CN221271168U

CN221271168U - Robot end-effector storage and replacement device

Info

Publication number: CN221271168U
Application number: CN202322803340.5U
Authority: CN
Inventors: 蒋泽丰
Original assignee: Shanghai Lingxian Robotics Technology Co ltd
Current assignee: Shanghai Lingxian Robotics Technology Co ltd
Priority date: 2023-10-18
Filing date: 2023-10-18
Publication date: 2024-07-05
Anticipated expiration: 2033-10-18

Abstract

The utility model discloses a robot end execution tool storage and replacement device, which comprises: a central disc; the ring frame surrounds the periphery of the central disc and performs relative rotation movement with the central disc; the tool clamping pieces are sequentially arranged on the circular ring frame; and a tool release member provided on the center disk and aligned with one of the tool clamping members at a specific timing so that the tool clamping member releases the end tool. The technical scheme of the utility model has the beneficial effects that: the provided storage end tool can enable the mechanical arm to automatically and flexibly replace the end tool, support semi-automation or full automation, and simultaneously meet the operation requirements of objects with different shapes, different sizes and different weights.

Description

Robot end-effector storage and replacement device

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to a robot tail end execution tool storage and replacement device.

Background

With advances in technology and continued development in the industry, robots play an increasingly important role in both production and manufacturing. In order to meet different requirements and enhance the flexibility and reliability of robots, the end-to-end electric quick-change technology is a key to the new height of the current industrial robot industry. Conventional robots require cumbersome setup and adjustment to accomplish different types of tasks, however, this approach lacks flexibility and consumes significant amounts of time and resources. The industrial robot adopting the tail end electric quick-change technology can easily cope with various different working requirements, and quick and efficient conversion is realized. The core of the tip electric quick-change technology is the design of replaceable tip tools, by which the robot can accomplish previously inconceivable complex tasks. For example, in an automobile manufacturing factory, a robot can finish welding, spraying, carrying and other different works by replacing end tools, and the flexibility enables the robot to adapt to manufacturing requirements of different products, so that production efficiency and quality are improved.

The end effector functions to manipulate objects while the robot is in operation. Robots often need to handle objects of different shapes, sizes, and weights, so a single end effector often cannot meet the operational requirements of different objects at the same time.

Disclosure of utility model

In view of the above, an object of the present utility model is to provide a robot end effector storage and replacement device, which solves the drawbacks of the prior art.

In order to achieve the above purpose, the utility model is realized by the following technical scheme:

there is provided a robot end effector storage replacement apparatus comprising:

A central disc;

The ring frame surrounds the periphery of the central disc and performs relative rotation movement with the central disc;

the tool clamping pieces are sequentially arranged on the circular ring frame; and

And a tool release member disposed on the central disk and aligned with one of the tool clamping members at a specific time such that the tool clamping member releases the end tool.

The equipment is stored and replaced by the aid of the robot tail end executing tool, the tool clamping piece comprises clamping jaw guide pieces, a push rod assembly and a group of clamping jaws, the two clamping jaws are oppositely arranged on the clamping jaw guide pieces, the clamping jaw guide pieces are provided with guide grooves, the push rod assembly is provided with guide rods matched with the guide grooves, parallel guide rails are arranged on two opposite sides of the push rod assembly, and the push rod assembly applies force to the clamping jaw guide pieces under the action of external force and then opens and closes the two clamping jaws through the guide rods and the guide grooves.

The robot end execution tool storage and replacement device comprises a clamping jaw guide piece and a right guide piece, wherein the left guide piece is provided with a first linear guide groove which is distributed obliquely, the right guide piece is provided with a second linear guide groove which is distributed in a left-right axisymmetric mode with the first linear guide groove, and a guide rod linearly penetrates through the first linear guide groove and the second linear guide groove.

The device for storing and replacing the end-effector of the robot comprises a push rod assembly, a spring and a loose shaft, wherein the push rod assembly comprises a clamping push rod, a spring and a loose shaft which are sequentially connected or abutted, and the guide rod is arranged in the loose shaft.

The equipment for storing and replacing the tool is carried out at the tail end of the robot, the tool loosening and unloading piece comprises a loosening push rod, a screw rod nut, a motor and a circuit board, the loosening push rod is fixed on the screw rod nut, the circuit board controls the motor to drive the screw rod to rotate, the screw rod nut is enabled to move, and the loosening push rod acts on the clamping push rod.

The technical scheme of the utility model has the beneficial effects that:

The provided storage end tool can enable the mechanical arm to automatically and flexibly replace the end tool, support semi-automation or full automation, and simultaneously meet the operation requirements of objects with different shapes, different sizes and different weights.

Drawings

In order to further explain the above objects, structural features and effects of the present utility model, the present utility model will be described in detail with reference to the accompanying drawings.

FIG. 1 is a schematic view of the whole structure of a preferred embodiment of the present utility model;

FIG. 2a is a schematic view of a tool clamping member according to a preferred embodiment of the present utility model;

FIG. 2b is a cross-sectional view taken along line A-A of FIG. 2 a;

FIG. 3 is a schematic view of the right guide member of the jaw guide of the preferred embodiment of the present utility model;

FIG. 4a is a schematic view of a tool release member according to a preferred embodiment of the present utility model;

FIG. 4B is a cross-sectional view taken along B-B of FIG. 4 a;

In the figure: 1. a central disc; 2. a ring frame; 3. a tool clamping piece; 31. jaw guide; 311. a left guide; 312. a right wire member; 313. a first linear wire groove; 314. a second linear guide groove; 32. a push rod assembly; 321. a guide rod; 322. clamping the push rod; 323. a spring; 324. loosening the shaft; 33. a clamping jaw; 4. loosening and unloading a tool; 41. loosening the push rod; 42. a screw rod; 43. a lead screw nut; 44. a motor; 45. a circuit board; 5. an end tool.

Detailed Description

The term "utility model" as used in this specification is intended to refer broadly to all subject matter of this specification and any patent claims below. Statements containing these terms should not be construed as limiting the subject matter described herein or limiting the meaning or scope of any patent claims that follow. Furthermore, this description is not intended to describe or limit the subject matter encompassed by any particular component, section, claim, or any claim of the drawings of the present utility model. The subject matter should be understood with reference to the entire specification, all drawings, and any claims below. The utility model is capable of other embodiments and of being practiced or of being carried out in other ways. Also, it is to be understood that the phraseology and terminology employed herein is for the purpose of description and should not be regarded as limiting.

The details of the utility model will now be discussed with reference to the accompanying drawings, which illustrate the utility model by way of example only. In the drawings, similar features or components may be labeled with the same reference numerals.

The use of "including," "having" and "comprising" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Although reference may be made in describing the drawings to the following directions such as upper, lower, upward, downward, rearward, bottom, top, front, rear, etc., for convenience, reference is made to the drawings. These directions are not intended to literally accept or limit the utility model in any form. Furthermore, terms such as "first," "second," "third," and the like, are used herein for purposes of description and are not intended to indicate or imply importance or significance.

Referring to fig. 1, the robot end-effector tool storage and replacement apparatus of the present utility model includes a center disk 1, a ring frame 2, tool-holding members 3, and tool-holding members 4, the ring frame 2 surrounding the circumference of the center disk 1 and being relatively rotated with the center disk 1, the plurality of tool-holding members 3 being sequentially provided on the ring frame 2, the tool-holding members 4 being provided on the center disk 1 and being aligned with one of the tool-holding members 3 at a specific timing so that the tool-holding members 3 hold and release an end tool 5.

Referring to fig. 2a, in the preferred embodiment, the tool clamping member 3 includes a jaw guide 31, a push rod assembly 32 and a set of jaws 33, the two jaws 33 are disposed on the jaw guide 31 in opposite directions, the jaw guide 31 is provided with a guide groove, the push rod assembly 32 is provided with a guide rod 321 corresponding to the guide groove, and two opposite sides of the push rod assembly 32 are provided with parallel guide rails 34 for limiting the moving path of the push rod assembly 32. The push rod assembly 32 applies force to the clamping jaw guide 31 under the action of external force, and then the two clamping jaws 33 are opened and closed through the guide rod 321 and the guide groove.

In a preferred embodiment, referring to fig. 2a and 3, the jaw guide 31 includes a left guide 311 and a right guide 312, the left guide 311 is provided with a first linear guide groove 313 distributed obliquely, the right guide 312 is provided with a second linear guide groove 314 distributed symmetrically to the left and right of the first linear guide groove 313, and the guide rod 321 passes through the first linear guide groove 313 and the second linear guide groove 314 in a straight line.

Further, with continued reference to FIG. 2b, the push rod assembly 32 includes a clamping push rod 322, a spring 323, and a loose axle 324 that are sequentially connected or abutted, with the guide rod 321 disposed within the loose axle 324. It will be appreciated that the guide bar 321 may be two straight bars distributed on the same straight line, as shown in the figure, the distribution being inserted into the two straight guide grooves from opposite directions. The spring 323 plays a role of buffering.

Referring to fig. 4a and 4b, the tool releasing member 4 includes a releasing push rod 41, a screw 42, a screw nut 43, a motor 44 and a circuit board 45, wherein the releasing push rod 41 is fixed on the screw nut 43, and the circuit board 45 controls the motor 44 to drive the screw 42 to rotate, so as to realize the movement of the screw nut 43, and the releasing push rod 41 acts on the clamping push rod 322. The circuit board 45 serves the control and drive functions for the motor 44.

During operation, the tool clamping piece 3 clamps the end tool 5, is arranged on the rotary ring frame 2 and can rotate around the static center disc 1, and along with the rotary motion of the ring frame 2, after the tool loosening piece 4 rotates to align one of the tool clamping pieces 3 at a specific moment, the clamping jaws 33 are loosened by pushing the clamping push rod 322 in the tool clamping piece 3, so that the end tool 5 is taken down, and the robot can independently realize the replacement.

The foregoing is merely illustrative of the preferred embodiments of the present utility model and is not intended to limit the embodiments and scope of the present utility model, and it should be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present utility model, and are intended to be included in the scope of the present utility model.

Claims

1. A robotic end effector storage and exchange device, comprising:

A central disc;

2. The robotic end effector tool storage and exchange device of claim 1, wherein the tool clamping member comprises a jaw guide, a push rod assembly and a set of jaws, wherein the two jaws are oppositely arranged on the jaw guide, the jaw guide is provided with a guide groove, the push rod assembly is provided with guide rods matched with the guide groove, parallel guide rails are arranged on two opposite sides of the push rod assembly, and the push rod assembly applies force to the jaw guide under the action of external force to realize opening and closing of the two jaws through the guide rods and the guide grooves.

3. The robotic end effector tool storage and exchange device according to claim 2, wherein the jaw guide includes a left guide provided with a first linear guide groove distributed diagonally, and a right guide provided with a second linear guide groove distributed axisymmetrically to the left and right of the first linear guide groove, the guide rod passing straight through the first and second linear guide grooves.

4. A robotic end effector storage and exchange device according to claim 2 or claim 3, wherein the pusher assembly comprises a clamping pusher, a spring and a loose axle connected or abutting in sequence, the guide rod being disposed within the loose axle.

5. The robotic end effector tool storage and exchange device of claim 4, wherein the tool release member includes a release pushrod, a screw nut, a motor, and a circuit board, the release pushrod being secured to the screw nut, the circuit board controlling the motor to rotate the screw to effect movement of the screw nut, the release pushrod acting on the clamp pushrod.