Standard gripping device of pallet exchange system

Abstract

A standard grabbing device for a pallet exchange system, comprising a grabbing device main disc connected to the end of a robot grabbing arm and a grabbing device tool disc connected with a standard pallet; the grabbing device main disc includes a main disc base body, on which There are positioning taper pins and ball cages protruding outward; the tool tray of the grabbing device includes a tool tray base that can be inserted into the ball cage, and the tool tray base is provided with a standard tray connection port and a tool tray for fixing the ball cage snap ring. The main disc of the grabbing device of the present invention switches between different standard trays through the tool tray of the grabbing device, thereby realizing the replacement of different processed products. The split structure is adopted, and the processing is simple and the processing quality is easy to ensure. The upper processing has a lead-in angle, which increases the teaching tolerance of the robot and reduces the difficulty of teaching. The overall structure of the present invention is simple and reliable, and the alignment is quick and easy to use.

Description

Technical field [0001] The invention relates to the field of numerical control processing automation, in particular to a standard grabbing device for a pallet exchange system. Background technique [0002] Because the robot needs to make different grippers and jigs when automatically loading and unloading the machine tool for different products, the disadvantage is that the flexibility of the processed products is poor, and the verification cycle caused by changing the jig or the gripper is also relatively long. In order to solve these problems, the current common practice is to install the fixture on a standard board. When the product is changed, the fixture installation standard board does not need to be replaced, just replace the fixture installed on the standard board. At the same time, a universal positioning and clamping system can be made on the internal worktable of the machine tool to form a standard interface between the processing fixture installation standard board an...

AI Technical Summary

Problems solved by technology

[0004] 1. Since the pull nail on the standard tray is locked by a spring, the force of the spring needs to be selected according to the size of the load. If the force is too large, the piston may not open, and if the force is too small, the clamp may not be tight. Therefore, repeated tests are required. It is time-consuming and labor-intensive, and requires high pressure stability of the air source. If the pressure of the air source is too low, the piston may not be opened and the pull stud may be stuck. This is very taboo in automation applications; 2. There is no detection of whether the standard grabbing device is open, so the whole system has no feedback. It is an open-loop system and cannot detect the abnormal situation of the rivet stuck; 3. Although the current spring clamping mechanism can play a role in the case of gas failure Insurance function, but its structure is relatively complicated; 4. Due to the small teaching tolerance of ordinary pin grippers, the teaching accuracy is relatively high; 5. The processing of the pull nail and the cylinder is difficult, and the processing accuracy is not easy to guarantee

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