Quick change device for an end effector

Abstract

The utility model discloses end picker quick change device, including end picker subassembly, left end picker quick change subassembly, right end picker quick change subassembly, and end picker subassembly includes left end picker subassembly, right end picker subassembly, and left end picker quick change subassembly, right end picker quick change subassembly top is connected with manipulator respectively, and left end picker subassembly is connected with left end picker quick change subassembly, and right end picker subassembly one end is connected with right end picker quick change subassembly, left end picker quick change subassembly and left end picker subassembly are connected with male end pipe and public end pipe structure cooperation, and right end picker quick change subassembly and right end picker subassembly are connected with male end pipe and public end pipe structure cooperation. The utility model discloses simple structure realizes reliable positioning and fixed to end picker, and installation and disassembly are convenient, improve production efficiency, and the occupation of work space is little, can adapt to different shape sheet metal and the production need of different production line, especially suitable for the compact production line place of arrangement.

Description

Technical Field

[0001] This utility model relates to the field of automated stamping production technology, and in particular to a quick-change device for end effectors. Background Technology

[0002] In the automated production of sheet metal stamping parts, it is necessary to perform operations such as destacking, coding, stamping, and stacking of sheet metal. During this process, end effectors are usually used to pick up and move the sheet metal. When the shape of the sheet metal changes or the end effector is damaged, the end effector needs to be replaced.

[0003] Existing technology uses quick-change tool trays to achieve rapid replacement of end effectors and quick-change switches to detect the arrival of sheet metal. However, in automated thermoforming production lines, when the end effector grips and handles high-temperature sheet metal, the quick-change switches are prone to damage due to the heat radiation from the high-temperature sheet metal. This not only leads to inaccurate tool tray arrival detection, affecting production, but also increases maintenance and replacement costs. Furthermore, existing quick-change devices typically require an end effector mounting base (frame) or an end effector rotation device. This necessitates setting up additional quick-change space on the stamping line, increasing space and cost, or occupying existing space, resulting in overcrowded layouts and compromising production safety. Utility Model Content

[0004] This invention addresses the aforementioned problems in existing technologies by providing a quick-change end effector device. This invention achieves reliable positioning and fixation of the end effector through a simple mechanical structure, facilitating easy installation and disassembly, minimizing damage, extending the device's service life, and improving production efficiency. In use, the end effector can be placed on a lightweight push-pull trolley; after changing the end effector, the trolley can be moved, eliminating the need for additional quick-change space. This minimizes workspace requirements and adapts to different sheet metal shapes and production line needs, making it particularly suitable for compact production line environments.

[0005] The technical solution to the technical problem solved by this utility model is:

[0006] An end effector quick-change device includes an end effector assembly, a left end effector quick-change assembly, and a right end effector quick-change assembly. The end effector assembly includes a left end effector assembly and a right end effector assembly. The tops of the left end effector quick-change assembly and the right end effector quick-change assembly are respectively connected to a robotic arm. The left end effector assembly is connected to the left end effector quick-change assembly, and one end of the right end effector assembly is connected to the right end effector quick-change assembly. The left end effector quick-change assembly and the left end effector assembly are connected through a female end tube and a male end tube structure. The right end effector quick-change assembly and the right end effector assembly are connected through a female end tube and a male end tube structure.

[0007] The top of the left-end pickup quick-change assembly is connected to the bottom of the left shuttle arm of the robot, and the top of the right-end pickup quick-change assembly is connected to the bottom of the right shuttle arm of the robot.

[0008] The left and right pickup quick-change components adopt a female end tube structure, while the left and right pickup components adopt a male end tube structure. The female end tube structure and the male end tube structure are connected in a mating manner, and the female end tube structure and the male end tube structure adopt a square tube structure.

[0009] Both the left and right end-capsule quick-change components include an end-capsule quick-change female bracket, a slide, a cable chain bracket, a quick-change plug bracket, and a quick-change plug assembly. The top of the end-capsule quick-change female bracket is connected to the slide, and the cable chain bracket is connected to the end-capsule quick-change female bracket. A quick-change plug assembly is provided on one side of the end-capsule quick-change female bracket, the quick-change plug bracket is fixed below the end-capsule quick-change female bracket, and the quick-change plug assembly is fixed on the quick-change plug bracket.

[0010] A stopper is placed inside the quick-change female end bracket of the end effector, and the stopper is inserted from one end of the quick-change female end bracket of the end effector.

[0011] The stop includes a connector and a square tube connected together. The connector has a connection hole. The quick-change female end bracket of the end effector passes through the stop and is connected to the stop and the drag chain bracket by a bolt assembly.

[0012] The left end-cap assembly includes an end-cap male square tube, an end-cap, and a Harding male terminal. One end of the end-cap male square tube is connected to the end-cap, and the other end of the end-cap male square tube is connected to the end-cap quick-change female end bracket. Each set of left end-cap assemblies is equipped with one Harding male terminal.

[0013] The end effector quick-change female end bracket is provided with a Harding seat and a Harding female end on one side. The Harding seat is fixed below the slide plate, and the Harding female end is fixed on the Harding seat. The left end effector quick-change assembly is equipped with the Harding female end. The Harding male end and the Harding female end cooperate to connect the electrical signal and pneumatic circuit of the end effector and the robot.

[0014] On the other side of the quick-change female end bracket of the end effector, there is a clamping mechanism that can reliably clamp the left end effector quick-change assembly and the rear left end effector assembly after connection. The clamping mechanism includes a connecting block, a pressure block, a fastening handle, and a pin. The connecting block is connected to the quick-change female end bracket of the end effector on the side close to it. The connecting block adopts a groove-shaped structure with an open top. The fastening handle is connected to the lower part of the connecting block on the side away from the quick-change female end bracket of the end effector using a threaded engagement structure and can move along the axial direction. The connecting block has a connecting hole, and the pin engages with the connecting hole. The lower part of the pressure block is located in the groove-shaped structure and is hinged to the connecting block by the pin and can swing around the axis. One side of the pressure block engages with the threaded end of the fastening handle. The side wall of the quick-change female end bracket of the end effector has an opening at a corresponding position. The other side of the pressure block engages with the square tube of the male end effector through the opening and can clamp the square tube of the male end effector.

[0015] The clamping mechanism has two parts.

[0016] The end effector quick-change female end bracket is provided with a locating pin on one side.

[0017] The fastening handle has an open retaining ring near the threaded end to prevent the fastening handle from coming off.

[0018] Beneficial effects of this utility model

[0019] 1. The end effector quick-change device of this utility model connects the left end effector assembly to the left end effector quick-change assembly, and one end of the right end effector assembly is connected to the right end effector quick-change assembly. The left end effector quick-change assembly and the left end effector assembly are connected by a female end tube and a male end tube structure, and the right end effector quick-change assembly and the right end effector assembly are connected by a female end tube and a male end tube structure. It is easy to install and disassemble, not easily damaged, has a long service life, and improves production efficiency. In use, the end effector can be placed on a lightweight push-pull trolley. After changing the end effector, the push-pull trolley can be pushed away, without occupying additional quick-change space. It occupies little workspace and is suitable for compact production line layouts.

[0020] 2. The female and male end tube structures of this utility model adopt square tube structures. The top of the left end-capsule quick-change assembly is connected to the bottom of the left shuttle arm of the robot, and the top of the right end-capsule quick-change assembly is connected to the bottom of the right shuttle arm of the robot. One end of the male end-capsule square tube can be connected to different models of end-capsules, while the other end contacts and connects to the end-capsule quick-change female end bracket in the end-capsule quick-change female end, providing good adaptability and making installation and disassembly very convenient.

[0021] 3. A clamping mechanism and a positioning pin are arranged on one side of the end effector quick-change female end bracket. The clamping mechanism is equipped with a fastening handle. The operator inserts the male end square tube of the end effector into the end effector quick-change female end bracket until it is fully inserted. Rotating the positioning pin causes it to extend and fasten the male end square tube. Rotating the fastening handle further tightens the male end square tube. This ensures a stable and reliable connection and clamping between the end effector assembly and the end effector quick-change assembly. The positioning pin ensures that even if the fastening handle is loosened during production, the male end square tube will not come out, guaranteeing the overall safety of the equipment and the operator's safety.

[0022] 4. A stop is placed inside the quick-change female end bracket of the end effector, and the stop is inserted into one end of the quick-change female end bracket. The stop includes a connecting head and a square tube. The connecting head has a connecting hole. The quick-change female end bracket of the end effector passes through the stop and is connected to the stop and the cable chain bracket by a bolt assembly. The stop is detachable. When facing the problem of different press worktable sizes in new production lines, only the stop or quick-change female end bracket of the end effector of the corresponding size needs to be replaced to solve the problem of different press worktable sizes and achieve the universality of end effectors for different production lines. This enables the picking and handling of sheet metal of different shapes, reduces spare parts inventory, and lowers investment costs.

[0023] 5. After standardizing the length of the male square tube of the end effector, the operator only needs to insert the male square tube of the end effector to the bottom to complete the positioning of the end effector, which is simple to install and highly efficient.

[0024] 6. A Harding female terminal is provided on one side of the quick-change female terminal bracket of the end effector, and a Harding male terminal is provided on the end effector assembly. The Harding male terminal and Harding female terminal work together to safely and reliably connect the electrical signals and pneumatic circuits of the end effector and the robot arm, enabling connection methods of electrical circuit, pneumatic circuit, and mixed electrical and pneumatic circuit, with strong applicability.

[0025] 7. The fastening handle is provided with an open retaining ring near the threaded end to prevent the fastening handle from coming off the connecting block due to loosening of the threaded engagement. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of this utility model;

[0027] Figure 2 Schematic diagram of the quick-change assembly for the left-end pickup Figure One ;

[0028] Figure 3 Schematic diagram of the quick-change assembly for the left-end pickup Figure Two ;

[0029] Figure 4 Schematic diagram of the quick-change assembly for the right-end pickup Figure Two ;

[0030] Figure 5Schematic diagrams of the left and right pickup components;

[0031] Figure 6 A schematic diagram of the structure for inserting the square tube of the male end of the left pickup into the quick-change female end of the left pickup.

[0032] Figure 7 Schematic diagram of the connection structure of the quick-change female end bracket 7 for the end effector;

[0033] Figure 8 A schematic diagram of the connection structure between the drag chain bracket, stop, and end effector male square tube;

[0034] Figure 9 This is a schematic diagram of the stop structure;

[0035] Figure 10 This is a schematic diagram of the structure connecting the top of the end effector quick-change assembly to the robotic arm.

[0036] In the diagram, the components are: left end-capsule quick-change assembly 1, right end-capsule quick-change assembly 2, left end-capsule assembly 3, right end-capsule assembly 4, left shuttle arm 5, right shuttle arm 6, end-capsule quick-change female bracket 7, slide 8, cable chain bracket 9, stop 10, fastening handle 11, opening retaining ring 12, pressure block 13, pin 14, positioning pin 15, quick-change plug bracket 16, quick-change plug assembly 17, Harding seat 18, Harding female end 19, end-capsule male square tube 20, end-capsule 21, Harding male end 22, robot arm 23, connecting block 24, and opening 25. Detailed Implementation

[0037] To enable those skilled in the art to better understand the technical solutions of this utility model, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments.

[0038] like Figures 1-10 As shown, an end effector quick-change device includes an end effector assembly, a left end effector quick-change assembly, and a right end effector quick-change assembly. The end effector assembly includes a left end effector assembly and a right end effector assembly. The tops of the left end effector quick-change assembly and the right end effector quick-change assembly are respectively connected to a robotic arm. The left end effector assembly is connected to the left end effector quick-change assembly, and one end of the right end effector assembly is connected to the right end effector quick-change assembly. The left end effector quick-change assembly and the left end effector assembly are connected through a female end tube and a male end tube structure. The right end effector quick-change assembly and the right end effector assembly are connected through a female end tube and a male end tube structure.

[0039] It includes a left-end pickup quick-change assembly 1, a right-end pickup quick-change assembly 2, a left-end pickup assembly 3, and a right-end pickup assembly 4. The top of the left-end pickup quick-change assembly 1 is connected to the left side of the robot arm 23, the top of the right-end pickup quick-change assembly 2 is connected to the right side of the robot arm 23, one end of the left-end pickup assembly 3 is connected to the left-end pickup quick-change assembly 1, and the other end is connected to the end pickup. The right-end pickup assembly 4 is connected to the right-end pickup quick-change assembly 2. The left-end pickup quick-change assembly 1 and the left-end pickup assembly 3 are connected by a female end tube and a male end tube structure, and the right-end pickup quick-change assembly 2 and the right-end pickup assembly 4 are connected by a female end tube and a male end tube structure. The left end-capsule quick-change assembly 1 and the right end-capsule quick-change assembly 2 are symmetrical, as are the left end-capsule assembly 3 and the right end-capsule assembly 4. The top of the left end-capsule quick-change assembly 1 is connected to the bottom of the left shuttle arm 5 of the robotic arm 23, and the top of the right end-capsule quick-change assembly 2 is connected to the bottom of the right shuttle arm 6 of the robotic arm 23. One end of the male square tube of the end-capsule can be connected to different models of end-capsules, while the other end is in contact with the end-capsule quick-change female bracket in the end-capsule quick-change female end-capsule assembly.

[0040] The left end-capsule quick-change assembly 1 adopts a female end tube structure, and the left end-capsule assembly 3 adopts a male end tube structure; similarly, the right end-capsule quick-change assembly 2 adopts a female end tube structure, and the right end-capsule assembly 4 adopts a male end tube structure. The female end tube structure and the male end tube structure are connected in conjunction. For example, if the female end tube structure and the male end tube structure adopt a square tube structure, the male end tube structure can be connected to different models of end-capsules.

[0041] The connection relationship is described below using the left-end pickup quick-change component 1 and the left-end pickup component 3 as examples.

[0042] The left-side quick-change pickup assembly 1 includes a quick-change female end bracket 7, a slide 8, a cable chain bracket 9, a quick-change plug bracket 16, and a quick-change plug assembly 17. The top of the quick-change female end bracket 7 is connected to the slide 8, and a stop 10 is inserted from one end of the quick-change female end bracket 7. The cable chain bracket 9 is connected to the quick-change female end bracket 7. A quick-change plug assembly 17 is provided on one side of the quick-change female end bracket 7. The quick-change plug bracket 16 is fixed below the quick-change female end bracket 7, and the quick-change plug assembly 17 is fixed on the quick-change plug bracket 16. The quick-change female end bracket 7 is a female end tube structure.

[0043] A stopper 10 is placed inside the quick-change female end bracket of the end-cap device, and the stopper 10 is inserted from one end of the quick-change female end bracket 7 of the end-cap device.

[0044] The stop 10 includes a connector 101 and a square tube 102 connected together. The connector 101 has a connecting hole and can adopt a flange-like structure with a connecting hole. The end effector quick-change female bracket 7 passes through the stop 10 and is fixed to the stop 10 and the cable chain bracket 9 by bolt assembly. When facing the problem of different press worktable sizes in new production lines, it is only necessary to replace the stop 10 or the end effector quick-change female bracket 7 of the corresponding size to solve the problem of different press worktable sizes and achieve the universality of end effectors for different production lines, so as to complete the picking and handling operations of sheet metal of different shapes.

[0045] The left end pickup assembly 3 includes an end pickup male square tube 20, an end pickup 21, and a Harding male end 22. One end of the end pickup male square tube 20 is connected to the end pickup 21, and the other end of the end pickup male square tube 20 is connected to the end pickup quick-change female end bracket 7. Each set of left end pickup assembly 3 is equipped with a Harding male end 22.

[0046] The end effector quick-change female bracket 7 has a Harding seat 18 and a Harding female end 19 on one side. The Harding seat 18 is fixed below the slide plate 8, and the Harding female end 19 is fixed on the Harding seat 18. The left end effector quick-change assembly 1 is equipped with the Harding female end 19. The Harding male end 22 and the Harding female end 19 cooperate to connect the end effector 21 with the robot arm 23 for electrical signals and pneumatic circuits. The connection between the end effector and the robot arm for electrical signals and pneumatic circuits is achieved through the Harding connector. The connection between the left end effector assembly 3 and the robot arm for electrical signals can also be achieved through a quick-change plug.

[0047] On the other side of the end effector quick-change female bracket 7, there is a clamping mechanism that can reliably clamp the left end effector quick-change assembly 1 and the rear left end effector assembly 3 after connection. The clamping mechanism includes a connecting block 24, a pressure block 13, a fastening handle 11, and a pin 14. The connecting block 24 is connected to the end effector quick-change female bracket 7 on the side closer to the end effector quick-change female bracket 7. The connecting block 24 adopts a slot-shaped structure with an open top. The fastening handle 11 is connected to the lower part of the connecting block 24 on the side away from the end effector quick-change female bracket 7. The threaded connection structure allows for axial movement. A connecting hole is provided on the connecting block 24, and the pin 14 engages with the connecting hole. The lower part of the pressure block 13 is located in a groove-shaped structure and is hinged to the connecting block 24 via the pin 14, allowing it to swing around the axis. One side of the pressure block 13 engages with the threaded end of the fastening handle 11. An opening 25 is provided on the corresponding position of the side wall of the end-effector quick-change female bracket 7. The other side of the pressure block 13 engages with the square tube of the end-effector male end through the opening 25, pressing the male end square tube firmly. The pressure block 13 rotates around the pin 14. When the fastening handle 11 is tightened, the fastening handle 11 moves upward and lifts one end of the pressure block 13, while the other end of the pressure block 13 moves downward to contact and press against the male end square tube of the end-effector.

[0048] The clamping mechanism has two parts.

[0049] The fastening handle 11 is provided with an open retaining ring 12 near the threaded end, which prevents the fastening handle 11 from coming off.

[0050] The quick-change female end bracket 7 of the end effector is provided with a locating pin 15 on one side. The locating pin 15 is located between two pressure blocks 13. The function of the locating pin 15 is to ensure that the male end square tube of the end effector will not come out even if the fastening handle 11 is loosened during production. In actual production, only the fastening handle can be installed.

[0051] The working steps for replacing the end effector in this utility model are as follows: Loosen the two fastening handles 11, then loosen the positioning pin 15, and pull out the male end square tube 20 of the left end effector assembly 3 from the end effector quick-change female end bracket 7. Place the end effector 21 on the prepared push-pull trolley; take the end effector to be installed from the push-pull trolley, insert the male end square tube 20 of the end effector into the end effector quick-change female end bracket 7, and tighten the positioning pin 15 after it is fully inserted, then tighten the two fastening handles 11; push the push-pull trolley out of the working area. The right end effector quick-change assembly 2 and right end effector assembly 4 are symmetrical to the left end effector quick-change assembly 1 and left end effector assembly 3, and the installation method is the same, so it will not be described again here.

[0052] In the description of this utility model, the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "vertical," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for describing this utility model and do not require that this utility model be constructed or operated in a specific orientation, and therefore should not be construed as limiting this utility model. The terms "connected" and "linked" in this utility model should be interpreted broadly. For example, they can refer to a connection or a detachable connection; they can refer to a direct connection or an indirect connection through intermediate components. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0053] The above description represents the preferred embodiments of this utility model. The specific embodiments are provided only for a better understanding of the concept of this utility model. For those skilled in the art, several improvements or equivalent substitutions can be made based on the principles of this utility model, and these improvements or equivalent substitutions are also considered to fall within the protection scope of this utility model.

Claims

1. An end effector quick-change device, comprising an end effector assembly, characterized in that, The device includes a left-end pickup quick-change assembly and a right-end pickup quick-change assembly. The pickup assembly includes a left-end pickup assembly and a right-end pickup assembly. The tops of the left-end pickup quick-change assembly and the right-end pickup quick-change assembly are respectively connected to the robot arm. The left-end pickup assembly is connected to the left-end pickup quick-change assembly, and one end of the right-end pickup assembly is connected to the right-end pickup quick-change assembly. The left-end pickup quick-change assembly and the left-end pickup assembly are connected through a female end tube and a male end tube structure. The right-end pickup quick-change assembly and the right-end pickup assembly are connected through a female end tube and a male end tube structure.

2. The end effector quick-change device according to claim 1, characterized in that, The top of the left-end pickup quick-change assembly is connected to the bottom of the left shuttle arm of the robot, and the top of the right-end pickup quick-change assembly is connected to the bottom of the right shuttle arm of the robot.

3. The end effector quick-change device according to claim 1, characterized in that, The left and right pickup quick-change components adopt a female end tube structure, while the left and right pickup components adopt a male end tube structure. The female end tube structure and the male end tube structure are connected in a mating manner, and the female end tube structure and the male end tube structure adopt a square tube structure.

4. The end effector quick-change device according to claim 1, characterized in that, Both the left and right end-capsule quick-change components include an end-capsule quick-change female bracket, a slide, a cable chain bracket, a quick-change plug bracket, and a quick-change plug assembly. The top of the end-capsule quick-change female bracket is connected to the slide, and the cable chain bracket is connected to the end-capsule quick-change female bracket. A quick-change plug assembly is provided on one side of the end-capsule quick-change female bracket, the quick-change plug bracket is fixed below the end-capsule quick-change female bracket, and the quick-change plug assembly is fixed on the quick-change plug bracket.

5. The end effector quick-change device according to claim 4, characterized in that, A stopper is placed inside the quick-change female end bracket of the end effector, and the stopper is inserted from one end of the quick-change female end bracket of the end effector.

6. The end effector quick-change device according to claim 5, characterized in that, The stop includes a connector and a square tube connected together. The connector has a connection hole. The quick-change female end bracket of the end effector passes through the stop and is connected to the stop and the drag chain bracket by a bolt assembly.

7. The end effector quick-change device according to claim 4, characterized in that, The left end-cap assembly includes an end-cap male square tube, an end-cap, and a Harding male terminal. One end of the end-cap male square tube is connected to the end-cap, and the other end of the end-cap male square tube is connected to the end-cap quick-change female end bracket. Each set of left end-cap assemblies is equipped with one Harding male terminal. The end effector quick-change female end bracket is provided with a Harding seat and a Harding female end on one side. The Harding seat is fixed below the slide plate, and the Harding female end is fixed on the Harding seat. The left end effector quick-change assembly is equipped with the Harding female end. The Harding male end and the Harding female end cooperate to connect the electrical signal and pneumatic circuit of the end effector and the robot.

8. The end effector quick-change device according to claim 7, characterized in that, On the other side of the quick-change female end bracket of the end effector, there is a clamping mechanism that can reliably clamp the left end effector quick-change assembly and the rear left end effector assembly after connection. The clamping mechanism includes a connecting block, a pressure block, a fastening handle, and a pin. The connecting block is connected to the quick-change female end bracket of the end effector on the side close to it. The connecting block adopts a groove-shaped structure with an open top. The fastening handle is connected to the lower part of the connecting block on the side away from the quick-change female end bracket of the end effector using a threaded engagement structure and can move along the axial direction. The connecting block has a connecting hole, and the pin engages with the connecting hole. The lower part of the pressure block is located in the groove-shaped structure and is hinged to the connecting block by the pin and can swing around the axis. One side of the pressure block engages with the threaded end of the fastening handle. The side wall of the quick-change female end bracket of the end effector has an opening at a corresponding position. The other side of the pressure block engages with the square tube of the male end effector through the opening and can clamp the square tube of the male end effector.

9. The end effector quick-change device according to claim 8, characterized in that, The end effector quick-change female end bracket is provided with a locating pin on one side.

10. The end effector quick-change device according to claim 8, characterized in that, The fastening handle has an open retaining ring near the threaded end to prevent the fastening handle from coming off.

Images