Gripper replacing frame

Abstract

The utility model discloses a gripper replacing frame, which comprises a box body, a clamping device, a clamping device, a clamping device and a clamping device, wherein an accommodating space is formed in the box body; the gripper placing pieces are arranged in the containing space, are perpendicular to the side wall of the box body and are arranged from top to bottom in the height direction of the box body, at least two gripper containing positions penetrating through the gripper placing pieces from top to bottom are formed on the gripper placing pieces, and the side portions of the gripper placing pieces are provided with opening portions; the first positioning piece is arranged on one side of the gripper containing position, and the shape of the first positioning piece is matched with that of the first positioning sleeve on the gripper; and the second positioning piece is arranged opposite to the first positioning piece, is arranged on the other side of the gripper containing position and is used for being matched with a second positioning sleeve on the gripper in an inserted mode, and a distance is formed between the second positioning piece and the second positioning sleeve in the horizontal direction. The utility model provides a gripper replacing frame for a gripper replacing machine, which can stably support a gripper and is convenient for a manipulator to quickly place the gripper.

Description

Technical Field

[0001] The utility model belongs to the field of gripper storage technology, specifically, relates to a gripper replacement rack

[0002] Structural improvements. Background Art

[0003] When industrial robots are used for automated production in factories today, the industrial robots need to replace different grippers before performing different processes, and the replaced grippers need to be placed on a rack.

[0004] In order to position the gripper placed on the placement rack, it is usually necessary to provide a corresponding positioning structure on the placement rack. When the gripper is placed, it is positioned by the corresponding positioning structure.

[0005] Patent document CN 212635712 U discloses a robot gripper placement frame, which has two horizontal bars arranged on the top, and fixed plates one and two are fixed on both sides of the top of the two horizontal bars respectively. A notch is provided on the right front side of fixed plate one, and a positioning block is fixed on fixed plate two. A positioning groove is provided on the top of the positioning block, and a fixed block is provided on the left side of the positioning block.

[0006] The gripper is positioned by matching the positioning block, positioning slot and fixing block with the gripper. The gripper is placed in the positioning slot. The structural stability of the gripper is not high after placement.

[0007] During positioning, the gripper needs to accurately align the positioning groove, positioning block and fixed block. The robot has extremely high precision requirements when placing the gripper. If the positioning is inaccurate, the gripper cannot be placed smoothly.

[0008] The above information disclosed in this background technology is only used to increase the understanding of the background technology of this application. Therefore, it may contain information that does not constitute the prior art known to ordinary technicians in this field. Utility Model Content

[0009] In view of the above technical problems existing in the gripper replacement rack in the prior art, the utility model proposes a gripper replacement rack which can stably support the gripper and facilitates a manipulator to quickly place the gripper.

[0010] In order to achieve the above-mentioned utility model / design purpose, this utility model adopts the following technical solutions:

[0011] A gripper replacement rack, comprising:

[0012] a box body, wherein a receiving space is formed inside the box body;

[0013] A gripper placement member is arranged in the accommodating space, is arranged perpendicular to the side wall of the box body, and is arranged in plurality from top to bottom along the height direction of the box body. The gripper placement member is formed with at least two gripper accommodation positions extending through the gripper placement member from top to bottom, and has an opening on its side.

[0014] The positioning structure is formed on the gripper placement member and includes:

[0015] The first positioning member is arranged at one side of the gripper accommodation position, and its shape is adapted to the shape of the first positioning sleeve on the gripper;

[0016] The second positioning member is arranged opposite to the first positioning member and is disposed at a position on the other side of the gripper accommodation position, and is used for being inserted and matched with the second positioning sleeve on the gripper, and the second positioning member and the second positioning sleeve are spaced apart in the horizontal direction;

[0017] When the gripper is placed, it is inserted into the gripper accommodation position along the opening, and the first and second positioning sleeves on the gripper cooperate with the first and second positioning members to position it above the gripper placement member.

[0018] In some embodiments of the present application, the first positioning member includes a cylindrical positioning portion and a conical guide portion connected to the top of the cylindrical positioning portion, and the contour shape of the cylindrical positioning portion is adapted to the shape of the first positioning sleeve of the gripper.

[0019] In some embodiments of the present application, the second positioning member includes a vertical positioning portion, which is adapted to the contour shape of the second positioning sleeve on the gripper and is used to position the gripper in the vertical direction;

[0020] and a side component, wherein a distance is provided between the side component and the inner side wall of the second positioning sleeve.

[0021] In some embodiments of the present application, the second positioning member is a columnar positioning member, and the second positioning sleeve is a strip-shaped positioning sleeve. There is a distance between the columnar positioning member and the strip-shaped positioning sleeve in the horizontal direction.

[0022] In some embodiments of the present application, the first positioning member and the second positioning member are asymmetrically arranged on both sides of the center line of the gripper accommodating position.

[0023] In some embodiments of the present application, the gripper includes a gripper main structure plate, and the first positioning sleeve and the second positioning sleeve are provided on the gripper main structure plate;

[0024] and a grip connection sleeve connected below the grip main structure plate;

[0025] The gripper receiving position includes a tapered guide portion, the opening of which gradually becomes smaller along the gripper installation direction;

[0026] The clamping limiting part comprises a straight part and an arc part connected with the straight part. The inner diameter of the straight part is slightly larger than the gripper connecting sleeve, and the inner diameter of the arc part is slightly larger than the gripper connecting sleeve.

[0027] In some embodiments of the present application, the present invention includes: a support frame, wherein the support frame includes two vertical support frames, which are symmetrically arranged at both sides of the box;

[0028] The horizontal frame is connected horizontally between the two vertical frames;

[0029] The two ends of the gripper placement piece are fixedly connected to two vertical support frames.

[0030] In some embodiments of the present application, including:

[0031] A dust cover, rotatably connected to the box body, used to open or close the box body;

[0032] A pneumatic drive component is assembled on the transverse frame and connected to the dust cover, and is used for driving the dust cover to automatically open or close.

[0033] In some embodiments of the present application, the dust cover includes:

[0034] The cover body is bent to form a bent plate on one side of the cover body close to the box body;

[0035] When the dust cover is closed, the bent plate and the gripper placement piece are fitted together to form a sealed space between the cover body, the side wall of the box body, the gripper placement piece and the bent plate, which is used to shield and protect the quick-change connector on the gripper in the sealed space.

[0036] In some embodiments of the present application, an opening and closing detection component is included for detecting the opening and closing status of the dust cover. The opening and closing detection component includes a photoelectric detection switch arranged on the dust cover and a reflector arranged on the bending plate.

[0037] Compared with the prior art, the advantages and positive effects of the present invention are:

[0038] When placing the gripper in the gripper placement frame of this embodiment, it is only necessary to drive the gripper connecting sleeve along the side opening to snap into the gripper accommodating position, and then the first positioning member, the second positioning member and the first positioning sleeve and the second positioning sleeve are inserted and positioned so that the gripper is carried on the gripper placement member to complete the placement of the gripper. The gripper connecting sleeve part of the gripper is snapped into the gripper accommodating position, and the gripper main structure plate above it is carried on the gripper placement member, so that the gripper placement structure is stable and firm.

[0039] During positioning, the first positioning piece is used to position the gripper's vertical and horizontal movements, and then the second positioning piece is used to limit the gripper's rotation. The gripper can be completely positioned by cooperating with the two positioning pieces, and the positioning structure is simple. In addition, the second positioning piece and the second positioning sleeve are not configured as a completely compatible positioning method, but there is a spacing in the horizontal direction between the two, which allows for errors in the horizontal direction when the gripper is placed, reduces the requirements for gripper placement accuracy, and facilitates the placement of the gripper by the robot.

[0040] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become more clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 It is a three-dimensional structure of an embodiment of the gripper replacement rack proposed by the utility model. Figure 1 ;

[0043] Figure 2 It is a three-dimensional structure of an embodiment of the gripper replacement rack proposed by the utility model. Figure 2 ;

[0044] Figure 3 It is a three-dimensional structure of an embodiment of the gripper replacement rack proposed by the utility model. Figure 3 ;

[0045] Figure 4 It is a structural schematic diagram of the second positioning member of the gripper replacement rack proposed in the utility model.

[0046] In the figure, 100, box body; 110, front panel; 120, side panel; 200, gripper placement member; 210, gripper accommodation position; 211, opening; 212, tapered guide groove; 213, accommodation groove; 300, first positioning member; 310, columnar positioning portion; 320, tapered guide portion; 400, second positioning member; 410, vertical positioning portion; 420, side component; 510, Vertical support frame; 520, horizontal frame; 600, dust cover; 610, cover body; 611, bending plate; 620, cover frame; 630, reinforcement; 710, pneumatic drive component; 711, cylinder rod; 720, connecting ear plate; 730, adapter block; 740, connecting shaft; 810, photoelectric detection switch; 820, reflector; 910, detection sensor; 920, gripper main structure plate. DETAILED DESCRIPTION

[0047] 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.

[0048] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limiting the present invention.

[0049] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections. A person of ordinary skill in the art will understand the specific meanings of the above terms in the present invention in specific circumstances. In the description of the embodiments, specific features, structures, materials, or characteristics may be combined in any appropriate manner in any one or more embodiments or examples.

[0050] The terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the quantity of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features.

[0051] In the description of the present invention, unless otherwise specified, “a plurality of” means two or more.

[0052] In some embodiments of the present application, a gripper replacement rack is provided. The gripper replacement rack can be used to place grippers that are needed by a robot.

[0053] During the automated production process, the robot may need to grasp and transfer different types of workpieces. To facilitate the robot's grasping operations on different types of workpieces, it is configured to adapt to connect various types of grippers. When the gripper needs to be replaced, it can be moved to the gripper replacement rack for gripper replacement operations.

[0054] In some embodiments of the present application, the gripper replacement rack includes:

[0055] The box body 100 has a receiving space formed therein.

[0056] During installation, the box body 100 may be formed by connecting a bottom plate, side panels 120 located on both sides, a front panel 110 and a rear panel.

[0057] The top of the box body 100 is formed with an opening.

[0058] An opening area is formed at the front panel 110 to facilitate the replacement of the gripper of the robot without interfering with the movement of the robot.

[0059] The grip placement piece 200 is arranged in the accommodating space, is set vertically on the side wall of the box body 100, and is arranged in plurality from top to bottom along the height direction of the box body 100.

[0060] In some embodiments of the present application, the grip placement member 200 is a grip placement plate, which is arranged horizontally and has vertical side panels on both sides. It is mainly used to support the grip placed above it.

[0061] In some embodiments, a detection sensor 910 is provided at the bottom of the gripper placement member 200 for detecting the presence of the gripper.

[0062] A plurality of gripper placement members 200 are provided and arranged at equal intervals along the height of the box body 100 , which can increase the gripper placement capacity of the entire gripper replacement rack.

[0063] In order to ensure that the upper and lower layers of grippers placed on the gripper placement piece 200 do not interfere with each other, during arrangement, the distance between the upper and lower adjacent gripper placement pieces 200 is set to be greater than the height of the gripper to ensure that the grippers of the upper and lower adjacent layers do not interfere with each other when picking up.

[0064] At least two gripper receiving locations 210 are formed on the gripper placement member 200 and are arranged from top to bottom through the gripper placement member 200 , and the side portions of the gripper receiving locations 210 have openings 211 .

[0065] The opening 211 on the side of the grip receiving position 210 is a side opening, which can facilitate the gripper to be inserted into the grip receiving position 210 from the side.

[0066] At least two gripper accommodating positions 210 are arranged at equal intervals along the length direction of the gripper placement piece 200. At least two gripper accommodating positions 210 are set, which makes it convenient for the robot to replace the gripper by first placing the gripper carried on it to one of the gripper accommodating positions 210, and then picking up the gripper at the other gripper accommodating position 210, thereby ensuring the normal progress of the gripper replacement operation.

[0067] In some embodiments, a plurality of gripper accommodating positions 210 are provided, and the plurality of gripper accommodating positions 210 can be used to place manipulator grippers used by different manipulators, so that the manipulator can replace a variety of grippers to meet various working conditions.

[0068] In order to quickly position the gripper placed on the gripper placement member 200 , a positioning structure cooperating with the gripper is also provided on the gripper placement member 200 .

[0069] Specifically, the grippers for the manipulator include: a gripper main structure plate 920 , on which a first positioning sleeve and a second positioning sleeve are provided, and a gripper connecting sleeve connected to the bottom of the gripper main structure plate 920 .

[0070] The positioning structure includes:

[0071] The first positioning member 300 is arranged at one side of the gripper receiving position 210 , and its shape is adapted to the shape of the first positioning sleeve on the gripper.

[0072] When the gripper is placed, it can be placed on the first positioning piece 300 that matches its shape through the first positioning sleeve above to achieve vertical and horizontal limitation of one side of the gripper. At this time, the gripper main structure plate 920 can also rotate circumferentially relative to the first positioning piece 300 through the first positioning sleeve.

[0073] In order to limit the rotation of the gripper, the positioning structure correspondingly arranges a second positioning member 400, which is arranged opposite to the first positioning member 300 and is arranged at the other side of the gripper accommodating position 210, and is used to cooperate with the second positioning sleeve on the gripper to limit the rotation of the gripper. The second positioning member 400 and the second positioning sleeve have a spacing in the horizontal direction.

[0074] After the second positioning member 400 and the second positioning sleeve are inserted and matched, the rotation of the second positioning sleeve is limited. The second positioning member 400 and the first positioning member 300 are matched to achieve complete positioning of the gripper.

[0075] In addition, there is a distance between the second positioning member 400 and the second positioning sleeve in the horizontal direction, so that there is space in the horizontal direction for the second positioning sleeve relative to the second positioning member 400. In this way, during assembly, there is no need to ensure that the second positioning sleeve must be accurately rotated onto the second positioning member 400, thereby reducing the positioning accuracy during assembly, ensuring that the gripper can be quickly placed in place by the robot, and reducing the difficulty of the robot in placing the gripper.

[0076] When the gripper is placed, it is inserted into the gripper receiving position 210 along the opening 211 , and the first and second positioning sleeves on the gripper cooperate with the first positioning member 300 and the second positioning member 400 to position the gripper above the gripper placement member 200 .

[0077] Specifically, when placing the gripper, the gripper connecting sleeve on the gripper can be driven by the robot arm to be placed from the side opening 211 along the direction perpendicular to the gripper placement member 200 into the gripper accommodating position 210. At the same time, the gripper main structure plate 920 located above the gripper connecting sleeve is also translated to the position above the gripper placement member 200. At this time, the gripper placement member 200 can be respectively inserted and matched with the first positioning member 300 and the second positioning member 400 through the first positioning sleeve and the second positioning sleeve above it to realize the positioning of the gripper.

[0078] The gripper placement piece 200 is supported and carried at a position below the gripper main structure plate 920 to support the entire gripper. By snapping into the gripper connecting sleeve at the gripper accommodation position 210 and the gravity of the gripper main body below, the gripper main structure plate 920 can be firmly pressed onto the fixture placement piece, ensuring the stability of the gripper support placement.

[0079] When placing the gripper, the gripper placement rack in this embodiment only needs to drive the gripper connecting sleeve along the side opening 211 to be inserted into the gripper accommodating position 210, and then insert and position it through the first positioning member 300, the second positioning member 400 and the first positioning sleeve and the second positioning sleeve.

[0080] During positioning, the first positioning member 300 is used to position the gripper vertically and horizontally, and then the second positioning member 400 is used to limit the rotation of the gripper. The gripper is completely positioned by two positioning members, and the positioning structure is simple.

[0081] Moreover, the second positioning member 400 and the second positioning sleeve are not configured to be completely adapted for positioning, but there is a gap in the horizontal direction between the two, which allows for errors in the horizontal direction when the gripper is placed, reduces the requirements for gripper placement accuracy, and facilitates the placement of the gripper by the robot.

[0082] In some embodiments of the present application, the first positioning member 300 includes a cylindrical positioning portion 310 and a conical guide portion 320 connected to the top of the cylindrical positioning portion 310 , and the contour shape of the cylindrical positioning portion 310 is adapted to the shape of the first positioning sleeve of the gripper.

[0083] The conical guide portion 320 is a conical guide section, and the cylindrical positioning portion 310 is a cylindrical positioning section. The two are smoothly connected. The setting of the conical guide section can guide the first positioning sleeve when it is installed, so that the first positioning sleeve can be quickly assembled into place and can be positioned when the first positioning sleeve slides to the cylindrical positioning section.

[0084] In order to achieve the connection between the first positioning member 300 and the gripper placement member 200, a countersunk screw hole is provided in the first positioning member 300 for passing a screw to lock and fix it on the gripper placement member 200.

[0085] In some embodiments of the present application, the second positioning member 400 includes a vertical positioning portion 410, which is adapted to the contour shape of the second positioning sleeve on the gripper and is used to position the gripper in the vertical direction;

[0086] and a side component 420 , wherein a distance is provided between the side component 420 and the inner side wall of the second positioning sleeve in the horizontal direction.

[0087] The vertical positioning portion 410 is a vertical positioning segment arranged at the opposite end of the second positioning member 400 , and its profile is adapted to the inner profile of the second positioning sleeve. The vertical positioning portion 410 can limit the rotation of the gripper.

[0088] The side component 420 is formed at the side component sections on both sides of the second positioning member 400 , and the side component sections are connected to the vertical positioning sections.

[0089] The side component segment and the second positioning sleeve have a distance in the horizontal direction, so when the gripper is placed, it does not need to be completely matched and positioned in the horizontal direction. It only needs the vertical positioning part to be placed in place, which reduces the difficulty of positioning the gripper.

[0090] In some embodiments of the present application, the second positioning member 400 is a cylindrical positioning member, and the second positioning sleeve is a long strip positioning sleeve. There is a distance between the cylindrical positioning member and the long strip positioning sleeve in the horizontal direction.

[0091] The second positioning sleeve is a long positioning sleeve that cooperates with the cylindrical positioning piece to ensure that there is a margin between the two in the horizontal direction, which also reduces the accuracy of the positioning of the gripper and facilitates the rapid placement of the gripper.

[0092] In some embodiments of the present application, the first positioning member 300 and the second positioning member 400 are asymmetrically arranged on both sides of the center line of the grip accommodating position 210 .

[0093] Arranging the first and second positioning members 300, 400 asymmetrically about the centerline of the gripper receiving area 210 prevents errors. If the gripper is positioned in the opposite direction during placement, the first and second positioning sleeves on the gripper will not fit with the first and second positioning members 300, 400, respectively, due to the asymmetrical arrangement of the first and second positioning members 300, 400. This indicates that the gripper is in the wrong orientation.

[0094] In some embodiments of the present application, the gripper accommodating position 210 includes a conical guide groove 212 and a accommodating groove 213, which are mainly used to cooperate with the gripper connecting sleeve on the gripper. The conical guide groove 212 is used to guide the gripper connecting sleeve, and the accommodating groove 213 is used to accommodate the gripper connecting sleeve.

[0095] The gripper accommodating position 210 cooperates with the gripper connecting sleeve. The setting of the gripper accommodating position 210 limits the gripper to be able to move into position only along it, limits the movement trajectory of the gripper, guides the movement of the gripper, and ensures that after the gripper moves into position, the positions of the first positioning sleeve and the second positioning sleeve above it basically correspond to the positions of the first positioning member 300 and the second positioning member 400, ensuring that the first positioning member 300, the second positioning member 400 and the first positioning sleeve and the second positioning sleeve can be quickly aligned and positioned.

[0096] Moreover, the movement of the gripper connecting sleeve along the gripper accommodation position 210 also ensures that the movable gripper main structural plate 920 is located above the gripper placement member 200 , thereby ensuring the coordinated positioning between the gripper main structural member and the gripper placement member 200 .

[0097] In some embodiments of the present application, the width of the tapered guide groove 212 gradually decreases along the gripper installation direction. Tapered guide surfaces are formed on both sides of the tapered guide groove 212, which guide the gripper connection sleeve through the tapered guide groove 212.

[0098] The accommodating groove 213 includes a straight section and an arc section connected to the straight section. The inner diameter of the straight section is slightly larger than the gripper connecting sleeve, and the inner diameter of the arc section is slightly larger than the gripper connecting sleeve to facilitate the gripper connecting sleeve to be inserted.

[0099] In some embodiments of the present application, the gripper replacement rack includes: a support frame, wherein the support frame includes two vertical support frames 510, which are symmetrically arranged at both sides of the box body 100;

[0100] A horizontal frame 520 is horizontally connected between the two vertical frames;

[0101] Both ends of the gripping member 200 are fixedly connected to two vertical support frames 510 .

[0102] The vertical support frame 510 arranged vertically supports and fixes the gripper placement member 200 .

[0103] In some embodiments of the present application, the gripper changing rack includes:

[0104] A dust cover 600 is rotatably connected to the box body 100 and is used to open or close the box body 100;

[0105] The pneumatic driving member 710 is assembled on the transverse frame 520 and connected to the dust cover 600, and is used to drive the dust cover 600 to automatically open or close.

[0106] The pneumatic drive component 710 is a pneumatic drive cylinder, which includes a cylinder rod 711. The end of the cylinder rod 711 is connected to a connecting ear plate 720. A switching block 730 is connected to the dust cover 600. The switching block 730 is hinged to the connecting ear plate 720 through a connecting shaft 740.

[0107] A connecting arm is provided on the adapter block 730 , and the connecting arm extends between the connecting ear plates 720 . The connecting shaft 740 passes through the connecting ear plates 720 and the connecting arm, and its two ends are limited by limit pins.

[0108] The dust cover 600 can be opened or closed by extending and retracting the cylinder rod 711 of the pneumatically driven cylinder.

[0109] In some embodiments of the present application, the dust cover 600 includes:

[0110] The cover body 610 is surrounded by a cover frame 620 for supporting and fixing the cover body 610 .

[0111] A reinforcement member 630 is connected to the cover frame 620 and is located at a middle position of the cover frame 620 .

[0112] The pneumatic drive member 710 extends upward from the transverse frame 520 to the top position, and the adapter block 730 connected to the connecting ear plate 720 at the end of the pneumatic drive member 710 is connected to the reinforcement member 630.

[0113] A bent plate 611 is formed on a side of the cover body 610 close to the box body 100 .

[0114] The bent plate 611 bends and extends into the accommodation space inside the box body 100 .

[0115] When the cover body 610 rotates to open or close, the bending plate 611 is simultaneously driven to rotate and change position.

[0116] When the dust cover 600 is closed, the bending plate 611 is driven to rotate and fit together with the grip placement piece 200, and a closed space is formed between the cover body 610, the side wall of the box body 100, the grip placement piece 200 and the bending plate 611, which is used to shield and protect the quick-change connector on the gripper in the closed space.

[0117] In order to achieve rapid connection and disconnection with the manipulator, a quick-change joint is provided on the gripper main structure plate 920. The quick-change joint has high precision. If dust or debris falls into it, it will affect the normal gripper connection operation of the manipulator.

[0118] When the dust cover 600 is closed, the above components form a sealed space. At this time, the quick-change connector on the gripper main structure plate 920 placed above the gripper placement member 200 is exactly in the sealed space.

[0119] The cover body 610 blocks the top of the quick-change joint, preventing dust and debris falling from above from entering the quick-change joint. The side panels of the box body 100 prevent dust and debris falling from both sides from entering the quick-change joint. The bent plate 611 is bent from the cover body 610 and extends to the interior of the box body 100, so that it blocks the gap between the cover body 610 and the back panel of the box body 100, preventing dust and debris from entering the quick-change joint from the rear side, and preventing dust and debris from falling onto the quick-change joint as much as possible, thereby ensuring the accuracy of the quick-change joint.

[0120] In some embodiments of the present application, the gripper replacement rack includes an opening and closing detection component for detecting the opening and closing state of the dust cover 600, and the opening and closing detection component includes a photoelectric detection switch 810 arranged on the dust cover 600 and a reflector 820 arranged on the bending plate 611.

[0121] The photoelectric switch has a receiving end and a transmitting end.

[0122] When the dust cover 600 is opened, the light emitted from the transmitting end of the photoelectric detection switch 810 can be reflected by the reflector 820 and received by the receiving end, otherwise it cannot be received.

[0123] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the above embodiments, or to replace some of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions claimed to be protected by the present invention.

Claims

1. A gripper replacement rack, characterized in that: The gripper includes a gripper main structure plate and a gripper connecting sleeve connected below it. The replacement frame includes: a box body, wherein a receiving space is formed inside the box body; A gripper placement member is arranged in the accommodating space, is arranged perpendicular to the side wall of the box body, and is arranged in plurality from top to bottom along the height direction of the box body. The gripper placement member is formed with at least two gripper accommodation positions extending through the gripper placement member from top to bottom, and has an opening on its side. The positioning structure is formed on the gripper placement member and includes: The first positioning member is arranged at one side of the gripper accommodation position, and its shape is adapted to the shape of the first positioning sleeve on the gripper; The second positioning member is arranged opposite to the first positioning member and is disposed at a position on the other side of the gripper accommodation position, and is used for being inserted and matched with the second positioning sleeve on the gripper, and the second positioning member and the second positioning sleeve are spaced apart in the horizontal direction; When the gripper is placed, the gripper connecting sleeve is inserted into the gripper accommodating position along the opening, and the gripper main structure plate cooperates with the first positioning member and the second positioning member through the first positioning sleeve and the second positioning sleeve thereon and is mounted above the gripper placement member.

2. The gripper replacement rack according to claim 1, characterized in that: The first positioning member includes a cylindrical positioning portion and a tapered guide portion connected to the top of the cylindrical positioning portion. The contour shape of the cylindrical positioning portion is adapted to the shape of the first positioning sleeve of the gripper.

3. The gripper changing rack according to claim 1, characterized in that: The second positioning member includes a vertical positioning portion, which is adapted to the contour shape of the second positioning sleeve on the gripper and is used to position the gripper in the vertical direction; and a side component, wherein a distance is provided between the side component and the inner side wall of the second positioning sleeve in a horizontal direction.

4. The gripper changing rack according to claim 1, characterized in that: The second positioning member is a columnar positioning member, and the second positioning sleeve is a strip-shaped positioning sleeve. There is a distance between the columnar positioning member and the strip-shaped positioning sleeve in the horizontal direction.

5. The gripper changing rack according to claim 1, characterized in that: The first positioning member and the second positioning member are asymmetrically arranged on both sides of the center line of the gripper accommodating position.

6. The gripper changing rack according to claim 1, characterized in that: The gripper receiving position includes a tapered guide groove, the width of which gradually decreases along the gripper installation direction; The accommodating groove comprises a straight portion and an arc portion connected to the straight portion. The inner diameter of the straight portion is slightly larger than the grip connection sleeve, and the inner diameter of the arc portion is slightly larger than the grip connection sleeve.

7. The gripper changing rack according to claim 1, characterized in that: The invention comprises: a supporting frame body, wherein the supporting frame body comprises two vertical supporting frames, which are symmetrically arranged at both sides of the box body; The horizontal frame is connected horizontally between the two vertical frames; The two ends of the gripper placement piece are fixedly connected to two vertical support frames.

8. The gripper changing rack according to claim 7, characterized in that: include: A dust cover, rotatably connected to the box body, used to open or close the box body; A pneumatic drive component is assembled on the transverse frame and connected to the dust cover, and is used for driving the dust cover to automatically open or close.

9. The gripper changing rack according to claim 8, characterized in that: The dust cover includes: The cover body is bent to form a bent plate on one side of the cover body close to the box body; When the dust cover is closed, the bent plate and the gripper placement piece are fitted together to form a sealed space between the cover body, the side wall of the box body, the gripper placement piece and the bent plate, which is used to shield and protect the quick-change connector on the gripper in the sealed space.

10. The gripper changing rack according to claim 9, characterized in that: An opening and closing detection component is included for detecting the opening and closing state of the dust cover. The opening and closing detection component includes a photoelectric detection switch arranged on the dust cover and a reflecting mirror arranged on the bending plate.

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