the female disc is achieved through the pneumatic tensioning shaft and the steel balls, manual disassembly and assembly of the tooling by workers are not needed, and the working efficiency is improved. And the replacement time of the tooling is shortened. The manipulator replacement device has the effect of improving the replacement efficiency of the tooling on the manipulator.

Description

Technical Field

[0001] The present application relates to the technical field of automobile stamping, and in particular to a quick-change joint for an end tool. Background Art

[0002] In order to improve the production efficiency of automotive parts, the stamping production line of automotive parts adopts fully automated production. During the transportation of stamped parts, the end picker picks up the stamped parts, and then the robot connects to the end picker to transfer the stamped parts.

[0003] When the type of stamping parts produced by stamping changes or the end picker fails, the end picker needs to be replaced. However, the current method of replacing the end picker is mainly done manually. After the production line stops, the worker enters the press room to remove the end picker that needs to be replaced from the robot, and then installs the new end picker on the corresponding robot. Finally, the end picker is fixed to the robot by screws or the like. The replacement steps of this end picker are cumbersome, the replacement time is long, and the replacement efficiency of the end picker is low, which has obvious shortcomings. Utility Model Content

[0004] In order to improve the replacement efficiency of the end effector on the robot, the present application provides an end effector quick-change joint.

[0005] The present application provides an end picker quick-change joint adopting the following technical solution:

[0006] A quick-change joint for an end picker comprises a male disc and a female disc, the male disc being arranged on a manipulator, the female disc being arranged on an end picker, the male disc being arranged with a pneumatic tensioning shaft, the side wall of the pneumatic tensioning shaft being provided with a plurality of slide grooves, the slide grooves being slidably connected with steel balls, a connecting hole which is slidably matched with the pneumatic tensioning shaft being provided at the center of the female disc, a clamping hole which corresponds one to one with the slide groove being provided on the inner side wall of the connecting hole, a plurality of air holes being provided on the outer peripheral side wall of the male disc, the air holes being connected with high-pressure gas or negative-pressure gas, the air holes being connected with the slide grooves through the inside of the pneumatic tensioning shaft, and when the male disc is connected with the female disc, the air holes are connected with high-pressure gas, and the high-pressure gas pushes the steel balls to move toward the clamping holes, and the steel balls abut against the inner side wall of the clamping holes.

[0007] By adopting the above technical solution, when the end picker needs to be replaced, negative pressure gas is introduced into the air hole, negative pressure is generated inside the pneumatic tensioning shaft, and the steel ball is moved to the inside of the slide groove by suction. At this time, the connection between the male disc and the female disc disappears, and the manipulator detaches from the end picker and moves to the new end picker. When the pneumatic tensioning shaft on the male disc is inserted into the connecting hole on the new female disc, high-pressure gas is introduced into the air hole, and the high-pressure gas flows along the inside of the pneumatic tensioning shaft into the slide groove and pushes the steel ball toward the clamping hole. As the air pressure inside the slide groove increases, the end of the steel ball is pressed against the inside of the clamping hole by the high-pressure gas, thereby realizing the connection between the manipulator and the end picker. Such an arrangement realizes the automatic replacement of the end picker on the manipulator, and does not require workers to manually disassemble and install the end picker, which shortens the replacement time of the end picker and improves the replacement efficiency of the end picker on the manipulator. It is suitable for automated stamping production lines.

[0008] Optionally, the end of the slide groove away from the clamping hole is fixedly connected to a limit ring, and the inner diameter of the limit ring is smaller than the diameter of the steel ball.

[0009] By adopting the above technical solution, the setting of the limit ring realizes the limitation of the moving distance of the steel ball, avoids the possibility of the steel ball sliding out of the slide groove directly due to excessive suction, and ensures the smooth connection between the male disc and the female disc.

[0010] Optionally, a spring is arranged in the slide groove, one end of the spring is connected to the limiting ring, and the other end is connected to the steel ball. When the spring is in a natural state, the steel ball is completely arranged in the slide groove.

[0011] By adopting the above technical solution, when the high-pressure gas is switched to negative-pressure gas, the extrusion pressure on the steel ball is instantly reduced, the tension on the spring is reduced, the accumulated elastic force of the spring is instantly released, the spring recovers its deformation and pulls the steel ball back into the slide groove. This arrangement enables the steel ball to be quickly reset when the high-pressure gas is disconnected, and the separation of the male and female discs does not require waiting for the formation of the negative pressure chamber, thereby shortening the time for the steel ball to move back into the slide groove, thereby further improving the replacement efficiency of the end picker on the manipulator.

[0012] Optionally, the male disk is provided with two positioning pins, the female disk is provided with a circular first positioning hole and an elliptical second positioning hole, and the positioning pins are inserted into the first positioning hole and the second positioning hole.

[0013] By adopting the above technical solution, accurate positioning between the male disk and the female disk is achieved through the plug-in cooperation between the locating pin and the first locating hole and the second locating hole, which is convenient for connecting the manipulator and the end picker. At the same time, the elliptical second locating hole enables the locating pin inserted in the second locating hole to have a certain displacement ability, avoiding the two locating pins from being stuck in the first locating hole and the second locating hole, thereby improving the stability of the male disk and the female disk when docking.

[0014] Optionally, the male disk is provided with two positioning pins, the female disk is provided with a circular first positioning hole and an elliptical second positioning hole, and the positioning pins are inserted into the first positioning hole and the second positioning hole.

[0015] By adopting the above technical solution, the setting of the sealing groove and the sealing protrusion improves the airtightness when the male disc is connected to the female disc, reduces the leakage of high-pressure gas or negative-pressure gas, and thus ensures the smooth connection or separation process between the male disc and the female disc.

[0016] Optionally, a plurality of first mounting holes are formed on the outer peripheral side wall of the male disk, and a plurality of second mounting holes corresponding to the first mounting holes are formed on the outer peripheral side wall of the female disk.

[0017] By adopting the above technical solution, the male disk and the female disk can be connected to other modules through the upper connecting holes and the lower connecting holes, thereby facilitating the quick-connect connector to pass through the upper connecting holes and the lower connecting holes, thereby facilitating the upper connecting disk and the lower connecting disk to load other modules, thereby facilitating the manipulator and the end picker to perform more operations.

[0018] Optionally, a plurality of first air joints are provided on the outer peripheral side wall of the male disk, and a plurality of second air joints are provided on the outer peripheral side wall of the female disk, the air outlet ends of the second air joints are connected to the pneumatic equipment on the end picker, and air passages are provided on both the male disk and the female disk, and the first air joints and the second air joints are connected through the air passages.

[0019] By adopting the above technical solution, when the male disk and the female disk are connected, the first gas joint is connected to the second gas joint through the air channel, and the gas of the pneumatic equipment on the end picker flows through the air channel. This arrangement saves the need to connect gas pipelines. At the same time, the on-off of the gas circuit is coordinated with the connection relationship between the male disk and the female disk, and the gas circuit moves with the movement of the end picker, thereby ensuring the working stability of the end picker.

[0020] Optionally, a flexible pad is provided on the inner side wall of the clamping hole.

[0021] By adopting the above technical solution, the setting of the flexible pad can reduce the impact force of the steel ball when it hits the inner wall of the clamping hole, avoiding the phenomenon that the steel ball is worn due to excessive impact force and causes its volume to be reduced and cannot be clamped in the clamping hole, thereby ensuring the stability of the connection between the male disk and the female disk.

[0022] In summary, the present application includes at least one of the following beneficial technical effects:

[0023] 1. The embodiment of the present application provides a pneumatic tensioning shaft and a steel ball, and realizes the automatic switching of the connection or separation between the male disc and the female disc through the pneumatic tensioning shaft and the steel ball, so that workers do not need to manually disassemble and install the end picker, which shortens the replacement time of the end picker and improves the replacement efficiency of the end picker in the manipulator;

[0024] 2. The embodiment of the present application is provided with a spring, so that the steel ball can be quickly reset when the high-pressure gas is disconnected, and the male disc and the female disc are separated without waiting for the time for the negative pressure chamber to be formed, thereby shortening the time for the steel ball to move back to the inside of the slide groove, thereby further improving the replacement efficiency of the end picker on the manipulator;

[0025] 3. In the embodiment of the present application, a sealing protrusion and a sealing groove are provided. The full fit between the sealing groove and the sealing protrusion improves the air tightness when the male disk and the female disk are connected, reduces the leakage of high-pressure gas or negative-pressure gas, and thus ensures the smooth connection or separation process between the male disk and the female disk. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is an exploded schematic diagram between the male disk and the female disk in this application.

[0027] Figure 2 It is a cross-sectional view of the male disk and the female disk when connected in the embodiment of the present application.

[0028] Figure 3 It is a schematic diagram of the structure of the public disk in the embodiment of the present application.

[0029] Figure 4 It is a schematic diagram of the structure of the mother disk in the embodiment of the present application.

[0030] Explanation of the accompanying drawings: 1. male disk; 101. air hole; 2. female disk; 3. pneumatic tensioning shaft; 31. slide groove; 311. limit ring; 312. spring; 4. connecting hole; 41. clamping hole; 411. flexible pad; 5. steel ball; 6. positioning pin; 61. first positioning hole; 62. second positioning hole; 7. sealing protrusion; 71. sealing groove; 8. first mounting hole; 9. second mounting hole; 10. first air joint; 11. second air joint. DETAILED DESCRIPTION

[0031] The following is combined with Figure 1-4 This application is described in further detail.

[0032] The embodiment of the present application discloses an end effector quick-change joint.

[0033] Reference Figure 1A quick-change joint for an end picker includes a male disc 1 and a female disc 2. The male disc 1 is fixedly connected to the free end of a manipulator by connecting bolts, and the female disc 2 is fixedly connected to the top of the end picker by connecting bolts. The male disc 1 is flange-mounted, and a pneumatic tensioning shaft 3 is fixedly connected to the axial position of the male disc 1. A connecting hole 4 for sliding cooperation with the pneumatic tensioning shaft 3 is opened at the axial position of the female disc 2. When the male disc 1 is connected to the female disc 2, the pneumatic tensioning shaft 3 is inserted into the connecting hole 4, and the outer surface of the pneumatic tensioning shaft 3 is tightly fitted with the inner surface of the connecting hole 4.

[0034] Reference Figure 1 and Figure 2 The pneumatic tensioning shaft 3 is a hollow shaft body, and a plurality of slide grooves 31 are provided on the pneumatic tensioning shaft 3. The plurality of slide grooves 31 are evenly distributed on the outer surface of the pneumatic tensioning shaft 3 in a circular shape. The length direction of each slide groove 31 extends to the axis of the pneumatic tensioning shaft 3. Each slide groove 31 is connected to the internal cavity of the pneumatic tensioning shaft 3. A clamping hole 41 corresponding to the slide groove 31 is provided on the inner surface of the connecting hole 4. When the pneumatic tensioning shaft 3 is inserted into the connecting hole 4, the clamping hole 41 faces the corresponding slide groove 31. The slide groove 31 is slidably connected with a steel ball 5. The male plate A plurality of air holes 101 are provided on the outer peripheral side wall, and the air holes 101 are connected to high-pressure gas or negative-pressure gas. The plurality of air holes 101 are connected to the slide groove 31 through the inner cavity of the pneumatic tensioning shaft 3. When the male disk 1 is connected to the female disk 2, the air holes 101 are connected to high-pressure gas, and the high-pressure gas pushes the steel ball 5 to move toward the clamping hole 41, and the steel ball 5 abuts against the inner wall of the clamping hole 41. A flexible pad 411 is fixedly connected to the inner wall of the clamping hole 41. In this embodiment, the flexible pad 411 is felt, and the flexible pad 411 is used to buffer the impact force on the steel ball 5.

[0035] When the old end picker needs to be removed, negative pressure gas is introduced into the air hole 101, negative pressure is generated inside the pneumatic tensioning shaft 3, and the steel ball 5 is moved to the inside of the slide groove 31 by suction. At this time, the connection between the male disk 1 and the female disk 2 disappears, and the manipulator detaches from the end picker and moves to the new end picker. When the manipulator drives the pneumatic tensioning shaft 3 on the male disk 1 to insert into the connecting hole 4 on the new female disk 2, high-pressure gas is introduced into the air hole 101, and the high-pressure gas flows along the inside of the pneumatic tensioning shaft 3 to the slide groove 31, and pushes the steel ball 5 to move toward the clamping hole 41. As the air pressure inside the slide groove 31 increases, the end of the steel ball 5 is pressed against the inside of the clamping hole 41 by the high-pressure gas, thereby realizing the connection between the manipulator and the end picker. Such a setting realizes the automatic replacement of the end picker on the manipulator, and does not require workers to manually disassemble and install the end picker, which shortens the replacement time of the end picker and improves the replacement efficiency of the end picker on the manipulator. It is suitable for automated stamping production lines.

[0036] Reference Figure 1 and Figure 2In order to prevent the steel ball 5 from rolling out of the slide groove 31 when it is subjected to suction, the end of the slide groove 31 away from the clamping hole 41 is fixedly connected to the limit ring 311, and the inner diameter of the limit ring 311 is smaller than the diameter of the steel ball 5. Under the blocking effect of the limit ring 311, the steel ball 5 cannot move out of the slide groove 31. At the same time, when the high-pressure gas passes through the limit ring 311, it is squeezed by the volume of the limit ring 311, and the pressure of the high-pressure gas increases again, ensuring that the steel ball 5 can be pressed tightly inside the clamping hole 41.

[0037] Reference Figure 1 and Figure 2 When the high-pressure gas is switched to negative-pressure gas, the negative-pressure gas will generate enough suction to suck the steel ball 5 back into the slide groove 31 only after it has been continuously introduced for a period of time. Therefore, the separation of the male disk 1 and the female disk 2 requires waiting for the formation of the negative-pressure cavity, and the replacement efficiency of the end picker becomes low.

[0038] In order to solve the above problem, a spring 312 is arranged inside the slide groove 31, one end of the spring 312 is connected to the end face of the limit ring 311, and the other end is connected to the outer surface of the steel ball 5. When the spring 312 is in a natural state, the steel ball 5 is completely embedded in the slide groove 31. When the high-pressure gas is switched to negative-pressure gas, the extrusion pressure on the steel ball 5 is instantly reduced, and the tension on the spring 312 is reduced. The accumulated elastic force of the spring 312 is instantly released, and the spring 312 recovers its deformation and pulls the steel ball 5 back into the slide groove 31. This arrangement enables the steel ball 5 to be quickly reset when the high-pressure gas is disconnected, shortening the time for the steel ball 5 to move back into the slide groove 31, thereby further improving the replacement efficiency of the end picker on the manipulator.

[0039] Reference Figure 3 and Figure 4 The surface of the male disk 1 facing the female disk 2 is fixedly connected with two positioning pins 6 by screws, and the surface of the female disk 2 facing the male disk 1 is provided with a first positioning hole 61 and a second positioning hole 62. The first positioning hole 61 is circular, and the second positioning hole 62 is elliptical. The two positioning pins 6 are symmetrically arranged about the end face axis of the male disk 1, and the radius of the first positioning hole 61 is the same as the short semi-axis length of the second positioning hole 62, and the long semi-axis axis of the second positioning hole 62 passes through the end face axis of the female disk 2. Such an arrangement realizes precise positioning between the male disk 1 and the female disk 2. At the same time, the elliptical second positioning hole 62 enables the positioning pin 6 inserted in the second positioning hole 62 to have a certain displacement ability, thereby avoiding the two positioning pins 6 from being stuck in the first positioning hole 61 and the second positioning hole 62, thereby improving the stability of the male disk 1 and the female disk 2 when docking.

[0040] Reference Figure 3 and Figure 4A plurality of sealing protrusions 7 are fixedly connected to the surface of the male disk 1 facing the female disk 2. The sealing protrusions 7 are made of elastic material. In the present embodiment, the sealing protrusions 7 are made of rubber material. The surface of the female disk 2 is provided with sealing grooves 71 corresponding to the sealing protrusions 7 one by one. When the male disk 1 is connected to the female disk 2, the sealing protrusions 7 are tightly filled in the sealing grooves 71, and the air tightness between the male disk 1 and the female disk 2 is improved, which reduces the leakage of high-pressure gas or negative-pressure gas, thereby ensuring the smooth connection or separation process between the male disk 1 and the female disk 2.

[0041] Reference Figure 3 and Figure 4 A plurality of first mounting holes 8 are provided on the outer peripheral side wall of the male disk 1, and a plurality of second mounting holes 9 corresponding to the first mounting holes 8 are provided on the outer peripheral side wall of the female disk 2. Various modules are detachably connected in the first mounting holes 8 and the second mounting holes 9 by screws, so as to facilitate more operations of the manipulator and the end picker.

[0042] Reference Figure 3 and Figure 4 A plurality of first gas joints 10 are connected and arranged on the outer peripheral side wall of the male disk 1, and a plurality of second gas joints 11 are arranged on the outer peripheral side wall of the female disk 2. The gas outlet end of the second gas joint 11 is connected to the pneumatic device on the end picker. Both the male disk 1 and the female disk 2 are provided with air passages (not shown in the figure). When the male disk 1 is connected to the female disk 2, the first gas joint 10 and the second gas joint 11 are connected through the air passage. Such an arrangement saves the gas pipeline that needs to be connected. At the same time, the opening and closing of the gas circuit is coordinated with the connection relationship between the male disk 1 and the female disk 2, and the gas circuit moves with the movement of the end picker, thereby ensuring the working stability of the end picker.

[0043] The implementation principle of the end picker quick-change joint of the embodiment of the present application is as follows: when the old end picker needs to be disassembled, negative pressure gas is introduced into the air hole 101, negative pressure is generated inside the pneumatic tensioning shaft 3, and the steel ball 5 is moved to the inside of the slide groove 31 by suction. At this time, the connection between the male disk 1 and the female disk 2 disappears, and the manipulator detaches from the end picker and moves to the new end picker. When the manipulator drives the pneumatic tensioning shaft 3 on the male disk 1 to be inserted into the connecting hole 4 on the new female disk 2, high-pressure gas is introduced into the air hole 101, and the high-pressure The gas flows along the inside of the pneumatic tensioning shaft 3 to the slide groove 31, and pushes the steel ball 5 to move toward the clamping hole 41. As the air pressure inside the slide groove 31 increases, the end of the steel ball 5 is pressed against the inside of the clamping hole 41 by the high-pressure gas, thereby realizing the connection between the manipulator and the end picker. This arrangement realizes the automatic replacement of the end picker on the manipulator, and does not require workers to manually disassemble and install the end picker, which shortens the replacement time of the end picker and improves the replacement efficiency of the end picker in the manipulator. It is suitable for automated stamping production lines.

[0044] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An end-tool quick-change joint, comprising a male disk (1) and a female disk (2), wherein the male disk (1) is arranged on a manipulator, and the female disk (2) is arranged on the end-tool, characterized in that: The male disk (1) is provided with a pneumatic tensioning shaft (3), a plurality of slide grooves (31) are provided on the side wall of the pneumatic tensioning shaft (3), a steel ball (5) is slidably connected inside the slide groove (31), a connecting hole (4) slidably matched with the pneumatic tensioning shaft (3) is provided at the center of the female disk (2), a clamping hole (41) corresponding to the slide groove (31) is provided on the inner side wall of the connecting hole (4), and a clamping hole (41) corresponding to the slide groove (31) is provided on the outer peripheral side wall of the male disk (1). There are a plurality of air holes (101), the air holes (101) are externally connected to high-pressure gas or negative-pressure gas, the air holes (101) are connected to the slide groove (31) through the inside of the pneumatic tensioning shaft (3), and when the male disk (1) and the female disk (2) are connected, the air holes (101) are connected to the high-pressure gas, and the high-pressure gas pushes the steel ball (5) to move toward the clamping hole (41), and the steel ball (5) abuts against the inner wall of the clamping hole (41).

2. The end effector quick-change joint according to claim 1, characterized in that: The end of the slide groove (31) away from the clamping hole (41) is fixedly connected to a limit ring (311), and the inner diameter of the limit ring (311) is smaller than the diameter of the steel ball (5).

3. The end tool quick-change joint according to claim 2, characterized in that: A spring (312) is arranged in the slide groove (31), one end of the spring (312) is connected to the limiting ring (311), and the other end is connected to the steel ball (5). When the spring (312) is in a natural state, the steel ball (5) is completely arranged in the slide groove (31).

4. The end effector quick-change joint according to claim 1, characterized in that: The male disk (1) is provided with two positioning pins (6), the female disk (2) is provided with a circular first positioning hole (61) and an elliptical second positioning hole (62), and the positioning pins (6) are inserted into the first positioning hole (61) and the second positioning hole (62).

5. The end effector quick-change joint according to claim 1, characterized in that: A plurality of sealing protrusions (7) are arranged on the surface of the male disk (1) facing the female disk (2); the sealing protrusions (7) are made of elastic material; an end surface of the female disk (2) is provided with sealing grooves (71) corresponding one to one with the sealing protrusions (7); when the male disk (1) is connected to the female disk (2), the sealing protrusions (7) fill the sealing grooves (71).

6. The end effector quick-change joint according to claim 1, characterized in that: A plurality of first mounting holes (8) are provided on the outer peripheral side wall of the male disk (1), and second mounting holes (9) corresponding one-to-one to the first mounting holes (8) are provided on the outer peripheral side wall of the female disk (2).

7. The end effector quick-change joint according to claim 1, characterized in that: A plurality of first air joints (10) are arranged on the outer peripheral side wall of the male disk (1), and a plurality of second air joints (11) are arranged on the outer peripheral side wall of the female disk (2), wherein the air outlet ends of the second air joints (11) are connected to the pneumatic equipment on the end tool, and air passages are provided on both the male disk (1) and the female disk (2), and the first air joints (10) and the second air joints (11) are connected via the air passages.

8. The end effector quick-change joint according to claim 1, characterized in that: A flexible pad (411) is provided on the inner side wall of the clamping hole (41).

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