Quick replacement device for sorting tool

Abstract

The utility model relates to the technical field of material carrying, and provides a sorting tool quick replacement device which is characterized in that quick connection and disassembly of a mechanical arm and a sorting tool are realized through an upper end male port and a lower end female port, the upper end of the upper end male port is connected with the tail end of the mechanical arm, and the lower end of the lower end female port is connected with the sorting tool; the pin shafts and the positioning pins are arranged at the lower end of the upper end male opening at equal intervals along the axis of the upper end male opening, and the arc-shaped connecting holes and the limiting grooves are formed in the upper end of the lower end female opening and correspond to the pin shafts. The first expanding groove is formed below the limiting groove, the second expanding groove corresponding to the first expanding groove is formed in the connecting plate, the positioning pin can be rapidly pushed to be separated from the limiting groove, and therefore the disassembling efficiency of the mechanical arm and the sorting tool is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of material handling, in particular to a device for quickly replacing picking tools. Background Art

[0002] In the handling of warehouse materials, using a robotic arm for material handling has become an important means to improve operation efficiency and reduce labor costs. In actual use, the robotic arm generally drives various picking tools to achieve automated transfer of materials. When using the robotic arm for automated transfer of materials, due to the variety of materials in the warehouse, the robotic arm requires different processing tools for different types of materials.

[0003] At this time, it is necessary to replace the picking tool according to different materials. At this time, it is necessary to disassemble the picking tool from the robotic arm of the robot and reconnect a new tool. In the prior art, the connection between the robotic arm and these picking tools usually uses a flange structure. The flange fixes the tool through multiple connection bolts. Although it is stable, when replacing the tool each time, the operator needs to loosen and tighten multiple bolts, which is a cumbersome and time-consuming process. It not only reduces production efficiency but also increases labor intensity.

[0004] Therefore, there is an urgent need for a device for quickly replacing picking tools to solve the deficiencies in the prior art. Summary of the Utility Model

[0005] The purpose of the utility model is to solve the deficiencies of the prior art and provide a device for quickly replacing picking tools to improve the replacement speed of picking tools and production efficiency.

[0006] To achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A device for quickly replacing picking tools includes an upper male connector detachably connected to the end of the robotic arm at the upper end, and a lower female connector quickly detachably connected to the lower end of the upper male connector at the upper end; the lower end of the lower female connector is detachably connected to the picking tool;

[0008] The upper male connector is annular. The upper end face of the upper male connector is provided with an annular groove. The annular groove is provided with a first mounting hole. A rectangular groove is opened on one side of the annular groove. The rectangular groove is provided with a positioning hole. A positioning pin is slidably connected in the positioning hole. The lower end of the positioning pin can slide out a certain distance from the lower end face of the upper male connector, but the upper end of the positioning pin cannot protrude from the lower end face of the upper male connector. A spring is provided at the upper end of the positioning pin. A stop block connected to the rectangular groove is provided at the upper end of the spring. At least two pins are arranged on the lower end face of the upper male connector at equal intervals along the axis of the upper male connector; a circular convex block is provided at the lower end of the pin;

[0009] The upper end face of the lower female socket is provided with an arc-shaped connecting hole whose width is slightly larger than the diameter of the circular convex block. The number and positions of the connecting holes correspond to those of the pin shafts. A limiting block is integrally provided at the upper end of the connecting hole. One end of the limiting block is provided with a circular opening, and the other end is an arc-shaped opening. The diameter of the circular opening is slightly larger than the diameter of the circular convex block, and the width of the arc-shaped opening is smaller than the diameter of the circular convex block. A limiting groove is provided on the upper end face of the lower female socket. When the pin shaft is in the state at the end of the arc-shaped opening of the limiting block, the limiting groove is aligned with the positioning hole. The lower end face of the lower female socket is provided with a second mounting hole.

[0010] Preferably, a camera is sleeved inside the upper male socket.

[0011] Preferably, the upper male socket is provided with a plurality of plunger mounting holes arranged equidistantly along the axis of the upper male socket. A ball head plunger is provided in the plunger mounting hole. A copper plate corresponding to the ball head plunger is provided on the upper end face of the lower female socket. The lower end of the ball head plunger contacts the top end of the copper plate.

[0012] Preferably, a first enlarged groove is provided below the limiting groove.

[0013] Preferably, a connecting plate is detachably connected to the lower end of the lower female socket. A plurality of fourth mounting holes are provided at the bottom of the connecting plate.

[0014] Preferably, a second enlarged groove corresponding to the first enlarged groove is provided on the connecting plate.

[0015] The quick replacement device for a picking tool disclosed by the present utility model has the following beneficial effects.

[0016] First, the present utility model realizes the quick connection and disconnection between the robotic arm and the picking tool through the upper male socket and the lower female socket. The upper end of the upper male socket is connected to the end of the robotic arm, and the lower end of the lower female socket is connected to the picking tool. Then, through the pin shafts and positioning pins arranged equidistantly along the axis of the upper male socket provided at the lower end of the upper male socket, and the arc-shaped connecting holes and limiting grooves corresponding to the pin shafts provided on the upper end face of the lower female socket, quick connection and disconnection are realized.

[0017] Second, the present utility model is provided with a first enlarged groove below the limiting groove, and a second enlarged groove corresponding to the first enlarged groove is provided on the connecting plate, which can quickly push the positioning pin to separate from the limiting groove, thereby improving the disassembly efficiency of the robotic arm and the picking tool. Description of the Drawings

[0018] Figure 1 It is a schematic diagram of the overall structure before the quick disconnection and connection between the upper male socket and the lower female socket of the present utility model.

[0019] Figure 2 It is another schematic diagram of the overall structure before the quick disconnection and connection between the upper male socket and the lower female socket of the present utility model.

[0020] Figure 3This is the overall structural schematic diagram of the male connector at the upper end of the present utility model.

[0021] Figure 4 This is another overall structural schematic diagram of the male connector at the upper end of the present utility model.

[0022] Figure 5 This is the structural schematic diagram of the female connector at the lower end of the present utility model.

[0023] Figure 6 This is the top view structural schematic diagram of the female connector at the lower end of the present utility model.

[0024] Figure 7 This is the overall structural schematic diagram after the quick disassembly connection between the male connector at the upper end and the female connector at the lower end of the present utility model.

[0025] In the attached drawings: 1. Male connector at the upper end; 11. Annular groove; 12. First mounting hole; 13. Plunger mounting hole; 14. Rectangular groove; 15. Positioning hole; 16. Positioning pin; 17. Stop block; 18. Ball head plunger; 19. Pin shaft; 2. Female connector at the lower end; 21. Connection hole; 22. Limiting block; 23. Limiting groove; 24. First enlarged groove; 25. Second mounting hole; 26. Copper plate; 3. Connecting plate; 31. Third mounting hole; 32. Second enlarged groove; 33. Fourth mounting hole; 4. Camera. Detailed implementation manners

[0026] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the attached drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments.

[0027] In the description of the present utility model, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the attached drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model. Embodiment 1

[0028] Refer to Figure 1 and Figure 2 , a quick replacement device for picking tools, including a male connector 1 at the upper end detachably connected to the end of the robotic arm by bolts, and a female connector 2 at the upper end quickly detachably connected to the lower end of the male connector 1; the lower end of the female connector 2 is detachably connected to the picking tool by bolts.

[0029] Refer to Figure 3, specifically, the upper male connector 1 is in an overall ring shape. An annular groove 11 is provided on the upper end face of the upper male connector 1. A first mounting hole 12 is provided in the annular groove 11. The first mounting hole 12 is used to connect the upper male connector 1 to the end of the robotic arm through bolts. A rectangular groove 14 is opened on one side of the annular groove 11. A positioning hole 15 is provided in the rectangular groove 14. A positioning pin 16 is slidably connected in the positioning hole 15. The lower end of the positioning pin 16 can slide out of the lower end face of the upper male connector 1 by a certain distance, but the upper end of the positioning pin 16 cannot protrude from the lower end face of the upper male connector 1. A spring is provided at the upper end of the positioning pin 16. A stop block 17 connected to the rectangular groove 14 is provided at the upper end of the spring. The rectangular groove 14 is used to accommodate the stop block 17 to avoid affecting the connection between the upper male connector 1 and the end of the robotic arm due to the presence of the stop block 17. The stop block 17 is fixed to the rectangular groove 14 by bolts. The stop block 17 is provided to be able to quickly replace the spring when the spring fails, avoiding the inability to quickly push the lower end of the positioning pin 16 out of the lower end face of the upper male connector 1 by a certain distance after the spring fails; Refer to Figure 4 , at least two pin shafts 19 arranged equidistantly along the axis of the upper male connector 1 are provided on the lower end face of the upper male connector 1; a circular convex block is provided at the lower end of the pin shaft 19. The upper part of the pin shaft 19 with the circular convex block is cylindrical. As a preference, in this embodiment, three pin shafts 19 arranged equidistantly along the axis of the upper male connector 1 are provided on the lower end face of the upper male connector 1; a circular convex block is provided at the lower end of the pin shaft 19. Since the pin shaft 19 is a vulnerable part, the pin shaft 19 adopts a connection method of screwing into the lower end face of the upper male connector 1 through a thread provided at the upper end, which can not only ensure the connection stability but also quickly replace the pin shaft 19. In order to facilitate the disassembly and assembly of the pin shaft 19, an internal hexagonal hole can be provided at the lower end of the circular convex block of the pin shaft 19.

[0030] Refer to Figure 5 , specifically, an arc-shaped connection hole 21 with a width slightly larger than the diameter of the circular convex block is provided on the upper end face of the lower female connector 2. The circular convex block can slide in the connection hole 21. The number and position of the connection holes 21 correspond to those of the pin shafts 19, corresponding to the number of the pin shafts 19. In this embodiment, three connection holes 21 are provided. Refer to Figure 6, a limiting block 22 is integrally provided at the upper end of the connecting hole 21. One end of the limiting block 22 is provided with a circular opening, and the other end is an arc-shaped opening. The diameter of the circular opening is slightly larger than the diameter of the circular convex block, and the width of the arc-shaped opening is smaller than the diameter of the circular convex block; a limiting groove 23 is provided on the upper end surface of the lower female port 2 at the lower end. When the pin shaft 19 is in the state at the end of the arc-shaped opening of the limiting block 22, the limiting groove 23 is aligned with the positioning hole 15. A second mounting hole 25 is provided on the lower end surface of the lower female port 2 at the lower end. The second mounting hole 25 can be directly used to connect the picking tool. However, in actual use, due to the need to set the connecting hole 21 on the lower female port 2, the position of the second mounting hole 25 is limited and there are fewer picking tools that can be directly connected. Therefore, a connecting plate 3 is connected through the second mounting hole 25. Specifically, a third mounting hole 31 is provided on the connecting plate 3, and it is connected to the lower female port 2 through the third mounting hole 31. A number of fourth mounting holes 33 are provided at the bottom of the connecting plate 3. The position of the fourth mounting hole 33 provided on the connecting plate 3 is less limited, and multiple holes can be set. Then, by connecting the picking tool through these multiple holes, the types of picking tools that can be connected can be greatly broadened.

[0031] In this embodiment, as Figure 1 shown, before the quick disassembly and connection of the upper male port 1 and the lower female port 2, the pin shaft 19 is placed at the upper end of the circular opening of the limiting block 22. At this time, the pin shaft 19 is correspondingly inserted into the connecting hole 21. Then, the lower female port 2 is rotated in the opposite direction along the arc-shaped opening of the limiting block 22. At this time, the circular convex block of the pin shaft 19 is rotated into the lower part of the arc-shaped opening of the limiting block 22. When the rotation is in place, the limiting groove 23 is aligned with the positioning hole 15, and the positioning pin 16 is inserted into the inside of the limiting groove 23 under the push of the spring. At this time, as Figure 7 shown, the locking connection between the upper male port 1 and the lower female port 2 is completed; after the quick disassembly and connection of the upper male port 1 and the lower female port 2, if it is necessary to disassemble the upper male port 1 and the lower female port 2, only need to push the positioning pin 16 upward, and rotate the lower female port 2 along the direction of the arc-shaped opening of the limiting block 22. When the rotation is in place, the pin shaft 19 is placed at the circular opening of the limiting block 22, and at this time, the upper male port 1 and the lower female port 2 are separated.

[0032] In this embodiment, in order to facilitate pushing the positioning pin 16 upward, a first enlarged groove 24 is provided below the limiting groove 23. Since in actual use, the lower female port 2 is often used in combination with the connecting plate 3, a second enlarged groove 32 corresponding to the first enlarged groove 24 is provided on the connecting plate 3. When the lower female port 2 is connected to the connecting plate 3, it is necessary to ensure that the first enlarged groove 24 is aligned with the second enlarged groove 32. Embodiment 2

[0033] Referring to Figure 2 and Figure 4 , based on Embodiment 1, a quick replacement device for a picking tool. In order to realize automation when quickly replacing the picking tool, a camera 4 is sleeved inside the upper male port 1, which can obtain the relative position relationship between the upper male port 1 and the lower female port 2 in real time, so as to facilitate the control of the disassembly and assembly of the upper male port 1 and the lower female port 2.

[0034] In this embodiment, considering that the picking tool quick replacement device will be used in a high-voltage electric field, in order to protect the camera 4, three plunger mounting holes 13 are provided on the upper male connector 1 at equal intervals along the axis of the upper male connector 1. A ball plunger 18 is provided in the plunger mounting hole 13, and a copper plate 26 corresponding to the ball plunger 18 is provided on the upper end surface of the lower female connector 2. The lower end of the ball plunger 18 contacts the top end of the copper plate 26, thereby forming a shielding electric field to protect the camera 4.

[0035] The above is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. The substitution can be the substitution of part of the structure, device, and method steps, or a complete technical solution. Any equivalent substitution or change made according to the technical solution of the present utility model and its inventive concept should be covered within the protection scope of the present utility model.

Claims

1. A rapid replacement device for picking tools, characterized in that It includes a male upper end (1) detachably connected to the end of the robotic arm, and a female lower end (2) quickly detachably connected to the lower end of the male upper end (1); the lower end of the female lower end (2) is detachably connected to the picking tool; The male upper end (1) is annular. An annular groove (11) is provided on the upper end face of the male upper end (1). A first mounting hole (12) is provided on the annular groove (11). A rectangular groove (14) is formed on one side of the annular groove (11). A positioning hole (15) is provided on the rectangular groove (14). A positioning pin (16) is slidably connected in the positioning hole (15). The lower end of the positioning pin (16) can slide out of the lower end face of the male upper end (1) by a certain distance, but the upper end of the positioning pin (16) cannot protrude from the lower end face of the male upper end (1). A spring is provided at the upper end of the positioning pin (16). A stop block (17) connected to the rectangular groove (14) is provided at the upper end of the spring. At least two pin shafts (19) arranged equidistantly along the axis of the male upper end (1) are provided on the lower end face of the male upper end (1); a circular convex block is provided at the lower end of the pin shaft (19); An arc-shaped connection hole (21) with a width slightly larger than the diameter of the circular convex block is provided on the upper end face of the female lower end (2). The number and positions of the connection holes (21) correspond to those of the pin shafts (19). A limiting block (22) is integrally provided at the upper end of the connection hole (21). One end of the limiting block (22) is provided with a circular opening, and the other end is an arc-shaped opening. The diameter of the circular opening is slightly larger than the diameter of the circular convex block, and the width of the arc-shaped opening is smaller than the diameter of the circular convex block; a limiting groove (23) is provided on the upper end face of the female lower end (2). When the pin shaft (19) is in the state at the end of the arc-shaped opening of the limiting block (22), the limiting groove (23) is aligned with the positioning hole (15). A second mounting hole (25) is provided on the lower end face of the female lower end (2).

2. The quick replacement device for a picking tool according to claim 1, characterized in that, A camera (4) is sleeved inside the male upper end (1).

3. The quick replacement device for the picking tool according to claim 2, characterized in that, A number of plunger mounting holes (13) arranged equidistantly along the axis of the male upper end (1) are provided on the male upper end (1). A ball head plunger (18) is provided in the plunger mounting hole (13). A copper plate (26) corresponding to the ball head plunger (18) is provided on the upper end face of the female lower end (2). The lower end of the ball head plunger (18) contacts the top end of the copper plate (26).

4. The quick replacement device for a picking tool according to claim 1, characterized in that, A first enlarged groove (24) is provided below the limiting groove (23).

5. The quick replacement device for a picking tool according to claim 1 or 4, characterized in that, A connecting plate (3) is detachably connected to the lower end of the female lower end (2). A number of fourth mounting holes (33) are provided at the bottom of the connecting plate (3).

6. The quick replacement device for a picking tool according to claim 5, characterized in that, A second enlarged groove (32) corresponding to the first enlarged groove (24) is provided on the connecting plate (3).

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