Automatic storage device for multi-variety quick-change paws

Abstract

The utility model relates to the technical field of robot equipment management, and discloses a multi-variety quick-change gripper automatic storage device which comprises a protective cover and a platform panel, the top of the platform panel is fixedly connected with a gripper rear supporting block, the top of the platform panel is fixedly connected with a gripper front supporting block, and the gripper rear supporting block and the gripper front supporting block are fixedly connected with the platform panel. A front gripper supporting block is fixedly connected to the top of the platform panel, a buffering assembly used for buffering is fixedly connected to the top of the front gripper supporting block, an axial positioning block is fixedly connected to the top of the platform panel, a gripper detector is fixedly connected to the top of the platform panel, and a first three-finger quick-change gripper is fixedly connected to the interior of the protective cover. According to the utility model, the storage location isolation plate is convenient for an operator to replace and maintain fingers of the quick-change paws in a non-stop state, the storage location signboards are in one-to-one correspondence with the quick-change paws, so that the quick-change paws are convenient to distinguish, the positioning pins have a mistake-proof function, and the liquid guide groove is formed in the platform panel and is used for collecting residual liquid drops on the paws in a centralized manner and guiding the liquid drops into the oil receiving box.

Description

Technical Field

[0001] The utility model relates to the technical field of robot equipment management, in particular to an automatic storage device for multiple varieties of quick-change grippers. Background Art

[0002] A multi-variety quick-change gripper automatic storage device is a common production method in modern manufacturing for multi-variety small-batch production. It can produce a variety of different specifications, models, and styles of products in an automated production unit. This production model has higher flexibility and market adaptability.

[0003] In the existing technology, some devices in flexible production units often use robotic gripping to transfer workpieces between various processes, greatly improving transfer efficiency. Due to the variety of workpieces to be processed, there are large differences in diameter, length, outer contour shape, and weight. A flexible production unit can be compatible with hundreds of products, and the gripping range varies by hundreds of millimeters. However, the compatibility range of pneumatic grippers from domestic and foreign brands is only 5mm to 35mm. In order to meet the gripping needs, it is necessary to configure robotic quick-change grippers of various specifications. With the application of quick-change module technology, the compatibility problem has been solved to a large extent. However, the problems that come with it are: the storage of multiple quick-change grippers, the problem of convenient replacement, and the problem of space occupation. In addition, they need to be kept free of any foreign matter during storage to avoid air leakage, electrical signal failure, and other faults that affect the rapid replacement of grippers.

[0004] Currently, grippers in flexible production cells are stored in an untidy manner, with complex and unstable positioning methods. This often leads to fault alarms when the robot changes grippers. This disorganized storage takes up space in the automated cell, hindering the robot's grasping and leaving the grippers unprotected. Typical machining sites are subject to high levels of contaminants such as air, vibration, cutting fluid, and iron filings, along with numerous unpredictable contaminants. These can cause air leaks and electrical signal failures during gripper changes, directly impacting the sustainability and efficiency of flexible machining. Therefore, a multi-variety, quick-change gripper automatic storage device has been proposed to address these issues. Utility Model Content

[0005] The utility model proposes an automatic storage device for multiple varieties of quick-change grippers, which aims to improve the problem in the prior art that some devices cannot replace grippers without stopping the machine.

[0006] To achieve the above objectives, the present invention provides the following technical solutions:

[0007] A multi-variety quick-change gripper automatic storage device includes a protective cover and a platform panel. The top of the platform panel is fixedly connected to a gripper rear support block, the top of the platform panel is fixedly connected to a gripper front support block, the top of the gripper front support block is fixedly connected to a buffer assembly for buffering, the top of the platform panel is fixedly connected to an axial positioning block, the top of the platform panel is fixedly connected to a gripper detector, the interior of the protective cover is fixedly connected to a three-finger quick-change gripper, the interior of the protective cover is fixedly connected to a storage partition, and the rear side of the protective cover is rotatably connected to a safety door.

[0008] As a further description of the above technical solution:

[0009] The buffer assembly includes a gripper buffer block, the bottom of which is fixedly connected to the top of the platform panel.

[0010] As a further description of the above technical solution:

[0011] The top of the platform panel is fixedly connected with a plurality of storage location identification plates, the top of the platform panel is fixedly connected with a plurality of positioning pins, the interior of the protective cover is fixedly connected with a two-finger vertical quick-change gripper, and the interior of the protective cover is fixedly connected with a cleaning component for collecting residual droplets.

[0012] As a further description of the above technical solution:

[0013] The cleaning assembly includes a liquid guide groove and an oil receiving box. The bottom of the liquid guide groove is fixedly connected to the top of the platform panel, and the outside of the oil receiving box is fixedly connected to the inside of the protective cover.

[0014] As a further description of the above technical solution:

[0015] A plurality of racks are fixedly connected to the interior of the protective cover, and a control cabinet bracket is slidably connected to the bottom of the protective cover.

[0016] As a further description of the above technical solution:

[0017] The rear side of the protective cover is fixedly connected to a robot control cabinet, and the top of the platform panel is fixedly connected to a three-finger quick-change gripper 2.

[0018] As a further description of the above technical solution:

[0019] A three-finger quick-change gripper three is fixedly connected to the top of the platform panel, and a two-finger horizontal quick-change gripper one is fixedly connected to the top of the platform panel.

[0020] As a further description of the above technical solution:

[0021] A two-finger horizontal quick-change gripper is fixedly connected to the top of the platform panel, and a storage cabinet is fixedly connected to the inside of the protective cover.

[0022] The utility model has the following beneficial effects:

[0023] 1. In the present invention, the gripper storage platform panel is provided with angular positioning and axial positioning for the three-jaw quick-change gripper, which improves the placement accuracy of the quick-change gripper. When manually replacing or maintaining the gripper, the rear safety door indicator light prompts to open the storage position where the operation is allowed, ensuring the safety of personnel operation. The gripper detection component transmits information to the control system to obtain signal feedback. The storage position isolation plate makes it convenient for operators to replace and maintain the fingers of the quick-change gripper without stopping the machine. The replacement and maintenance of the quick-change gripper are flexible and convenient to ensure the safety of personnel.

[0024] 2. The three-dimensional warehouse structure of this utility model reduces space usage within the automation unit and can be expanded as needed. The control cabinet bracket is integrated with the robot control cabinet, saving internal space within the automation unit. The platform panel features location identification signs that correspond to the quick-change grippers for easy identification. Two different locating pins are designed, arranged diagonally, to provide error prevention. A liquid guide groove is provided on the platform panel to collect residual liquid droplets from the grippers and direct them to the oil collection box. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the three-dimensional structure of a multi-variety quick-change gripper automatic storage device proposed by the utility model;

[0026] Figure 2 This is a structural diagram of a gripper buffer block of a multi-variety quick-change gripper automatic storage device proposed by the utility model;

[0027] Figure 3 This is a structural diagram of a three-finger quick-change gripper of a multi-variety quick-change gripper automatic storage device proposed by the utility model;

[0028] Figure 4 This is a schematic structural diagram of a rack for a multi-variety quick-change gripper automatic storage device proposed in the utility model;

[0029] Figure 5 This is a schematic diagram of the structure of a safety door for a multi-variety quick-change gripper automatic storage device proposed in the utility model;

[0030] Figure 6 This is a schematic structural diagram of a protective cover for a multi-variety quick-change gripper automatic storage device proposed by the utility model.

[0031] Legend:

[0032] 1. Protective cover; 2. Gripper rear support block; 3. Gripper front support block; 4. Gripper buffer block; 5. Axial positioning block; 6. Gripper detector; 7. Three-finger quick-change gripper 1; 8. Rack; 9. Platform panel; 10. Storage location identification plate; 11. Locating pin; 12. Two-finger vertical quick-change gripper; 13. Storage location partition; 14. Liquid guide trough; 15. Oil collection box; 16. Safety door; 17. Control cabinet bracket; 18. Robot control cabinet; 19. Three-finger quick-change gripper 2; 20. Three-finger quick-change gripper 3; 21. Two-finger horizontal quick-change gripper 1; 22. Two-finger horizontal quick-change gripper 2; 23. Storage cabinet. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] Reference Figure 2 、 Figure 4 The utility model provides an embodiment of a multi-variety quick-change gripper automatic storage device, including a protective cover 1. The protective cover 1 is the external protective structure of the entire automatic storage device. To ensure the safety and stability of internal components, it is made of high-strength materials with good impact resistance and corrosion resistance, and can effectively prevent the intrusion of external objects and damage to internal equipment. The design of the protective cover 1 takes ventilation and heat dissipation into consideration to ensure the appropriate internal temperature and extend the service life of the equipment. The platform panel 9 is the main supporting structure of the device, providing a stable foundation. Its surface has been treated to have good wear resistance and anti-slip properties to ensure safety during operation.

[0035] The platform panel 9 integrates multiple functional components. The top of the platform panel 9 is fixedly connected to the gripper's rear support block 2. This block, located at the top of the platform panel 9, provides rear support for the gripper, ensuring stability during use. Its design takes into account precise fit with the gripper, facilitating quick installation and removal. The top of the platform panel 9 is fixedly connected to the gripper's front support block 3, also fixed to the top of the platform panel 9. This block supports the front of the gripper, ensuring its balance during operation. The shape and size of the support block have been precisely calculated to adapt to different types of grippers. The top of the front support block 3 of the gripper is fixedly connected to a buffer assembly for buffering. The buffer assembly includes a gripper buffer block 4. The bottom of the gripper buffer block 4 is fixedly connected to the top of the platform panel 9. The gripper buffer block 4 is used to buffer the impact of the gripper during operation and reduce the wear on the gripper and the supporting structure. Its material has good elasticity and wear resistance, can effectively absorb impact force, and extend the service life of the gripper. The top of the platform panel 9 is fixedly connected to an axial positioning block 5. The axial positioning block 5 is used to ensure the accurate position of the gripper during installation and use.

[0036] The design of this component takes into account the coordination with the gripper, ensuring that the gripper can maintain a stable positioning during work and avoid operational errors caused by position deviation. The top of the platform panel 9 is fixedly connected to a gripper detector 6, which is used to monitor the presence of the internal gripper in real time to facilitate corresponding adjustments and maintenance. The interior of the protective cover 1 is fixedly connected to a three-finger quick-change gripper 7. The interior of the protective cover 1 is fixedly connected to a storage partition 13. The storage partition 13 is set inside the protective cover 1 and is responsible for separating different types of grippers to avoid mutual interference. The design of the partition takes into account space utilization to facilitate the storage of multiple grippers. The rear side of the protective cover 1 is rotatably connected to a safety door 16. The safety door 16 is located on the rear side of the protective cover 1 and can be opened when maintenance or replacement of the gripper is required to ensure the safety of the operator. The design of the safety door 16 ensures that it can be firmly locked when closed to prevent accidental opening.

[0037] Reference Figure 1 、 Figure 3 、 Figure 4The top of the platform panel 9 is fixedly connected to multiple storage location identification signs 10. These identification signs 10 are fixed to the top of the platform panel 9 and indicate the storage location of each gripper, making it easy for operators to quickly identify and access them. The identification signs are designed to provide a clear visual effect to improve work efficiency. The top of the platform panel 9 is fixedly connected to multiple positioning pins 11. The positioning pins 11 are used to fix the position of the gripper on the platform panel 9 and ensure the stability of the gripper during storage and use. The material of the locating pin 11 has good wear resistance and can adapt to frequent plugging and unplugging operations. The inside of the protective cover 1 is fixedly connected with a two-finger vertical quick-change gripper 12. The two-finger vertical quick-change gripper 12 is a type of gripper inside the protective cover 1. It is designed for specific workpieces. Its structure is compact and suitable for operation in a small space. It can be quickly replaced to improve production efficiency. The inside of the protective cover 1 is fixedly connected with a cleaning component for collecting residual droplets. The cleaning component includes a liquid guide groove 14 and an oil collection box 15. The cleaning component includes a liquid guide groove 14 and an oil collection box 15, which are used to collect and process residual droplets generated during operation.

[0038] The design of the liquid guide groove 14 ensures that liquid can flow smoothly into the oil collection box 15 to avoid contaminating the working environment. The bottom of the liquid guide groove 14 is fixedly connected to the top of the platform panel 9. The liquid guide groove 14 is fixed to the top of the platform panel 9 and is responsible for guiding the liquid to the oil collection box 15 to ensure rapid liquid discharge and keep the working area dry and clean. The exterior of the oil collection box 15 is fixedly connected to the interior of the protective cover 1. The oil collection box 15 is located inside the protective cover 1 and is used to collect liquid flowing out of the liquid guide groove 14. Its capacity is designed to be large enough to reduce the need for frequent cleaning and is corrosion-resistant to accommodate different types of liquids.

[0039] Reference Figure 1 、 Figure 5 、 Figure 6 , the interior of the protective cover 1 is fixedly connected with multiple racks 8, which provide structural support inside the protective cover 1 to ensure the stability and safety of each component. The design of the rack 8 takes into account strength and rigidity to withstand various forces during the operation of the equipment. The bottom of the protective cover 1 is slidably connected to the control cabinet bracket 17. The control cabinet bracket 17 is located at the bottom of the protective cover 1 and is responsible for supporting the installation of the control cabinet. It is designed to ensure the stability of the control cabinet and facilitate subsequent maintenance and operation. The rear side of the protective cover 1 is fixedly connected to a robot control cabinet 18. The robot control cabinet 18 is fixed on the rear side of the protective cover 1 and is responsible for controlling the operation of the entire device. The control cabinet integrates a control system and electrical components, which can monitor and adjust the operating status of the gripper in real time. The top of the platform panel 9 is fixedly connected with a three-finger quick-change gripper 2 19. The three-finger quick-change gripper 2 19 is a type of gripper on the platform panel 9, which is suitable for clamping workpieces of various shapes and sizes.

[0040] Its design takes flexibility and adaptability into consideration, enabling quick replacement and multifunctional operation. A three-finger quick-change gripper 3 20 is fixedly connected to the top of the platform panel 9. The three-finger quick-change gripper 3 20 is also fixed to the top of the platform panel 9 and has similar functions to the three-finger quick-change gripper 2 19, enabling rapid clamping and release of different workpieces. A two-finger horizontal quick-change gripper 1 21 is also fixedly connected to the top of the platform panel 9. The two-finger horizontal quick-change gripper 1 21 is another type of gripper designed specifically for horizontal clamping. Its optimized structure enables stable clamping of workpieces on a horizontal surface, improving production efficiency. A two-finger horizontal quick-change gripper 2 22 is fixedly connected to the top of the platform panel 9. Similar to the two-finger horizontal quick-change gripper 1 21, the two-finger horizontal quick-change gripper 22 is suitable for clamping different types of workpieces, ensuring operational flexibility and efficiency. A storage cabinet 23 is fixedly connected to the interior of the protective cover 1. The storage cabinet 23 is located inside the protective cover 1 and provides additional storage space for spare grippers and other accessories. The design of the storage cabinet 23 should take into account capacity and ease of access so that operators can quickly obtain the required tools when needed.

[0041] Working principle: When the robot reaches the temporary storage position, it places the gripper in the temporary storage position, and the proximity switch sends a detection signal indicating that the gripper is in place. After the gripper is in place, the robot replaces the gripper and removes the temporary storage platform. The gripper buffer block 4 reduces the impact of the robot during quick change and the wear of the gripper contact surface. The rear support block and axial positioning block 5 are installed on the platform panel 9 for angular and axial positioning of the three-finger quick change gripper, ensuring the placement accuracy of the three-finger quick change gripper. The gripper detection component can be used to detect the presence of the quick change gripper inside the storage position and then transmit the information to the control system. A storage position isolation plate is set on the frame 8 to facilitate operators to replace and maintain the fingers of the quick change gripper without stopping the machine, ensuring personnel safety. Each storage position of the quick change gripper automatic storage device is equipped with an independent safety door 16. When manually replacing or maintaining the gripper, the indicator light on the rear safety door 16 prompts to open the storage position where operation is allowed for maintenance. At this time, the safety switch on the safety door 16 sends a signal to the control system to allow manual operation.

[0042] The automatic storage device for multiple varieties of quick-change grippers is a three-dimensional warehouse structure that can support the storage of multiple types of quick-change grippers. A storage location identification plate 10 is provided on the platform panel 9, which can correspond to the quick-change grippers one by one, so as to facilitate the distinction of the grippers during operation. The positioning pin 11 accurately positions the two-finger vertical quick-change gripper 12 when it is placed. The positioning pin 11 is designed with two different specifications of positioning pins 11 arranged diagonally, which has an error-proofing function. A liquid guide groove 14 is provided on the platform panel 9. The residual liquid on the gripper enters the oil collection box 15 through the liquid guide groove 14 to keep the on-site environment clean and tidy.

[0043] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-variety quick-change gripper automatic storage device, comprising a protective cover (1) and a platform panel (9), characterized in that: The top of the platform panel (9) is fixedly connected to a gripper rear support block (2), the top of the platform panel (9) is fixedly connected to a gripper front support block (3), the top of the gripper front support block (3) is fixedly connected to a buffer assembly for buffering, the top of the platform panel (9) is fixedly connected to an axial positioning block (5), the top of the platform panel (9) is fixedly connected to a gripper detector (6), the interior of the protective cover (1) is fixedly connected to a three-finger quick-change gripper (7), the interior of the protective cover (1) is fixedly connected to a storage partition (13), and the rear side of the protective cover (1) is rotatably connected to a safety door (16).

2. The multi-variety quick-change gripper automatic storage device according to claim 1, characterized in that: The buffer assembly comprises a gripper buffer block (4), the bottom of the gripper buffer block (4) being fixedly connected to the top of the platform panel (9).

3. The multi-variety quick-change gripper automatic storage device according to claim 1, characterized in that: The top of the platform panel (9) is fixedly connected to a plurality of storage location identification plates (10), the top of the platform panel (9) is fixedly connected to a plurality of positioning pins (11), the interior of the protective cover (1) is fixedly connected to a two-finger vertical quick-change gripper (12), and the interior of the protective cover (1) is fixedly connected to a cleaning component for collecting residual droplets.

4. The multi-variety quick-change gripper automatic storage device according to claim 3, characterized in that: The cleaning assembly comprises a liquid guide groove (14) and an oil collecting box (15); the bottom of the liquid guide groove (14) is fixedly connected to the top of the platform panel (9); and the outside of the oil collecting box (15) is fixedly connected to the inside of the protective cover (1).

5. The multi-variety quick-change gripper automatic storage device according to claim 1, characterized in that: The interior of the protective cover (1) is fixedly connected to a plurality of racks (8), and the bottom of the protective cover (1) is slidably connected to a control cabinet bracket (17).

6. The multi-variety quick-change gripper automatic storage device according to claim 1, characterized in that: The rear side of the protective cover (1) is fixedly connected to a robot control cabinet (18), and the top of the platform panel (9) is fixedly connected to a second three-finger quick-change gripper (19).

7. The multi-variety quick-change gripper automatic storage device according to claim 1, characterized in that: A three-finger quick-change gripper (20) is fixedly connected to the top of the platform panel (9), and a two-finger horizontal quick-change gripper (21) is fixedly connected to the top of the platform panel (9).

8. The multi-variety quick-change gripper automatic storage device according to claim 1, characterized in that: A two-finger horizontal quick-change gripper (22) is fixedly connected to the top of the platform panel (9), and a storage cabinet (23) is fixedly connected to the interior of the protective cover (1).

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