CN107895865A - A kind of robot quick-release connector with collision prevention function - Google Patents
A kind of robot quick-release connector with collision prevention function Download PDFInfo
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- CN107895865A CN107895865A CN201710904529.XA CN201710904529A CN107895865A CN 107895865 A CN107895865 A CN 107895865A CN 201710904529 A CN201710904529 A CN 201710904529A CN 107895865 A CN107895865 A CN 107895865A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/6205—Two-part coupling devices held in engagement by a magnet
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L25/00—Construction or details of pipe joints not provided for in, or of interest apart from, groups F16L13/00 - F16L23/00
- F16L25/01—Construction or details of pipe joints not provided for in, or of interest apart from, groups F16L13/00 - F16L23/00 specially adapted for realising electrical conduction between the two pipe ends of the joint or between parts thereof
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/66—Structural association with built-in electrical component
- H01R13/6608—Structural association with built-in electrical component with built-in single component
- H01R13/6633—Structural association with built-in electrical component with built-in single component with inductive component, e.g. transformer
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R24/00—Two-part coupling devices, or either of their cooperating parts, characterised by their overall structure
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Details Of Connecting Devices For Male And Female Coupling (AREA)
Abstract
本发明公开了一种带有防撞功能的机器人快换接头，包括固定座、连接座和弹性保护带；固定座的一个端面与机器人固定连接，固定座的另一个端面上设置有电磁铁块、气动插头和公插头；连接座与夹具固定连接，连接座上设置有凹槽、气动插孔和母插头；凹槽与固定座上的电磁铁块相吸附配合；气动插孔的一端通过气管与夹具相连接，气动插孔的另一端与固定座上的气动插头密封插接配合；母插头的一端与夹具通过控制线相连接，母插头的另一端和公插头相互插接配合，实现电连接；固定座和连接座之间还通过弹性保护带相连接。本发明能在实现夹具快速自动更换的同时，还具有防撞功能，能防止机器人或减速机等机械部件的损坏。
The invention discloses a robot quick-change joint with anti-collision function, which comprises a fixed seat, a connecting seat and an elastic protective belt; one end surface of the fixed seat is fixedly connected with the robot, and the other end surface of the fixed seat is provided with an electromagnet block , pneumatic plug and male plug; the connecting seat is fixedly connected with the fixture, and the connecting seat is provided with a groove, a pneumatic jack and a female plug; the groove is adsorbed and matched with the electromagnet block on the fixed seat; one end of the pneumatic jack passes through the air pipe It is connected with the fixture, and the other end of the pneumatic jack is sealed and mated with the pneumatic plug on the fixed seat; one end of the female plug is connected with the fixture through a control line, and the other end of the female plug is plugged and matched with the male plug to realize electric power. connection; the fixed base and the connecting base are also connected by elastic protective bands. The invention can not only realize the fast and automatic replacement of the fixture, but also has the anti-collision function, and can prevent damage to mechanical parts such as a robot or a reducer.
Description
技术领域technical field
本发明涉及一种机器人用零部件，特别是一种带有防撞功能的机器人快换接头。The invention relates to a component for a robot, in particular to a quick-change joint for a robot with an anti-collision function.
背景技术Background technique
目前，与机器人相连接的夹具更换方式，基本为手动，故费时费力。随着自动化及高效率的要求，则希望机器人要能够自动更换夹具。At present, the fixture replacement method connected with the robot is basically manual, which is time-consuming and labor-intensive. With the requirement of automation and high efficiency, it is hoped that the robot can automatically change the fixture.
为解决夹具的更换问题，后又出现了气动夹紧型的机器人快速更换自动接头。然而，这些自动化快换接头为完全刚性的连接，一旦工作过程中，工件或者夹具发生机械碰撞，巨大的碰撞力极容易导致机器人，减速机等机械部件的损坏，经济损失很大。针对此问题，本发明研发了一种具有防撞功能的机器人快速自动化更换接头。In order to solve the problem of fixture replacement, a pneumatic clamping robot quick-change automatic joint appeared later. However, these automatic quick-change joints are completely rigid connections. Once the workpiece or fixture is mechanically collided during the work process, the huge collision force will easily cause damage to mechanical components such as robots and reducers, resulting in great economic losses. Aiming at this problem, the present invention develops a robot fast and automatic replacement joint with anti-collision function.
发明内容Contents of the invention
本发明要解决的技术问题是针对上述现有技术的不足，而提供一种带有防撞功能的机器人快换接头，该带有防撞功能的机器人快换接头在实现夹具快速自动更换的同时，还具有防撞功能，能防止机器人或减速机等机械部件的损坏。The technical problem to be solved by the present invention is to provide a robot quick-change joint with anti-collision function for the above-mentioned deficiencies in the prior art. , It also has anti-collision function, which can prevent damage to mechanical parts such as robots or reducers.
为解决上述技术问题，本发明采用的技术方案是：In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:
一种带有防撞功能的机器人快换接头，包括固定座、连接座和弹性保护带。A robot quick-change joint with an anti-collision function, comprising a fixing seat, a connecting seat and an elastic protection belt.
固定座的一个端面与机器人固定连接，固定座的另一个端面上设置有电磁铁块、气动插头和公插头。One end surface of the fixed seat is fixedly connected with the robot, and the other end surface of the fixed seat is provided with an electromagnet block, a pneumatic plug and a male plug.
连接座与夹具固定连接，连接座上设置有凹槽、气动插孔和母插头。The connecting seat is fixedly connected with the fixture, and the connecting seat is provided with a groove, a pneumatic jack and a female plug.
凹槽与固定座上的电磁铁块相吸附配合。The groove is adsorbed and matched with the electromagnet block on the fixed seat.
气动插孔的一端通过气管与夹具相连接，气动插孔的另一端与固定座上的气动插头密封插接配合。One end of the pneumatic jack is connected to the clamp through the air pipe, and the other end of the pneumatic jack is sealed and mated with the pneumatic plug on the fixing seat.
母插头的一端与夹具通过控制线相连接，母插头的另一端和公插头相互插接配合，实现电连接。One end of the female plug is connected to the fixture through a control line, and the other end of the female plug is mated with the male plug to realize electrical connection.
固定座和连接座之间还通过弹性保护带相连接。The fixed seat and the connecting seat are also connected by an elastic protection belt.
电磁铁块沿固定座的周向均匀布设。The electromagnet blocks are evenly arranged along the circumference of the fixing seat.
电磁铁块的数量为四个，气动插头的数量为两个。The number of electromagnet blocks is four, and the number of pneumatic plugs is two.
固定座与连接座相配合的一个端面的中心设置有中心导孔，连接座上设置有与中心导孔相配合的中心导向凸起。A center guide hole is arranged at the center of an end face where the fixing seat matches with the connection seat, and a center guide protrusion matched with the center guide hole is arranged on the connection seat.
弹性保护带为橡皮管或柔性绳。Elastic protection straps are rubber tubes or flexible cords.
气动插孔内设置有密封圈。A sealing ring is arranged in the pneumatic socket.
本发明具有如下有益效果：The present invention has following beneficial effect:
1.能实现快速连接：电磁铁块通电，电磁铁块与凹槽吸合，实现机械部分连接；气动插头插入气动插孔，密封圈密封，实现气路的连接；公插头与母插头的快速插入，实现电路的连接。1. Quick connection can be realized: the electromagnet block is energized, and the electromagnet block and the groove are attracted to realize the connection of the mechanical part; the pneumatic plug is inserted into the pneumatic jack, and the sealing ring is sealed to realize the connection of the gas circuit; the quick connection between the male plug and the female plug Insert to realize the connection of the circuit.
2.能实现快速脱开：电磁铁块断电，通过重力或者其他外力，比如弹簧力，实现快速脱开。2. Quick disengagement can be realized: the electromagnet block is powered off, and the quick disengagement can be realized through gravity or other external forces, such as spring force.
3.能实现碰撞保护：固定座用于与机器人相连接，当夹具发生较大的机械碰撞时，连接座与固定座间的电磁铁吸力不足以克服碰撞力，固定座与连接座脱离。此时保护绳起到保护作用，从而快换接头能够快速脱离，防止损坏，起到安全保护作用。通过在弹性保护带两端设置磁铁块的方式，从而在快换过程中，能实现快速连接与断开。3. Collision protection can be achieved: the fixed seat is used to connect with the robot. When a large mechanical collision occurs to the fixture, the electromagnet attraction between the connecting seat and the fixed seat is not enough to overcome the collision force, and the fixed seat is separated from the connecting seat. At this time, the protection rope plays a protective role, so that the quick-change joint can be quickly disengaged to prevent damage and play a role of safety protection. By arranging magnet blocks at both ends of the elastic protection band, quick connection and disconnection can be realized during the quick change process.
附图说明Description of drawings
图1显示了本发明一种带有防撞功能的机器人快换接头的整体结构示意图。Fig. 1 shows a schematic diagram of the overall structure of a robot quick-change joint with anti-collision function according to the present invention.
图2显示了本发明一种带有防撞功能的机器人快换接头中固定座的结构图。Fig. 2 shows a structural diagram of a fixed seat in a robot quick-change joint with anti-collision function according to the present invention.
图3显示了本发明一种带有防撞功能的机器人快换接头中连接座的结构图。Fig. 3 shows a structural diagram of a connecting seat in a robot quick-change joint with an anti-collision function according to the present invention.
图4显示了本发明一种带有防撞功能的机器人快换接头中的剖面图一。Fig. 4 shows a first cross-sectional view of a robot quick-change joint with anti-collision function according to the present invention.
图5显示了本发明一种带有防撞功能的机器人快换接头中的剖面图二。Fig. 5 shows a second cross-sectional view of a robot quick-change joint with anti-collision function according to the present invention.
图6显示了电磁铁块与凹槽相吸合时的结构示意图。Fig. 6 shows a schematic diagram of the structure when the electromagnet block is engaged with the groove.
图7显示了公插头与母插头相插接配合时的结构示意图。Fig. 7 shows a schematic diagram of the structure when the male plug and the female plug are mated.
其中有：Including:
10.固定座；11.电磁铁块；12.气动插头；13.公插头；131.电插针；14.中心导孔；10. Fixed seat; 11. Electromagnet block; 12. Pneumatic plug; 13. Male plug; 131. Electric pin; 14. Center guide hole;
20.连接座；20. Connecting seat;
21.凹槽；22.气动插孔；221.密封圈；222.气管；23.母插头；231.电插孔；24.中心导向凸起；21. Groove; 22. Pneumatic jack; 221. Seal ring; 222. Trachea; 23. Female plug; 231. Electric jack; 24. Center guide protrusion;
30.弹性保护带；40.夹具；50.控制线。30. Elastic protective belt; 40. Clamp; 50. Control line.
具体实施方式Detailed ways
下面结合附图和具体较佳实施方式对本发明作进一步详细的说明。The present invention will be further described in detail below in conjunction with the accompanying drawings and specific preferred embodiments.
如图1所示，一种带有防撞功能的机器人快换接头，包括固定座10、连接座20和弹性保护带30。As shown in FIG. 1 , a robot quick-change joint with anti-collision function includes a fixing seat 10 , a connecting seat 20 and an elastic protection belt 30 .
固定座的一个端面与机器人固定连接，如图2所示，固定座的另一个端面上设置有电磁铁块11、气动插头12和公插头13。One end surface of the fixed seat is fixedly connected with the robot, as shown in FIG. 2 , the other end surface of the fixed seat is provided with an electromagnet block 11 , a pneumatic plug 12 and a male plug 13 .
进一步，固定座与连接座相配合的一个端面的中心还优选设置有中心导孔14，电磁铁块优选沿固定座的周向均匀布设，电磁铁块的数量优选为四个，气动插头的数量优选为两个。Further, the center of an end face where the fixed seat matches the connecting seat is also preferably provided with a central guide hole 14, the electromagnet blocks are preferably evenly arranged along the circumference of the fixed seat, the number of electromagnet blocks is preferably four, and the number of pneumatic plugs Preferably two.
连接座与夹具40固定连接，如图3所示，连接座上设置有凹槽21、气动插孔22和母插头23。The connecting seat is fixedly connected with the clamp 40 , as shown in FIG. 3 , the connecting seat is provided with a groove 21 , a pneumatic socket 22 and a female plug 23 .
如图4所示，凹槽与固定座上的电磁铁块相吸附配合，吸合后状态如图6所示。As shown in Fig. 4, the groove is adsorbed and matched with the electromagnet block on the fixed seat, and the state after the attraction is shown in Fig. 6 .
如图5所示，气动插孔的一端通过气管222与夹具相连接，气动插孔内优选设置有密封圈221，动插孔的另一端与固定座上的气动插头密封插接配合，密封插接后状态如图7所示。As shown in Figure 5, one end of the pneumatic socket is connected to the fixture through the air pipe 222, and a sealing ring 221 is preferably arranged in the pneumatic socket, and the other end of the pneumatic socket is sealed and mated with the pneumatic plug on the fixed seat, and the sealing plug The connected state is shown in Figure 7.
母插头的一端与夹具通过控制线50相连接。One end of the female plug is connected to the fixture through a control line 50 .
母插头的另一端设置有电插孔231，公插头上设置有电插针131，电插针与电插孔能相互插接配合，实现电连接与电信号的传输。The other end of the female plug is provided with an electric jack 231, and the male plug is provided with an electric pin 131, and the electric pin and the electric jack can be mated with each other to realize electrical connection and transmission of electrical signals.
进一步，连接座上还优选设置有与中心导孔相配合的中心导向凸起24。Further, the connecting seat is preferably also provided with a central guide protrusion 24 matching with the central guide hole.
固定座和连接座之间还通过弹性保护带相连接，弹性保护带优选为橡皮管或柔性绳等。另外，弹性保护带的两端优选设置有磁铁块，也即弹性保护带分别通过磁铁块与固定座或连接座相连接，从而方便快速插接与更换。The fixing seat and the connecting seat are also connected by an elastic protective belt, and the elastic protective belt is preferably a rubber tube or a flexible rope. In addition, magnet blocks are preferably provided at both ends of the elastic protection band, that is, the elastic protection band is respectively connected to the fixing seat or the connecting seat through the magnet blocks, so as to facilitate quick insertion and replacement.
本发明的固定座和连接座之间通过电磁铁块相连接，电磁铁块通电，固定座和连接座相互吸合，实现机械、气路和电路的快速连接。另外，由于气动插头固定在固定座上，密封圈固定在气动插孔内，气动插孔与气管相连接，气管与夹具相连接，从而能实现对夹具的驱动。当夹具或者零件发生较大的机械碰撞时，连接座与固定座间的电磁吸力不足以克服碰撞力，固定座将与连接座脱离。此时弹性保护带将起到保护作用，从而快换接头能够快速脱离，防止损坏，起到安全保护作用。The fixing seat and the connecting seat of the present invention are connected through an electromagnet block, and when the electromagnet block is energized, the fixing seat and the connecting seat are attracted to each other, so as to realize quick connection of machinery, gas circuit and circuit. In addition, because the pneumatic plug is fixed on the fixed seat, the sealing ring is fixed in the pneumatic socket, the pneumatic socket is connected with the air pipe, and the air pipe is connected with the fixture, so that the fixture can be driven. When a large mechanical collision occurs to the fixture or parts, the electromagnetic attraction between the connecting seat and the fixed seat is not enough to overcome the collision force, and the fixed seat will be separated from the connecting seat. At this time, the elastic protective belt will play a protective role, so that the quick-change joint can be quickly disengaged to prevent damage and play a role of safety protection.
以上详细描述了本发明的优选实施方式，但是，本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内，可以对本发明的技术方案进行多种等同变换，这些等同变换均属于本发明的保护范围。The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be carried out to the technical solutions of the present invention. These equivalent transformations All belong to the protection scope of the present invention.
Claims (6)
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| CN201710904529.XA CN107895865A (en) | 2017-09-29 | 2017-09-29 | A kind of robot quick-release connector with collision prevention function |
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| CN113510425A (en) * | 2021-07-09 | 2021-10-19 | 清华大学深圳国际研究生院 | Reconfigurable flexible assembly fixture with continuous position feedback |
| CN114770524A (en) * | 2022-06-02 | 2022-07-22 | 广州南方电安科技有限公司 | Distribution network hot-line work robot |
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| CN106378707A (en) * | 2016-11-18 | 2017-02-08 | 广东技术师范学院 | Light combined pneumatic fixture for robot processing |
| CN107088888A (en) * | 2017-05-23 | 2017-08-25 | 深圳市连硕教育投资管理有限公司 | A kind of fast replacing device and workbench for robot clamp |
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| CN112643701A (en) * | 2020-12-04 | 2021-04-13 | 深圳市优必选科技股份有限公司 | Mechanical arm and end connector thereof |
| CN113510425A (en) * | 2021-07-09 | 2021-10-19 | 清华大学深圳国际研究生院 | Reconfigurable flexible assembly fixture with continuous position feedback |
| CN113510425B (en) * | 2021-07-09 | 2023-09-15 | 清华大学深圳国际研究生院 | Reconfigurable flexible assembly fixture with continuous position feedback |
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Application publication date: 20180410 |