A quick-change station assembly for the material handling end pick-up and unloading device of a large-tonnage press

Abstract

This utility model provides a quick-change station assembly for the material handling end effector of a large-tonnage press, including symmetrically arranged loading and unloading temporary mechanisms, protective fences surrounding both, and a robot located outside the protective fences. The loading temporary mechanism is used to hold the end effector to be loaded; the unloading temporary mechanism is used to hold the end effector to be unloaded. Each end effector's main connecting rod includes a first rod portion and a second rod portion that connects to the first rod portion via a gun-changing disc. Along the length of the main connecting rod, the gun-changing disc is located in the middle of the main connecting rod. The first rod portion connects to the support arm component, and the end of the second rod portion furthest from the first rod portion connects to the robot, allowing the robot to move the end effector in and out of the protective fence. This quick-change station assembly for the material handling end effector of a large-tonnage press provides the ability to quickly change end effectors while effectively reducing the load on the gun-changing disc, resulting in easy operation for personnel and low equipment manufacturing costs.

Description

Technical Field

[0001] This utility model belongs to the field of forging and pressing automation equipment, and in particular relates to a quick-change station assembly for a large-tonnage press material pick-up and unpick-up end device. Background Technology

[0002] An end effector is a device mounted on an industrial robot or robotic arm. It uses a vacuum suction cup or gripper to contact the object being gripped and move it from one location to a designated point. It typically consists of quick-connect couplings, a main connecting rod, a support arm, a suction cup mount, a suction cup, air tubing, and a tee. On stamping production lines, end effectors often need to be replaced depending on production requirements, the type of object being gripped, or when they malfunction. Currently, replacing end effectors on robotic arms usually involves stopping the production line, having an operator enter between the presses to install an end effector onto the corresponding robotic arm, and then securing it with screws. This method is cumbersome to disassemble, has low connection strength and safety, and can easily cause instability in multi-station presses, thus affecting production quality and efficiency. Clearly, this traditional connection solution cannot meet production demands. Therefore, industry professionals have made improvements by using an automatic replacement device (gun changer) to automate the entire replacement process. While this allows for rapid replacement of the end effector and makes the replacement operation safer and more efficient, the common plate of the gun changer is usually located at the flange of the external robot. This places high demands on the torque and precision of the gun changer, and requires operators to have a high level of skill. Utility Model Content

[0003] In view of the problems existing in the prior art, the main purpose of this utility model is to provide a quick-change station assembly for the material handling end-feeding device of a large-tonnage press, which can quickly replace the end-feeding device while effectively reducing the load on the changing platen, making it easy for operators to operate and reducing the equipment manufacturing cost.

[0004] The objective of this utility model is achieved through the following technical solution:

[0005] This utility model provides a quick-change assembly for a material handling end effector on a large-tonnage press. The assembly includes symmetrically arranged loading and unloading temporary mechanisms, protective fences surrounding the loading and unloading temporary mechanisms, and a robot positioned outside the protective fences.

[0006] The loading temporary placement mechanism is used to clamp the end effector to be loaded; the unloading temporary placement mechanism is used to clamp the end effector to be unloaded.

[0007] Each of the end effectors' main connecting rods includes a first rod portion and a second rod portion that can be connected to the first rod portion via a gun-changing disc; in the length direction of the main connecting rod, the gun-changing disc is located in the middle of the main connecting rod, the first rod portion is used to connect to the support arm component, and the end of the second rod portion away from the first rod portion is connected to the robot, so that the robot can drive the end effector in and out of the protective fence.

[0008] As a further description of the above technical solution, the gun-changing disc includes a male disc and a female disc. The male disc is fastened to the end of the first lever near the robot, and the female disc is fastened to the end of the second lever away from the robot; or,

[0009] The female disc is fastened to the end of the first rod near the robot, and the male disc is fastened to the end of the second rod away from the robot.

[0010] As a further description of the above technical solution, both the loading temporary placement mechanism and the unloading temporary placement mechanism include a bracket and a clamping unit disposed on the bracket, the clamping unit being used to clamp the first rod portion of the end effector.

[0011] As a further description of the above technical solution, each of the clamping units includes a clamping claw and a driving source. Each clamping claw is provided with two opposing claw portions. The driving source is used to drive the two claw portions to move closer to or further away from each other, so that the two claw portions can clamp / release the first rod portion.

[0012] As a further description of the above technical solution, the two claw portions of any of the clamping claws are arranged opposite each other in the horizontal direction.

[0013] As a further description of the above technical solution, each of the claws includes a first claw segment and a second claw segment, and the distance between the relatively disposed first claw segments is greater than the distance between the second claw segments;

[0014] The second claw segment is closer to the bracket than the first claw segment; the second claw segment is used to clamp the first rod portion.

[0015] As a further description of the above technical solution, the distance between the first claw segments belonging to the same claw portion gradually decreases.

[0016] As a further description of the above technical solution, both the loading temporary placement mechanism and the unloading temporary placement mechanism are also equipped with a positioning sensor, which is used to detect whether the first rod is in the preset clamping position of the clamping unit.

[0017] As a further description of the above technical solution, the feeding temporary placement mechanism also includes a limiting plate, which is located at the end of the bracket facing the robot along the length of the main connecting rod;

[0018] When the end effector is fed into the feeding temporary mechanism, the end of the main connecting rod facing the robot abuts against the surface of the limiting plate away from the robot.

[0019] As a further description of the above technical solution, the protective fence is also provided with a safety light curtain electrically connected to the control device on the side facing the robot.

[0020] Based on the above technical solutions, the outstanding effects of this utility model are as follows:

[0021] In the quick-change station assembly of the large-tonnage press material handling end effector provided by this utility model, the loading and unloading temporary mechanisms are symmetrically arranged inside the protective fence, and a robot is located outside the protective fence. When it is necessary to replace the end effector connected to the robot, the loading temporary mechanism is used to clamp and stabilize the (new) end effector to be loaded. The end effector to be unloaded (to be replaced) is driven by the robot to the unloading temporary mechanism to be clamped and wait to be moved out of the station. Then, the connecting end of the robot moves to the loading temporary mechanism and connects with the end effector to be loaded, and can then be moved out of the protective fence to participate in the press material handling operation. Among them, the main connecting rod of any end effector includes a first rod part and a second rod part. The two rod parts can be quickly disassembled and connected through the gun changing plate. The first rod part is used to connect the support arm component, which includes components such as the support arm, suction cup mounting seat, suction cup, and air pipe. The end of the second rod part away from the first rod part is connected to the robot, thereby realizing the quick disassembly and assembly of the end effector and the robot. Along the length of the main connecting rod, the gun changing disc is located in the middle of the main connecting rod, unlike the existing technology where the gun changing disc is located at the flange of the robot. This reduces the force arm of the gun changing disc, thereby significantly reducing the torque on the gun changing disc. Therefore, the end effector can be disassembled and replaced with a smaller load gun changing disc. It also greatly reduces the requirements for the positioning accuracy of the end effector due to the long length of the main connecting rod, as well as the difficulty of loading and unloading the end effector to the quick change station. Furthermore, only the first part of the main connecting rod needs to be replaced, while the second part is universal, which also reduces the equipment manufacturing cost. Attached Figure Description

[0022] Figure 1 This is a partial application diagram of the quick-change station assembly of the material pick-up and unload end of the large-tonnage press in this embodiment of the present invention.

[0023] Figure 2 This is a partial structural diagram of the quick-change station assembly of the material pick-up and unload end of the large-tonnage press in this embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the end effector in this embodiment of the novel invention;

[0025] Figure 4 This is a schematic diagram of the feeding temporary placement mechanism in an embodiment of this utility model;

[0026] Figure 5 This is a schematic diagram of the material feeding temporary placement mechanism in an embodiment of this utility model.

[0027] Explanation of icon numbers:

[0028] 1. Loading temporary storage mechanism; 2. Unloading temporary storage mechanism; 3. Protective fence; 4. Robot; 5. End effector; 51. First rod; 52. Second rod; 53. Support arm component; 6. Gun changing plate; 71. Bracket; 72. Gripping claw; 73. Drive source; 8. Limit plate; 9. Safety light curtain. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] In the description of this utility model, it should be noted that the terms "upper," "middle," "lower," "inner," "outer," "front," "rear," "left," and "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. The implementation methods of this utility model will now be described based on its overall structure.

[0031] Please see Figures 1 to 5 This utility model discloses a quick-change station assembly for a large-tonnage press material handling end device 5. The assembly includes a symmetrically arranged loading temporary storage mechanism 1 and unloading temporary storage mechanism 2, a protective fence 3 surrounding the loading and unloading temporary storage mechanisms 1 and 2, and a robot 4 positioned outside the protective fence 3.

[0032] The loading temporary placement mechanism 1 is used to clamp the end effector 5 to be loaded; the unloading temporary placement mechanism 2 is used to clamp the end effector 5 to be unloaded.

[0033] Each of the end effectors 5 has a main connecting rod including a first rod portion 51 and a second rod portion 52 that can be connected to the first rod portion 51 via a gun-changing disc 6. In the length direction of the main connecting rod, the gun-changing disc 6 is located in the middle of the main connecting rod. The first rod portion 51 is used to connect to the support arm component 53. The end of the second rod portion 52 away from the first rod portion 51 is connected to the robot 4, so that the robot 4 can drive the end effector 5 to enter and exit the protective fence 3.

[0034] In the above configuration, the loading temporary placement mechanism 1 and unloading temporary placement mechanism 2 of the quick-change station assembly of the large-tonnage press material pick-up and unloading end device 5 are symmetrically arranged inside the protective fence 3, and a robot 4 is provided outside the protective fence 3. When it is necessary to replace the end effector 5 connected to the robot 4, the new end effector 5 to be loaded is first clamped and stabilized by the loading temporary mechanism 1. The end effector 5 to be unloaded (to be replaced) is driven by the robot 4 to the unloading temporary mechanism 2 for clamping and waiting to be moved out of the work station. Then, the connecting end of the robot 4 moves to the loading temporary mechanism 1 and connects with the end effector 5 to be loaded, and can then be moved out of the protective fence 3 to participate in the press loading and unloading operation. Each end effector 5 has a main connecting rod including a first rod part 51 and a second rod part 52. The two rod parts can be quickly disconnected and connected through the gun changing plate 6. The first rod part 51 is used to connect the support arm part 53, which includes components such as the support arm, suction cup mounting seat, suction cup, and air pipe. The end of the second rod part 52 away from the first rod part 51 is connected to the robot 4, thereby realizing the quick disconnection and quick installation of the end effector 5 and the robot 4. Along the length of the main connecting rod, the gun changing disc 6 is located in the middle of the main connecting rod, unlike in the prior art where the gun changing disc 6 is located at the flange of the robot 4. This reduces the force arm of the gun changing disc 6, thereby significantly reducing the torque on the gun changing disc 6. Therefore, the disassembly and replacement of the end effector 5 can be completed with a smaller load gun changing disc 6. It also greatly reduces the requirements for the positioning accuracy of the end effector 5 due to the long length of the main connecting rod of the end effector 5, as well as the difficulty of loading and unloading the end effector 5 to the quick change station. Furthermore, only the first rod part 51 of the main connecting rod needs to be replaced, while the second rod part 52 is universal, which also reduces the equipment manufacturing cost.

[0035] Please see Figure 1 and Figure 2Specifically, in this embodiment, the first rod portion 51 is used to connect to the support arm component 53, which includes components such as a support arm, a suction cup mounting base, a suction cup, and an air pipe, so that it can perform material handling actions after being connected to the robot 4. The end of the second rod portion 52 away from the first rod portion 51 is fastened to the robot 4. The first rod portion 51 and the second rod portion 52 are connected through the gun changing disc 6. When it is necessary to change the end effector 5, the first rod portion 51 and the support arm component 53 connected to the first rod portion 51 can be quickly replaced by using the gun changing disc 6. The gun changing disc 6 includes a male disc and a female disc. The female disc is fastened to the end of the first rod portion 51 near the robot 4, and the male disc is fastened to the end of the second rod portion 52 away from the robot 4. The specific structure of the gun changing disc 6 is a common existing technology, and technicians can use commercially available models when selecting the gun changing disc 6. Of course, in other embodiments, the male disk may be fastened to the end of the first rod 51 near the robot 4, and the female disk may be fastened to the end of the second rod 52 away from the robot 4.

[0036] Specifically, in this embodiment, both the loading temporary placement mechanism 1 and the unloading temporary placement mechanism 2 include a bracket 71 and a clamping unit disposed on the bracket 71. The clamping unit is used to clamp the first rod portion 51 of the end effector 5. Further, each clamping unit includes a clamping claw 72 and a driving source 73. Each clamping claw 72 has two opposing claw portions. The driving source 73 is used to drive the two claw portions to move closer / away from each other, thereby enabling the two claw portions to clamp / release the first rod portion 51. The two claw portions of each clamping claw 72 are arranged opposite each other in a horizontal direction, thus enabling the clamping / releasing action of the first rod portion 51 to be achieved by the two claw portions of each clamping claw 72 moving closer / away from each other in a horizontal direction.

[0037] Specifically, in this embodiment, each of the claws includes a first claw segment and a second claw segment. The distance between the relatively arranged first claw segments is greater than the distance between the second claw segments, so that the first rod 51 of the end effector 5 can easily fall into the clamping claw 72 from top to bottom. The second claw segment is closer to the bracket 71 than the first claw segment and is used to clamp the first rod 51.

[0038] Specifically, in this embodiment, the distance between the first claw segments belonging to the same claw portion gradually decreases, thereby guiding the first rod portion 51 of the end effector 5 to the second claw segment during its positioning.

[0039] Specifically, in this embodiment, both the loading temporary placement mechanism 1 and the unloading temporary placement mechanism 2 are equipped with a positioning sensor (not shown in the figure). The positioning sensor is used to detect whether the first rod 51 is in the preset clamping position of the clamping unit.

[0040] Specifically, in this embodiment, the loading temporary placement mechanism 1 further includes a limiting plate 8. Along the length of the main connecting rod, the limiting plate 8 is located at the end of the bracket 71 facing the robot 4. When the end effector 5 is loaded onto the loading temporary placement mechanism 1, the end of the main connecting rod facing the robot 4 abuts against the limiting plate 8 away from the robot 4. The purpose of the limiting plate 8 is to limit the position of the first rod portion 51 along the length of the main connecting rod. As the first rod portion 51 is clamped and stabilized by the loading temporary placement mechanism 1, it is also limited in thickness or width, thus ensuring that the end effector 5 is precisely clamped by the loading temporary placement mechanism 1, guaranteeing its smooth subsequent connection with the robot 4. The reason why the material unloading temporary placement mechanism 2 does not have a limiting plate 8 is that the end effector 5 transferred to the material unloading temporary placement mechanism 2 is only waiting to be transferred out of the quick change station and has no connection and positioning requirements. Therefore, the material unloading temporary placement mechanism 2 only needs to ensure that the end effector 5 is stably clamped and prevented from tipping over.

[0041] Specifically, in this embodiment, the protective fence 3 is also provided with a safety light grid 9 electrically connected to the control device on the side facing the robot 4. When a foreign object or person enters its beam area, an alarm will be triggered, thereby effectively preventing accidental injury or accidents during the production process.

[0042] Specifically, in this embodiment, the quick-change process for the end effector 5 is implemented as follows:

[0043] First, the new end effector 5 is moved to the loading temporary storage mechanism using manual labor or handling equipment. When the end of its first rod 51 facing the robot 4 abuts against the limiting plate 8 and is stably clamped by the gripping claw 72 of the loading temporary storage mechanism, the positioning sensor of the mechanism will provide feedback on the positioning result. Then, the operator presses the start button on the control device, and the robot 4 will drive the end effector 5, which is connected to it and needs to be detached, to the unloading temporary storage mechanism 2. After the positioning sensor of the unloading temporary storage mechanism 2 provides feedback that the end effector 5 has been positioned and clamped, the control device will then control the robot to move to the unloading temporary storage mechanism 2. The second rod 52 of the end effector 5, connected to the robot 4, is quickly unlocked from its first rod 51 via the gun-changing disc 6. Then, the robot 4 moves the second rod 52 to a preset position at the loading storage mechanism. The male gun-changing disc 6 on the second rod 52 then combines with the female gun-changing disc 6 on the first rod 51 of the end effector 5 in the loading storage mechanism. After combination, the loading storage mechanism releases its clamping action on the first rod 51 of the end effector 5, allowing the robot 4 to move the end effector 5 out of the protective fence 3. Thus, the end effector 5 replacement is complete.

[0044] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any changes, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A large tonnage press pick and place end of line changer assembly, characterized by, It includes symmetrically arranged loading and unloading temporary mechanisms, protective fences surrounding the loading and unloading temporary mechanisms, and a robot positioned outside the protective fences; wherein, The loading temporary placement mechanism is used to clamp the end effector to be loaded; the unloading temporary placement mechanism is used to clamp the end effector to be unloaded. Each of the end effectors' main connecting rods includes a first rod portion and a second rod portion that can be connected to the first rod portion via a gun-changing disc; in the length direction of the main connecting rod, the gun-changing disc is located in the middle of the main connecting rod, the first rod portion is used to connect to the support arm component, and the end of the second rod portion away from the first rod portion is connected to the robot, so that the robot can drive the end effector in and out of the protective fence.

2. The quick change end of line assembly for a large tonnage press pick and place end effector of claim 1, wherein, The gun-changing disc includes a male disc and a female disc. The male disc is securely connected to the end of the first lever near the robot, and the female disc is securely connected to the end of the second lever away from the robot; or... The female disc is fastened to the end of the first rod near the robot, and the male disc is fastened to the end of the second rod away from the robot.

3. The large tonnage press pick and place end picker quick change station assembly of claim 1, wherein, Both the loading and unloading temporary placement mechanisms include a bracket and a clamping unit disposed on the bracket. The clamping unit is used to clamp the first rod portion of the end effector.

4. The quick change end of line assembly of claim 3, wherein, Each of the clamping units includes a clamping claw and a driving source. Each clamping claw has two opposing claw portions. The driving source is used to drive the two claw portions to move closer to or further away from each other, so that the two claw portions can clamp or release the first rod portion.

5. The quick change end of line assembly of claim 4, wherein, The two claws of any of the clamping claws are arranged opposite each other in the horizontal direction.

6. The large tonnage press pick and place end picker quick change station assembly of claim 4, wherein, Each of the aforementioned claws includes a first claw segment and a second claw segment, wherein the distance between the opposing first claw segments is greater than the distance between the second claw segments; The second claw segment is closer to the bracket than the first claw segment; The second claw segment is used to clamp the first rod portion.

7. The quick change end of line pick up assembly for large tonnage presses of claim 6, wherein, The distance between the first claw segments belonging to the same claw portion gradually decreases.

8. The large tonnage press pick and place end picker quick change station assembly of claim 3, wherein, Both the loading and unloading temporary mechanisms are equipped with positioning sensors, which are used to detect whether the first rod is in the preset clamping position of the clamping unit.

9. The quick change end pick-up station assembly for large tonnage press according to claim 3, wherein, The material loading temporary placement mechanism also includes a limiting plate, which is located at the end of the bracket facing the robot along the length of the main connecting rod; When the end effector is fed into the feeding temporary mechanism, the end of the main connecting rod facing the robot abuts against the surface of the limiting plate away from the robot.

10. The large tonnage press pick and place end picker quick change station assembly of claim 1, wherein, The protective fence is also equipped with a safety light curtain that is electrically connected to the control device on the side facing the robot.

Images