CN218776614U - Robot workpiece taking and quick replacing device - Google Patents
Robot workpiece taking and quick replacing device Download PDFInfo
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- CN218776614U CN218776614U CN202222030982.1U CN202222030982U CN218776614U CN 218776614 U CN218776614 U CN 218776614U CN 202222030982 U CN202222030982 U CN 202222030982U CN 218776614 U CN218776614 U CN 218776614U
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Abstract
The utility model discloses a robot workpiece taking quick replacement device, which comprises a first connecting part, wherein the first connecting part is used for being connected with the tail end of a robot; the first connecting part comprises a connecting bulge, a first air path connecting port and a first electric signal connecting port; the second connecting part is used for connecting the target part jig; the second connecting portion comprises a connecting groove, a second air path connecting port and a second electric signal connecting port. The application provides a quick replacement device is got to robot, and the robot end can be according to different operations and the different actuating mechanism of operation quick replacement (the different tool of different parts), and safety, convenience, swift, accuracy, overall structure are simple, safe and reliable. Making the application of the robot more flexible. The steel ball pneumatic force is adopted to drive the tensioning mode, so that large locking force and load force can be provided and borne. And has the advantages of small butt joint error, more times of replacement, long service life and the like.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a robot gets a quick replacement device.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology.
Industrial robots need to adapt to complex application environments, and in the same process, industrial robots often need to be matched with a plurality of different end-effector devices to complete corresponding work. In the prior art, the mode of directly installing the terminal execution device on the industrial robot tool flange is generally adopted, although the use requirement can be met to a certain extent, the replacement operation of the terminal execution device is complicated, the production efficiency of the industrial robot is greatly reduced, and the industrial robot is not suitable for industrial production requirements.
Still other robots employ a tool quick-change device that includes a robot side for mounting on a robot arm and a tool side for mounting on an end effector (a fixture for different parts). The quick tool change device can allow different media, such as: gas, electrical signals, liquid, video images, ultrasonic waves, etc., are communicated from the robot arm to an actuator (different jig for different parts) of the end device.
However, the prior art terminal quick-change device can only be used for picking and placing a product or sucking a part, and the use is limited locally. A single robot arm unit cannot meet different operation and operating requirements of the robot and cannot meet the requirement of flexible manufacturing. In order to solve this problem, some devices capable of changing the end tool have been proposed, for example, patent No. 202220933302.4 provides a quick change device for the end tool of a robot, which can realize detachable connection of different actuators to the end of the robot. But the device does not enable a fast connection of the electric signals of the actuator to the robot. Meanwhile, the tail end fixing component and the tool end component of the device are fixedly connected in a rotating clamping mode, and the requirement on a butt joint error is strict during installation. Meanwhile, the slider component needs to be pressed during disassembly, so that full-automatic butt joint and disassembly cannot be realized.
SUMMERY OF THE UTILITY MODEL
The utility model provides a robot gets a quick replacement device. The robot has the advantages that the robot is improved aiming at the quick change device at the tail end of the robot and the actuator (different jigs for different parts), so that the robot can grab the parts with different shapes on one milling machine.
The utility model provides a following scheme:
a robot pickup quick replacement device, comprising:
the first connecting part is used for connecting with the tail end of the robot; the first connecting part comprises a connecting bulge, a first air path connecting port and a first electric signal connecting port; the connecting protrusion is provided with a plurality of positioning holes, and steel balls are arranged in the positioning holes;
the second connecting part is used for connecting the target part jig; the second connecting part comprises a connecting groove, a second air path connecting port and a second electric signal connecting port; the first connecting part is detachably connected with the second connecting part;
under the connection state, the first air path connecting port is connected with the second air path connecting port in a matched mode, the first electric signal connecting port is connected with the second electric signal connecting port in a matched mode, the connecting protrusion is inserted into the connecting groove, and the steel balls extend out under the action of aerodynamic force, the periphery of the connecting protrusion is connected with the inner side face of the connecting groove in a low-connection mode.
Preferably: first connecting portion include first connection pad, connect protruding first air circuit connector and first signal of telecommunication connector all set up in on the first connection pad, first connection pad be used for with the robot is terminal to link to each other.
Preferably: the first connection disc is provided with a plurality of first through holes penetrating through the surfaces of two sides of the first connection disc, and the first through holes are used for being connected with the tail end of the robot through screws.
Preferably: the second connecting portion comprises a second connecting disc, the connecting groove, the second air path connecting port and the second electric signal connecting port are all arranged on the second connecting disc, and the second connecting disc is used for being connected with the target part jig.
Preferably: the second connecting disc is provided with a plurality of second through holes penetrating through the surfaces of two sides of the second connecting disc, and the second through holes are used for being connected with the mounting disc of the target part jig through screws.
Preferably: the plurality of second through holes are uniformly distributed along the circumferential direction of the second connecting disc at target intervals; the target part fixtures comprise a plurality of target part fixtures, and each target part fixture is provided with the same mounting disc; the edge of the mounting plate is provided with a plurality of threaded holes; the threaded holes are uniformly distributed along the circumferential direction of the mounting disc at the target interval.
Preferably: the first connecting part comprises a positioning column, and the second connecting part comprises a positioning hole; when the first connecting part and the second connecting part are in a connected state, the positioning column is inserted into the positioning hole.
According to the utility model provides a concrete embodiment, the utility model discloses a following technological effect:
by the utility model, a robot part taking and quick replacing device can be realized, and in one realization mode, the device can comprise a first connecting part which is used for being connected with the tail end of a robot; the first connecting part comprises a connecting bulge, a first air circuit connecting port and a first electric signal connecting port; the connecting bulge is provided with a plurality of positioning holes, and steel balls are arranged in the positioning holes; the second connecting part is used for connecting the target part jig; the second connecting part comprises a connecting groove, a second air path connecting port and a second electric signal connecting port; the first connecting part is detachably connected with the second connecting part; under the connection state, the first air path connecting port is connected with the second air path connecting port in a matched mode, the first electric signal connecting port is connected with the second electric signal connecting port in a matched mode, the connecting protrusion is inserted into the connecting groove, and the steel balls extend out under the action of aerodynamic force, the periphery of the connecting protrusion is connected with the inner side face of the connecting groove in a low-connection mode. The application provides a quick replacement device is got to robot, and the robot end can be according to different operations and the different actuating mechanism of operation quick replacement (the different tool of different parts), and is safe, convenient, swift, accurate, overall structure is simple, safe and reliable. Making the application of the robot more flexible. The steel ball pneumatic force is adopted to drive the tensioning mode, so that large locking force and load force can be provided and borne. And has the advantages of small butt joint error, more times of replacement, long service life and the like.
Of course, it is not necessary for any particular product to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a robot pick-up quick replacement device provided by an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a first connection portion according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a second connection portion according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a target part fixture according to an embodiment of the present invention.
In the figure: the connecting structure comprises a first connecting part 1, a connecting protrusion 11, a first air path connecting port 12, a first electric signal connecting port 13, steel balls 14, a first connecting disc 15, a first through hole 16, a positioning column 17, a second connecting part 2, a connecting groove 21, a second air path connecting port 22, a second electric signal connecting port 23, a second connecting disc 24, a second through hole 25, a positioning hole 26, a target part jig 3, a mounting disc 31 and a threaded hole 32.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art all belong to the protection scope of the present invention.
Examples
Referring to fig. 1, fig. 2, fig. 3, and fig. 4, for a robot pickup quick replacement device provided by an embodiment of the present invention, as shown in fig. 1, fig. 2, fig. 3, and fig. 4, the device may include:
the robot comprises a first connecting part 1, a second connecting part 1 and a third connecting part, wherein the first connecting part 1 is used for being connected with the tail end of a robot; the first connecting part 1 comprises a connecting bulge 11, a first air circuit connecting port 12 and a first electric signal connecting port 13; the connecting protrusion 11 is provided with a plurality of positioning holes, and steel balls 14 are arranged in the positioning holes;
the second connecting part 2 is used for connecting the target part jig 3 with the second connecting part 2; the second connecting part 2 comprises a connecting groove 21, a second air path connecting port 22 and a second electric signal connecting port 23; the first connecting part 1 is detachably connected with the second connecting part 2;
in a connection state, the first air path connecting port 12 is connected with the second air path connecting port 22 in a matching manner, the first electrical signal connecting port 13 is connected with the second electrical signal connecting port 23 in a matching manner, the connecting protrusion 11 is inserted into the connecting groove 21, and the steel ball 14 extends out of the periphery of the connecting protrusion 11 under the action of aerodynamic force and is connected with the inner side surface of the connecting groove 21 in a low manner.
The robot that this application embodiment provided gets a quick replacement device, first connecting portion can realize high-speed joint and dismantlement with the second connecting portion, connects through the connecting bulge and the coupling groove that set up, and is low to connecting the required precision, can realize high-speed joint. The steel ball of the male head is pneumatically expanded to clamp the connecting groove for locking, so that the first connecting part and the second connecting part are tightly connected, the connection is tight after locking, large locking force and load force can be provided and borne, the butt joint error is small, the replacement times can be repeated, and the advantage of long service life is achieved. Meanwhile, the steel balls are driven by aerodynamic force, so that when the steel balls need to be detached, the steel balls can retract only by eliminating the aerodynamic force, and the connection between the first connecting portion and the second connecting portion can be disconnected.
It can be understood that after the first air path connecting port and the second air path connecting port provided by the embodiment of the application are connected in a matching manner, the air path communication of the robot arm connected to the actuator of the end device can be realized. After the first electric signal connecting port is matched and connected with the second electric signal connecting port, the electric signal communication of the actuator of the robot arm connected to the end device can be realized. The connecting interfaces can adopt the corresponding interface form of the opposite insertion type, and the opposite insertion connection of each interface can be simultaneously completed when the connecting protrusions and the connecting grooves are fixedly connected.
In order to facilitate the connection of the first connection portion to the end of the robot, the embodiment of the present application may further provide that the first connection portion 1 includes a first connection pad 15, the connection protrusion 11, the first air circuit connection port 12, and the first electrical signal connection port 13 are all disposed on the first connection pad 15, and the first connection pad 15 is configured to be connected to the end of the robot. Specifically, the first connection disc 15 is provided with a plurality of first through holes 16 penetrating through two side surfaces of the first connection disc, and the first through holes 16 are used for being connected with the tail end of the robot through screws. The first connecting part can be connected with the tail end of the robot by adopting a bolt through the first connecting disc.
In order to facilitate connection of the second connection portion with the target part fixture, the embodiment of the application may further provide that the second connection portion 2 includes a second connection pad 24, the connection groove 21, the second air path connection port 22, and the second electrical signal connection port 23 are all disposed on the second connection pad 24, and the second connection pad 24 is used for connection with the target part fixture 3. Specifically, the second connecting disc 24 is provided with a plurality of second through holes 25 penetrating through two side surfaces of the second connecting disc, and the second through holes 25 are used for being connected with the mounting disc 31 of the target part jig 3 through screws.
In order to further achieve the purpose that the tail end of the robot can be connected with a plurality of target part jigs, the second through holes 25 can be uniformly distributed along the circumferential direction of the second connecting disc 24 at a target interval; the target part jigs 3 comprise a plurality of target part jigs, and each target part jig 3 is provided with the same mounting disc 31; a plurality of threaded holes 32 are formed in the edge of the mounting plate 31; the threaded holes 32 are uniformly distributed along the circumferential direction of the mounting plate 31 at the target interval.
In practical application, the required target part jigs can be determined according to the operation required to be executed by the robot of each station, then mounting discs with the same structure and size are arranged on each target part jig, and the second connecting portion is mounted on each mounting disc through the second connecting disc. Because all be connected with the second connecting portion on every target part tool, consequently each target part tool all can realize being connected with the terminal first connecting portion of robot. Therefore, the purpose that the tail end of one robot can be connected with a plurality of target part fixtures is achieved. The tail end of the robot can be connected with a selected target part jig according to needs to realize operations such as grabbing of different parts. The target part fixture can be a fixture for grabbing parts of different shapes.
In order to further improve the positioning effect of the first connection portion and the second connection portion when being connected, in the embodiment of the present application, the first connection portion 1 may further include a positioning post 17, and the second connection portion 2 includes a positioning hole 26; in a connected state of the first connecting portion 1 and the second connecting portion 2, the positioning column 17 is inserted into the positioning hole 26. The positioning connection of the positioning columns and the positioning holes ensures that the first connecting part is correctly butted with the second connecting part.
In a word, the robot that this application provided gets a quick replacement device, the robot end can be according to different operations and the different actuating mechanism of operation quick replacement (the different tool of different parts), and safety, convenience, swift, accurate, overall structure are simple, safe and reliable. Making the application of the robot more flexible. The steel ball pneumatic force is adopted to drive the tensioning mode, so that large locking force and load force can be provided and borne. And has the advantages of small butt joint error, more times of replacement, long service life and the like.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (7)
1. A robot gets a quick replacement device, its characterized in that includes:
the first connecting part is used for being connected with the tail end of the robot; the first connecting part comprises a connecting bulge, a first air path connecting port and a first electric signal connecting port; the connecting bulge is provided with a plurality of positioning holes, and steel balls are arranged in the positioning holes;
the second connecting part is used for connecting the target part jig; the second connecting part comprises a connecting groove, a second air path connecting port and a second electric signal connecting port; the first connecting part is detachably connected with the second connecting part;
under the connection state, the first air path connecting port is connected with the second air path connecting port in a matched mode, the first electric signal connecting port is connected with the second electric signal connecting port in a matched mode, the connecting protrusion is inserted into the connecting groove, and the steel balls extend out under the action of aerodynamic force, the periphery of the connecting protrusion is connected with the inner side face of the connecting groove in a low-connection mode.
2. The device for rapidly replacing a workpiece taken by a robot as claimed in claim 1, wherein the first connecting part comprises a first connecting disc, the connecting protrusion, the first air passage connecting port and the first electric signal connecting port are all arranged on the first connecting disc, and the first connecting disc is used for being connected with the tail end of the robot.
3. The device for rapidly replacing a robot pick-up member according to claim 2, wherein the first connecting disc is provided with a plurality of first through holes penetrating through both side surfaces thereof, and the first through holes are used for being connected with the tail end of the robot through screws.
4. The quick robot part taking replacing device according to claim 1, wherein the second connecting portion comprises a second connecting disc, the connecting groove, the second air path connecting port and the second electrical signal connecting port are all arranged on the second connecting disc, and the second connecting disc is used for being connected with the target part jig.
5. The device for rapidly replacing a workpiece taken by a robot as claimed in claim 4, wherein the second connecting disc is provided with a plurality of second through holes penetrating through two side surfaces of the second connecting disc, and the second through holes are used for being connected with the mounting disc of the target part jig through screws.
6. The quick robot part taking-out replacing device according to claim 5, wherein a plurality of second through holes are uniformly distributed along the circumferential direction of the second connecting disc at a target interval; the target part fixtures comprise a plurality of target part fixtures, and each target part fixture is provided with the same mounting disc; the edge of the mounting plate is provided with a plurality of threaded holes; the threaded holes are uniformly distributed along the circumferential direction of the mounting disc at the target interval.
7. The quick robot workpiece-taking replacement device according to claim 1, wherein the first connecting portion comprises a positioning post, and the second connecting portion comprises a positioning hole; and the positioning column is inserted in the positioning hole when the first connecting part and the second connecting part are in a connected state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222030982.1U CN218776614U (en) | 2022-08-03 | 2022-08-03 | Robot workpiece taking and quick replacing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222030982.1U CN218776614U (en) | 2022-08-03 | 2022-08-03 | Robot workpiece taking and quick replacing device |
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| Publication Number | Publication Date |
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| CN218776614U true CN218776614U (en) | 2023-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202222030982.1U Active CN218776614U (en) | 2022-08-03 | 2022-08-03 | Robot workpiece taking and quick replacing device |
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| CN (1) | CN218776614U (en) |
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- 2022-08-03 CN CN202222030982.1U patent/CN218776614U/en active Active
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