CN111618895A - Mechanical robot terminal quick-change device - Google Patents
Mechanical robot terminal quick-change device Download PDFInfo
- Publication number
- CN111618895A CN111618895A CN202010280281.6A CN202010280281A CN111618895A CN 111618895 A CN111618895 A CN 111618895A CN 202010280281 A CN202010280281 A CN 202010280281A CN 111618895 A CN111618895 A CN 111618895A
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- seat
- quick
- change
- locking
- mounting seat
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- 239000012636 effector Substances 0.000 claims abstract description 26
- 239000007788 liquid Substances 0.000 claims description 40
- 238000005096 rolling process Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0475—Exchangeable fingers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the electromechanical field, and particularly provides a mechanical robot tail end quick-change device which comprises a quick-change seat mechanical arm end and a quick-change seat tail end actuator end, wherein the quick-change seat mechanical arm end is locked above the quick-change seat tail end actuator end; the quick-change seat mechanical arm end comprises an upper mounting seat and a rotary locking end, the rotary locking end comprises a rotary shaft seat and a plurality of locking rods, the upper mounting seat comprises a main body shell and a shaft retainer ring, and the quick-change seat end effector end comprises a lower mounting seat, a connector and a plurality of locking grooves; through the structure, the problems that in the prior art, most of execution units at the lower end of the mechanical arm of the industrial robot are arranged on the mechanical arm through the clamping assembly and need to be installed in an auxiliary mode through external electrical equipment or air pressure equipment, so that the installation procedure is complicated and the replacement is inconvenient are solved, and the quick replacement is convenient for a user.
Description
Technical Field
The invention relates to the field of electromechanics, in particular to a mechanical robot tail end quick-changing device.
Background
The manipulator is a novel device developed in the mechanical and automatic production process. In modern production processes, manipulators are widely used in automated production lines. The comprehensive practical training platform for the industrial robot can be used for learning the manipulator, and in order to learn and simulate various functions of the manipulator, the comprehensive practical training platform for the industrial robot in the working principle is usually provided with various modules, so that various execution units are required to be installed for the manipulator.
Most of execution units at the lower end of the mechanical arm of the industrial robot are arranged on the mechanical arm through clamping components, and need to be installed in an auxiliary mode through external electrical equipment or air pressure equipment, so that installation procedures become complicated and replacement is inconvenient.
Disclosure of Invention
The invention mainly aims to provide a quick-change device for a robot gripper, which is simple to change and can be compatible with various sizes of fixtures.
In order to achieve the purpose, the invention adopts the technical scheme that:
a quick-change device for the tail end of a mechanical robot comprises a quick-change seat mechanical arm end and a quick-change seat tail end executor end,
the quick-change seat mechanical arm end is locked above the quick-change seat end effector end;
the quick-change seat mechanical arm end comprises an upper mounting seat and a rotary locking end, the rotary locking end comprises a rotary shaft seat, a plurality of locking rods and a bushing, the upper mounting seat comprises a main body shell and a shaft retainer ring, and the quick-change seat end effector end comprises a lower mounting seat, a connector and a plurality of locking grooves; the bushing is sleeved on the rotating shaft seat; a circle of fixed recess is arranged at the center below the main body shell, the shaft retainer ring is arranged on the fixed recess, meanwhile, the center of the main body shell is also provided with an opening, the rotating shaft seat passes through the opening and the fixed recess, the rotary shaft seat is also provided with a circle of fixed bulges which are clamped on the shaft retaining ring, thereby preventing the rotary shaft seat from falling off, the locking rod is arranged on the side surface of one end of the rotary shaft seat, the connector is arranged at one end of the lower mounting seat, the locking groove is arranged on the side surface of the lower mounting seat, one end of the locking groove is provided with a locking recess, when the quick-change-seat robotic arm end is locked over the quick-change-seat end effector end, the locking rod is clamped on the locking recess, so that the quick-change seat mechanical arm end and the quick-change seat end effector end are fixed.
Further, the rotation locking end further comprises a supporting spring;
the supporting spring is sleeved on the rotating shaft seat and fixed between the rotating shaft seat and the main body shell so as to prop against the rotating locking end and the upper mounting seat.
Further, the locking rod comprises a hole pin, a rolling bearing and a pin bolt;
the hole pin is arranged on the side face of one end of the rotary shaft seat, the rolling bearing is sleeved on the hole pin, and the pin shaft bolt is arranged at the tail end of the hole pin.
Further, the rotation locking end further comprises a positioning pin;
the positioning pin is arranged above the rotating shaft seat.
Furthermore, the upper mounting seat is also provided with a guide pin, and the main body shell is also provided with a guide pin hole;
the guide pin is arranged below the upper mounting seat, and the guide pin hole is arranged above the main body shell.
Further, the upper mounting seat is also provided with a first gas-liquid module and a first gas-liquid joint, and the lower mounting seat is also provided with a second gas-liquid module and a second gas-liquid joint;
the first gas-liquid module is arranged in the upper mounting seat, the first gas-liquid joint is arranged on one side of the upper mounting seat and is connected with the first gas-liquid module, the second gas-liquid module is arranged in the lower mounting seat, and the second gas-liquid joint is arranged on one side of the lower mounting seat and is connected with the second gas-liquid module.
Furthermore, the upper mounting seat is also provided with a first connecting circuit module and a first circuit connector, and the lower mounting seat is also provided with a second connecting circuit module and a second circuit connector;
the first connecting circuit module is arranged in the upper mounting seat, the first circuit connector is arranged on the other side of the upper mounting seat and connected with the first connecting circuit module, the second connecting circuit module is arranged in the lower mounting seat, and the second circuit connector is arranged on the other side of the lower mounting seat and connected with the second connecting circuit module.
Furthermore, a plurality of rotary bolts are arranged above the rotary shaft seat;
the rotary bolt is arranged above the rotary shaft seat.
By adopting the structure, the quick fixing and unlocking between the quick-change seat mechanical arm end and the quick-change seat end effector end are realized by arranging the quick-change seat mechanical arm end and the quick-change seat end effector end, arranging the rotary shaft seat in the quick-change seat mechanical arm end, inserting the rotary shaft seat into the locking groove in the quick-change seat end effector end, and locking after rotation, so that the problems that in the prior art, the installation procedure is complicated and the replacement is inconvenient because the execution units at the lower end of the mechanical arm of most industrial robots are arranged on the mechanical arm through clamping components and need to be installed in an auxiliary manner through external electrical equipment or air pressure equipment are solved, and the quick replacement is convenient for a user.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
fig. 2 is a schematic structural view of a quick-change seat mechanical arm end according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of an end effector end of a quick-change holder according to an embodiment of the present invention;
FIG. 4 is a schematic view of an end effector end of a quick-change holder according to another embodiment of the present invention;
the number designations in the figures are: 1-quick change seat mechanical arm end, 2-quick change seat end effector end, 10-upper mounting seat, 20-rotation locking end, 201-rotation shaft seat, 202-locking rod, 101-main body shell, 102-shaft retainer ring, 21-lower mounting seat, 22-connector, 23-locking groove, 203-supporting spring, 212-hole pin, 222-rolling bearing, 232-pin shaft bolt, 103-guide pin, 104-guide pin hole, 105-first gas-liquid module, 106-first gas-liquid connector, 211-second gas-liquid module, 212-second gas-liquid connector, 107-first connecting circuit module, 108-first circuit connector, 213-second connecting circuit module, 214-second circuit connector, 109-rotation bolt, 204-locating pin, 205-bushing.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
A quick-change device for the tail end of a mechanical robot, as shown in figure 1, comprising a quick-change seat mechanical arm end 1 and a quick-change seat tail end executor end 2,
the quick-change seat mechanical arm end 1 is locked above the quick-change seat end effector end 2;
the quick-change seat mechanical arm end 1 is used for being fixed on an external mechanical arm and locking the quick-change seat end effector end 2 after rotating;
the quick-change seat end effector end 2 is used for fixing an external execution unit, so that a quick-change effect is realized;
as shown in fig. 2, 3 and 4, the quick-change seat manipulator end 1 includes an upper mounting seat 10 and a rotation locking end 20, the rotation locking end 20 includes a rotation shaft seat 201, a plurality of locking rods 202 and a bushing 205, the upper mounting seat 10 includes a main body housing 101 and a shaft retainer ring 102, and the quick-change seat end effector end 2 includes a lower mounting seat 21, a connector 22 and a plurality of locking grooves 23;
a circle of fixing recess is arranged at the center below the main body shell 101, the shaft retainer ring 102 is arranged on the fixing recess, a hole is further formed in the center of the main body shell 101, the bushing 205 is sleeved on the rotary shaft seat 201, meanwhile, the rotary shaft seat 201 penetrates through the hole and the fixing recess, a circle of fixing protrusion is further arranged on the rotary shaft seat 201 and clamped on the shaft retainer ring 102, so that the rotary shaft seat 201 is prevented from falling off, the locking rod 202 is arranged on the side face of one end of the rotary shaft seat 201, the connector 22 is arranged at one end of the lower mounting seat 21, the locking groove 23 is arranged on the side face of the lower mounting seat 21, a locking recess is formed in one end of the locking groove 23, and when the quick-change seat mechanical arm end 1 is locked above the quick-change seat end effector end 2, the locking rod 202 is clamped on the locking recess, so;
the rotation shaft seat 201 is used for fixing the locking rod 202 and driving the locking rod 202 to rotate when locking;
the locking rod 202 is used for rotating along with the rotating shaft seat 201 when being locked so as to be firmly buckled in the locking groove 23;
the connector 22 is used to fix the external execution unit.
Further, as shown in fig. 2, the rotation locking end 20 further includes a support spring 203;
the supporting spring 203 is sleeved on the rotating shaft seat 201 and fixed between the rotating shaft seat 201 and the main body shell 101, so as to prop against the rotating locking end 20 and the upper mounting seat 10;
the support spring 203 serves to abut against the rotation locking end 20 and the upper mount 10, thereby enhancing the locking effect of the locking lever 202.
Further, as shown in fig. 2, the rotational locking end 20 further includes a positioning pin 204;
the positioning pin 204 is arranged above the rotating shaft seat 201;
the positioning pin 204 is used for driving the rotation shaft seat 201 to rotate.
Further, as shown in fig. 2, the locking rod 202 includes a hole pin 212, a rolling bearing 222, and a pin bolt 232;
the hole pin 212 is arranged on the side surface of one end of the rotary shaft seat 201, the rolling bearing 222 is sleeved on the hole pin 212, and the pin bolt 232 is arranged at the tail end of the hole pin 212;
rolling bearing 222 is used for reducing friction received by hole pin 212 when rotating shaft seat 201 is rotationally locked;
the pin bolt 232 serves to prevent the rolling bearing 222 from coming out.
Further, as shown in fig. 2 and 4, the upper mounting seat 10 is further provided with a pilot pin 103, and the main body casing 101 is further provided with a pilot pin hole 104;
the guide pin 103 is arranged below the upper mounting seat 10, and the guide pin hole 104 is arranged above the main body shell 101;
the pilot pin 103 is configured to be inserted into the pilot pin hole 104 to prevent misalignment between the quick-change-seat manipulator end 1 and the quick-change-seat end effector end 2.
Further, as shown in fig. 2 and 3, the upper mounting base 10 is further provided with a first gas-liquid module 105 and a first gas-liquid joint 106, and the lower mounting base 21 is further provided with a second gas-liquid module 211 and a second gas-liquid joint 215;
the first gas-liquid module 105 is arranged in the upper mounting seat 10, the first gas-liquid joint 106 is arranged at one side of the upper mounting seat 10 and is connected with the first gas-liquid module 105, the second gas-liquid module 211 is arranged in the lower mounting seat 21, and the second gas-liquid joint 215 is arranged at one side of the lower mounting seat 21 and is connected with the second gas-liquid module 211;
the first gas-liquid joint 106 and the second gas-liquid joint 215 are used for connecting external pneumatic equipment;
the first gas-liquid module 105 and the second gas-liquid module 211 are used for conducting the first gas-liquid joint 106 and the second gas-liquid joint 215, so that contact conduction of an external gas pressure device is realized.
Further, as shown in fig. 2 and 3, the upper mounting base 10 is further provided with a first connecting circuit module 107 and a first circuit connector 108, and the lower mounting base 21 is further provided with a second connecting circuit module 213 and a second circuit connector 214;
the first connection circuit module 107 is disposed in the upper mount 10, the first circuit connector 108 is disposed at the other side of the upper mount 10 and connected to the first connection circuit module 107, the second connection circuit module 213 is disposed in the lower mount 21, and the second circuit connector 214 is disposed at the other side of the lower mount 21 and connected to the second connection circuit module 213;
the first circuit connector 108 and the second circuit connector 214 are used for connecting external electrical equipment;
the first and second connecting circuit modules 107 and 213 are used to connect the first and second circuit connectors 108 and 214, so as to achieve contact conduction of the external electrical device.
Further, as shown in fig. 2, a plurality of rotary bolts 109 are further arranged above the rotary shaft seat 201;
the rotary bolt 109 is arranged above the rotary shaft seat 201;
the rotation bolt 109 is used to prevent the dislocation when the docking robot arm end 1 is fixed to the external robot arm.
In a specific application scenario of the present invention, before using the present invention, a user fixes the quick-change-seat manipulator end 1 to the external manipulator and then fixes the quick-change-seat end effector end 2 to the end of the external execution unit, and when the user needs to lock the quick-change-seat manipulator end 1 and the quick-change-seat end effector end 2 to achieve a fixed connection function, the user first places the quick-change-seat end-locking effector end below the quick-change-seat manipulator end 1, then inserts the guide pin 103 into the guide pin hole 104 to perform positioning, then the user pushes up the quick-change-seat end effector end 2, then inserts the rotary locking end 20 into the lower mounting seat 21, and then the user rotates the rotary locking end 20, and the locking rod 202 moves in the locking groove 23 and is locked in the locking recess of the locking groove 23, thereby locking the quick-change-seat manipulator end 1 and the quick-change-seat end effector end 2, the replacement and the fixed installation are completed, and at the same time, the first connection circuit module 107 and the second connection circuit module 213 connect the first circuit connector 108 and the second circuit connector 214, thereby implementing the contact conduction of the external electrical device, and the first connection circuit module 107 and the second connection circuit module 213 connect the first circuit connector 108 and the second circuit connector 214, thereby implementing the contact conduction of the external electrical device.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Claims (8)
1. A quick change device for the tail end of a mechanical robot is characterized by comprising a quick change seat mechanical arm end and a quick change seat tail end executor end,
the quick-change seat mechanical arm end is locked above the quick-change seat end effector end;
the quick-change seat mechanical arm end comprises an upper mounting seat and a rotary locking end, the rotary locking end comprises a rotary shaft seat, a plurality of locking rods and a bushing, the upper mounting seat comprises a main body shell and a shaft retainer ring, and the quick-change seat end effector end comprises a lower mounting seat, a connector and a plurality of locking grooves;
the bushing is sleeved on the rotary shaft seat, a circle of fixed recess is arranged at the center below the main body shell, the shaft retainer ring is arranged on the fixed recess, meanwhile, the center of the main body shell is also provided with an opening, the rotating shaft seat passes through the opening and the fixed recess, the rotary shaft seat is also provided with a circle of fixed bulges which are clamped on the shaft retaining ring, thereby preventing the rotary shaft seat from falling off, the locking rod is arranged on the side surface of one end of the rotary shaft seat, the connector is arranged at one end of the lower mounting seat, the locking groove is arranged on the side surface of the lower mounting seat, one end of the locking groove is provided with a locking recess, when the quick-change-seat robotic arm end is locked over the quick-change-seat end effector end, the locking rod is clamped on the locking recess, so that the quick-change seat mechanical arm end and the quick-change seat end effector end are fixed.
2. The mechanical robotic tip quick-change device of claim 1, wherein said rotational locking end further comprises a support spring;
the supporting spring is sleeved on the rotating shaft seat and fixed between the rotating shaft seat and the main body shell so as to prop against the rotating locking end and the upper mounting seat.
3. The mechanical robot tip quick-change device according to claim 1, wherein the locking rod comprises a hole pin, a rolling bearing and a pin bolt;
the hole pin is arranged on the side face of one end of the rotary shaft seat, the rolling bearing is sleeved on the hole pin, and the pin shaft bolt is arranged at the tail end of the hole pin.
4. The mechanical robotic tip quick-change device of claim 1, wherein said rotational locking end further comprises a locating pin;
the positioning pin is arranged above the rotating shaft seat.
5. The quick-change device for the tail end of the mechanical robot as claimed in claim 1, wherein the upper mounting seat is further provided with a guide pin, and the main body shell is further provided with a guide pin hole;
the guide pin is arranged below the upper mounting seat, and the guide pin hole is arranged above the main body shell.
6. The quick-change device for the tail end of the mechanical robot as claimed in claim 1, wherein the upper mounting base is further provided with a first gas-liquid module and a first gas-liquid joint, and the lower mounting base is further provided with a second gas-liquid module and a second gas-liquid joint;
the first gas-liquid module is arranged in the upper mounting seat, the first gas-liquid joint is arranged on one side of the upper mounting seat and is connected with the first gas-liquid module, the second gas-liquid module is arranged in the lower mounting seat, and the second gas-liquid joint is arranged on one side of the lower mounting seat and is connected with the second gas-liquid module.
7. The quick-change device for the tail end of the mechanical robot as claimed in claim 1, wherein the upper mounting base is further provided with a first connecting circuit module and a first circuit connector, and the lower mounting base is further provided with a second connecting circuit module and a second circuit connector;
the first connecting circuit module is arranged in the upper mounting seat, the first circuit connector is arranged on the other side of the upper mounting seat and connected with the first connecting circuit module, the second connecting circuit module is arranged in the lower mounting seat, and the second circuit connector is arranged on the other side of the lower mounting seat and connected with the second connecting circuit module.
8. The quick-change device for the tail end of the mechanical robot as claimed in claim 1, wherein a plurality of rotary bolts are further arranged above the rotary shaft seat;
the rotary bolt is arranged above the rotary shaft seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010280281.6A CN111618895A (en) | 2020-04-10 | 2020-04-10 | Mechanical robot terminal quick-change device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010280281.6A CN111618895A (en) | 2020-04-10 | 2020-04-10 | Mechanical robot terminal quick-change device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111618895A true CN111618895A (en) | 2020-09-04 |
Family
ID=72268938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010280281.6A Pending CN111618895A (en) | 2020-04-10 | 2020-04-10 | Mechanical robot terminal quick-change device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111618895A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113043247A (en) * | 2021-03-15 | 2021-06-29 | 浏阳市金锋机械科技有限公司 | Quick connecting device and method for operation tail end of electric mechanical arm |
| CN113103270A (en) * | 2021-03-30 | 2021-07-13 | 上海东富龙科技股份有限公司 | Button type quick-change mechanism |
| CN115972244A (en) * | 2022-12-08 | 2023-04-18 | 网易（杭州）网络有限公司 | Connecting device, automatic end tool replacing device and method |
| CN116061221A (en) * | 2023-02-21 | 2023-05-05 | 上海大学 | Flexible mechanical arm tail end quick-change device and application method thereof |
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| CN208946201U (en) * | 2018-09-17 | 2019-06-07 | 苏州市海研电子科技有限公司 | A kind of automatic fast connection quick change electromechanical assembly |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113043247A (en) * | 2021-03-15 | 2021-06-29 | 浏阳市金锋机械科技有限公司 | Quick connecting device and method for operation tail end of electric mechanical arm |
| CN113103270A (en) * | 2021-03-30 | 2021-07-13 | 上海东富龙科技股份有限公司 | Button type quick-change mechanism |
| CN115972244A (en) * | 2022-12-08 | 2023-04-18 | 网易（杭州）网络有限公司 | Connecting device, automatic end tool replacing device and method |
| CN116061221A (en) * | 2023-02-21 | 2023-05-05 | 上海大学 | Flexible mechanical arm tail end quick-change device and application method thereof |
| CN116061221B (en) * | 2023-02-21 | 2025-01-24 | 上海大学 | A flexible mechanical arm end quick change device and use method thereof |
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Application publication date: 20200904 |
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