Crossbar end-pickup transfer docking vehicle

Abstract

The utility model discloses a kind of cross bar end picker transfer butt joint vehicles, including vehicle body, cross bar support seat and two sliding devices. Vehicle body extends along x, and bottom end installs walking device, and support column opposite along x is installed on vehicle body. Support column top each is equipped with a cross bar support seat. Two sliding devices are installed at vehicle body between two support columns. Each sliding device includes base, sliding cylinder, movable support and limiting bolt. Base is installed on vehicle body, and sliding cylinder is installed on base. Movable support is connected with the output end of sliding cylinder, and movable support moves along x. Limiting bolt is installed on movable support, and is configured along z. Cross bar end picker includes butt joint end and free end, butt joint end is used to butt joint with mechanical arm, free end is set on cross bar support seat, and the bolt hole matched with limiting bolt is provided on the downside of butt joint end of cross bar end picker. The present application scheme can realize the transfer and automatic butt joint of symmetrical cross bar end picker.

Description

Technical Field

[0001] This utility model relates to the field of crossbar end effector technology, and more specifically, to a crossbar end effector transfer and docking vehicle. Background Technology

[0002] In large-scale automated stamping production lines, crossbar carriages equipped with automatic end effector changing devices are typically used to improve production efficiency. When the press performs die changing operations, this crossbar carriage can automatically change the end effector device that matches the new die, effectively reducing manual operation time and ensuring continuous operation of the production line.

[0003] However, in practical applications, existing automatic changeover devices cannot automate the replacement of end effectors that are symmetrically mounted on robotic arms. This deficiency necessitates manual assistance for each replacement of symmetrically mounted end effectors, which not only prolongs the total mold changeover time and reduces the continuity of production line operation, but also restricts the improvement of the overall stamping production efficiency, thus adversely affecting production benefits. Utility Model Content

[0004] The purpose of this utility model is to provide a crossbar end effector transfer and docking vehicle, which can realize the transfer and automatic docking of symmetrical crossbar end effectors, shorten the replacement time of symmetrical crossbar end effectors, improve operational continuity, and improve production efficiency.

[0005] This utility model provides a transfer and docking vehicle for a crossbar end effector, including a vehicle body, crossbar support seats, and two sliding devices. The vehicle body extends along the x-direction, and a traveling device for driving the vehicle body is installed at its bottom end. Support columns opposite each other along the x-direction are installed on the vehicle body. A crossbar support seat is provided at the top of each support column. The two sliding devices are installed spaced apart on the vehicle body and positioned between the two support columns.

[0006] Each sliding device includes a base, a sliding cylinder, a movable bracket, and a limiting pin. The base is mounted on the vehicle body, and the sliding cylinder is mounted on the base. The movable bracket is mounted on the output end of the sliding cylinder and is driven by the sliding cylinder to move within a limited distance along the x-axis. The limiting pin is mounted on the movable bracket and is configured along the z-axis.

[0007] The horizontal bar end effector includes a docking end and a free end. The docking end is used to dock with the robotic arm, and the free end is mounted on the horizontal bar support. The lower side of the docking end of the horizontal bar end effector is provided with a pin hole that cooperates with the limit pin.

[0008] In one feasible solution, the sliding device is installed symmetrically on the vehicle body.

[0009] In one feasible embodiment, the sliding device is mounted on the vehicle body in a manner that allows for position adjustment and locking along the x-axis.

[0010] In one feasible solution, the crossbar support is provided with a groove along the x-direction, which is adapted to the crossbar end effector.

[0011] In one feasible embodiment, the crossbar support is mounted on the top of the support column in a manner that allows it to slide within a predetermined distance along the x-direction.

[0012] In one feasible embodiment, the sliding device further includes an unlocking and locking mechanism mounted on a movable support; the docking end of the crossbar end effector includes a locking device that docks with the robotic arm, the locking device having an unlocked state and a locked state, and the unlocking and locking mechanism being used to switch the locking device between the unlocked and locked states.

[0013] In one feasible solution, the limit pin is configured to extend and retract along the z-direction.

[0014] In one feasible solution, the crossbar end effector transfer and docking vehicle also includes a laser positioning sensor mounted on the vehicle body for vehicle positioning; wherein, a positioning target for laser positioning sensor identification is set at the robotic arm where the crossbar end effector is mounted.

[0015] Compared with the prior art, the beneficial effects of this application are as follows: In use, for symmetrically installed horizontal bar end effectors, the free ends of the two end effectors are respectively placed on the horizontal bar support seats at the top of the support columns on both sides of the vehicle body, achieving symmetrical initial bearing. Two sliding devices are correspondingly distributed below the docking ends of the end effectors. The limiting pins of the sliding devices match and are inserted into the two pin holes of the symmetrical end effectors, thus fixing the horizontal bar end effectors and completing the limiting fixation of the end effectors on the horizontal bar end effector transfer and docking vehicle. Afterwards, the traveling device drives the vehicle body to move, transferring the horizontal bar end effectors to the docking area of ​​the robotic arm after the press mold is changed, adapting to the production line space layout through the vehicle body's x-axis extension structure. Upon reaching the docking position, the sliding cylinders on both sides sequentially drive the movable brackets to move along the x-axis, locking the two horizontal bar end effectors to the two sides of the robotic arm docking structure. Then the robotic arm drives the horizontal bar end effector to rise vertically, so that the limit pin is simultaneously pulled out of the pin hole of the horizontal bar end effector, releasing the fixation and completing the installation of the symmetrically arranged horizontal bar end effectors.

[0016] This application overcomes the shortcomings of existing devices that cannot automatically replace symmetrical crossbar end effectors. Through the drive of double-sided support and two sliding devices, the robotic arm can directly and automatically dock with two symmetrically arranged crossbar end effectors without manual adjustment. This achieves fully automated transfer and docking, while also reducing downtime for end effector replacement, improving operational continuity, and avoiding docking failures or equipment damage caused by human error, thus improving production safety. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A front view of the crossbar end effector transfer and docking vehicle provided in this application; Figure 2 A schematic diagram illustrating the usage status of the crossbar end effector transfer and docking vehicle provided in this application; Figure 3 for Figure 1 Side view of the transfer and docking vehicle for the middle crossbar end effector; Figure 4 for Figure 1 Front view of the sliding device.

[0019] In the diagram: 1. Vehicle body; 11. Walking device; 12. Support column; 2. Crossbar support seat; 3. Sliding device; 31. Base; 32. Sliding cylinder; 33. Movable bracket; 34. Limit pin; 35. Unlocking cylinder; 36. Locking cylinder; 100. Crossbar end effector; 200. Robotic arm docking structure. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0022] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] like Figures 1-4 As shown, this utility model provides a crossbar end-collector transfer and docking vehicle, including a vehicle body 1, a crossbar support 2, and two sliding devices 3.

[0024] The vehicle body 1 extends along the x-direction, and a traveling device 11 for driving the vehicle body 1 to move is installed at its bottom end. Support columns 12 facing each other along the x-direction are installed on the vehicle body 1. A crossbar support seat 2 is provided at the top of each support column 12. Two sliding devices 3 are installed at intervals on the vehicle body 1 and are located between the two support columns 12.

[0025] Each sliding device 3 includes at least a base 31, a sliding cylinder 32, a movable bracket 33, and a limiting pin 34. The base 31 is mounted on the vehicle body 1, and the sliding cylinder 32 is mounted on the base 31. The movable bracket 33 is connected to the output end of the sliding cylinder 32 and is driven by the sliding cylinder 32 to move the movable bracket 33 within a limited distance along the x-direction. The limiting pin 34 is mounted on the movable bracket 33 and is configured along the z-direction.

[0026] The horizontal bar end effector 100 includes a docking end and a free end. The docking end is used to dock with the robotic arm, and the free end is mounted on the horizontal bar support 2. The lower side of the docking end of the horizontal bar end effector 100 is provided with a pin hole that cooperates with the limiting pin 34.

[0027] When using the crossbar end effector transfer and docking vehicle of this application, if Figure 2 As shown, for the symmetrically installed crossbar end effectors 100, the free ends of the two crossbar end effectors 100 are respectively placed on the crossbar support seats 2 at the top of the support columns 12 on both sides of the vehicle body 1, achieving symmetrical initial bearing. Two sliding devices 3 are correspondingly distributed below the docking ends of the end effectors. The limiting pins 34 of the sliding devices 3 are matched with the two pin holes of the symmetrical end effectors and inserted to fix the crossbar end effectors 100, thus completing the limiting and fixing of the crossbar end effectors 100 on the crossbar end effector transfer docking vehicle.

[0028] Subsequently, the walking device 11 drives the vehicle body 1 to move, transferring the crossbar end effector 100 to the docking area of ​​the robotic arm after the press mold is replaced, and adapting to the production line space layout through the extension structure of the vehicle body 1 along the x direction.

[0029] Upon reaching the docking position, the sliding cylinders 32 on both sides sequentially drive the movable bracket 33 to move along the x-direction, thereby locking the two horizontal bar end effectors 100 to the two sides of the robotic arm docking structure 200. Then, the robotic arm drives the horizontal bar end effectors 100 to rise vertically, causing the limiting pins 34 to simultaneously exit the pin holes of the horizontal bar end effectors 100, releasing the fixation and completing the installation of the symmetrically arranged horizontal bar end effectors 100.

[0030] This application overcomes the limitation of existing devices that cannot automatically replace symmetrical crossbar end effectors 100. Through the drive of double-sided support and two sliding devices, the robotic arm can directly and automatically dock with the two symmetrically arranged crossbar end effectors 100 without manual adjustment. This achieves fully automated transfer and docking, while also reducing downtime for end effector replacement, improving operational continuity, and avoiding docking failures or equipment damage caused by human error, thus improving production safety.

[0031] In some embodiments, such as Figure 1 and Figure 2 As shown, the sliding device 3 is installed symmetrically on the vehicle body 1.

[0032] In some embodiments, the sliding device 3 is mounted on the vehicle body 1 in a manner that allows for position adjustment and locking along the x-direction, thereby adjusting the mounting position of the sliding device 3 on the vehicle body 1 to accommodate crossbar end effectors 100 with more diverse sizes.

[0033] In some embodiments, such as Figure 3 As shown, the crossbar support 2 is provided with a groove along the x-direction, which is adapted to the crossbar end effector 100. The groove limits the crossbar end effector 100 to ensure that the crossbar end effector 100 slides only along the x-direction.

[0034] In some embodiments, such as Figure 1 As shown, the crossbar support 2 is mounted on the top of the support column 12 in a manner that allows it to slide within a predetermined distance along the x-direction. Thus, when the sliding cylinder 32 of the sliding device 3 drives the crossbar end effector 100 to move along the x-direction, the free end of the crossbar end effector 100 can slide smoothly.

[0035] In some embodiments, the sliding device 3 further includes an unlocking and locking mechanism mounted on the movable bracket 33; the docking end of the crossbar end pick-up device 100 includes a locking device connected to the robotic arm docking structure 200, the locking device including an unlocked state and a locked state, and the unlocking and locking mechanism is used to switch the locking device between the unlocked state and the locked state.

[0036] like Figure 4 As shown, the unlocking and locking mechanism includes an unlocking cylinder 35 and a locking cylinder 36. During operation, the unlocking cylinder 35 is activated first to unlock the locking device at the docking end of the horizontal bar end effector 100. Then, the sliding cylinder 32 drives the horizontal bar end effector 100 to move along the x-direction, so that it docks with the robotic arm docking structure 200. Finally, the locking cylinder 36 is activated and drives the locking device to lock, thereby realizing the connection between the horizontal bar end effector 100 and the robotic arm docking structure 200.

[0037] It should be noted that the locking device at the docking end of the crossbar end catcher 100 can take the form of a plug-in structure, a positioning pin, a spring, or a wedge block, etc. The unlocking cylinder 35 and the locking cylinder 36 complete the unlocking and locking respectively by driving these structures. The specific implementation forms are existing technologies and will not be listed here.

[0038] In some embodiments, the limiting pin 34 can be configured to extend and retract along the z-direction. For example, the limiting pin 34 can be driven to extend and retract by an electric cylinder, a pneumatic cylinder, etc., thereby enabling active docking or disengagement with the crossbar end effector 100 through the active lowering or raising of the limiting pin 34.

[0039] In some embodiments, the crossbar end effector transfer and docking vehicle may further include a laser positioning sensor mounted on the vehicle body 1 for positioning the vehicle body 1 as it moves; wherein, a positioning target for identification by the laser positioning sensor is provided at the robotic arm where the crossbar end effector 100 is mounted.

[0040] Because the movement path of the crossbar end effector transfer and docking vehicle is singular, it generally travels along a single straight path. After setting a positioning target at the robotic arm, when the vehicle body 1 moves to the end effector replacement area, the laser positioning sensor identifies the positioning target and sends a feedback signal to the walking device 11, so that the walking device 11 stops at the current position.

[0041] The above description is only a partial embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A crossbar end picker transfer docking vehicle, characterized by, include: The vehicle body (1) extends along the x direction, and a walking device (11) for driving the vehicle body (1) to move is installed at its bottom end. Support columns (12) are installed on the vehicle body (1) in opposite directions along the x direction. A crossbar support seat (2) is provided at the top of each of the support columns (12). Two sliding devices (3) are installed at intervals on the vehicle body (1) and located between the two supporting columns (12); each sliding device (3) includes: The base (31) is mounted on the vehicle body (1); A sliding cylinder (32) is mounted on the base (31); The movable bracket (33) is installed at the output end of the sliding cylinder (32) and is driven by the sliding cylinder (32) to move the movable bracket (33) within a limited distance along the x direction; A limiting pin (34) is mounted on the movable bracket (33), and the limiting pin (34) is configured along the z-direction; The horizontal bar end effector (100) includes a docking end and a free end. The docking end is used to dock with the robotic arm, and the free end is mounted on the horizontal bar support base (2). The lower side of the docking end of the horizontal bar end effector (100) is provided with a pin hole that cooperates with the limiting pin (34).

2. The crossbar end picker transfer docking cart of claim 1, wherein, The sliding device (3) is installed symmetrically on the vehicle body (1).

3. The crossbar end picker transfer docking cart of claim 1, wherein, The sliding device (3) is mounted on the vehicle body (1) in a manner that allows for position adjustment and locking along the x-direction.

4. The crossbar end picker transfer docking cart of claim 1, wherein, The crossbar support (2) is provided with a groove along the x-direction, which is adapted to the crossbar end pick (100).

5. The crossbar end picker transfer docking cart of claim 4, wherein, The crossbar support (2) is installed on the top of the support column (12) in a manner that allows it to slide within a predetermined distance along the x-direction.

6. The crossbar end picker transfer docking cart of claim 1, wherein, The sliding device (3) also includes an unlocking and locking mechanism, which is installed on the movable bracket (33); the docking end of the crossbar end pick (100) includes a locking device that is connected to the docking structure of the robotic arm. The locking device includes an unlocked state and a locked state. The unlocking and locking mechanism is used to switch the locking device between the unlocked state and the locked state.

7. The crossbar end picker transfer docking cart of claim 1, wherein, The limiting pin (34) is configured to extend and retract along the z-direction.

8. The crossbar end picker transfer docking cart of any of claims 1-7, wherein, It also includes a laser positioning sensor, which is installed on the vehicle body (1) for the walking positioning of the vehicle body (1); wherein, a positioning target for the laser positioning sensor to identify is provided at the robotic arm where the crossbar end effector (100) is installed.

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