CN106378774B - A kind of manipulator quick change assembly - Google Patents
A kind of manipulator quick change assembly Download PDFInfo
- Publication number
- CN106378774B CN106378774B CN201611144770.9A CN201611144770A CN106378774B CN 106378774 B CN106378774 B CN 106378774B CN 201611144770 A CN201611144770 A CN 201611144770A CN 106378774 B CN106378774 B CN 106378774B
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- fixed
- frustum
- air passage
- connection apparatus
- fixed connection
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to automatically processing device technical fields, refer in particular to a kind of manipulator quick change assembly, fixed connection apparatus including being installed on mechanical arm, at least two more changing devices and latching device for preventing fixed connection apparatus and more changing device loosens, it is characterized by also including buffer gears, replace clamping jaw and mounting seat, the buffer gear includes the sliding rail for being fixed on mounting seat, buffer spring, the sliding block and the floating mount platform fixed with sliding block being cooperatively connected with sliding rail, the both ends of buffer spring are abutted with the lower part of floating mount platform and mounting seat respectively, the replacement clamping jaw is fixed on floating mount platform.In the replacement process of executing agency, if more changing device contacts too quickly with fixed connection apparatus, due to the design of buffer gear, the rigid contact between more changing device and fixed connection apparatus is avoided, safety is higher.
Description
Technical field
The present invention relates to automatically processing device technical fields, refer in particular to a kind of manipulator quick change assembly.
Background technique
With the popularization of machine substitute human labor project, traditional pipeline system production line also faces asking for many robotic transformations
Topic, and with the raising of product function degree of integration, the manufacturing procedure of product is also more complicated and various, virtually increases
The complexity of automatically processing device considerably increases the throwing of equipment wherein most distinct issues are increasing for manipulator
Enter and maintenance cost.
Existing manipulator generally comprises rack, is equipped with manipulator in rack.Rack can be carried out by rotation motor driving
Rotation.Electronic component can be grabbed by each manipulator.Although existing this feeding device can satisfy primary demand, but
Its grabbing device gripping head replacement be inconvenient, after needing to disassemble each gripping head, then by the gripping head of needs by
It is a to install.Since the installation of each gripping head in the prior art is time-consuming and laborious, so that the installation of the gripping head of entire machine
It takes a long time.The gripping head of entire machine is in the form of a single, cannot realize according to actual needs quickly more.
In addition, for displaying the display rack of executing agency, but existing display rack is in the replacement process of manipulator
Rigid connection, manipulator are easy to collide with display rack under the transport of multi-axis robot, and manipulator is even damaged when serious
Or multi-axis robot.
Summary of the invention
The technical problem to be solved in the present invention is to provide one kind to have under the premise of meeting production line processing equipment hand quantity
Effect reduces the manipulator quick change assembly of production line robot or mechanical arm, and buffer gear therein also has protection mechanical
Hand and other component be not by the advantage of damaged in collision.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme: a kind of manipulator quick change assembly, packet
Include the more changing device of the fixed connection apparatus for being installed on mechanical arm, at least two and for preventing fixed connection apparatus and more changing device
The latching device loosened, it is characterised in that: further include buffer gear, replacement clamping jaw and mounting seat, which includes solid
Due to the sliding rail of mounting seat, buffer spring, the sliding block being cooperatively connected with sliding rail and the floating mount platform fixed with sliding block, buffering
The both ends of spring are abutted with the lower part of floating mount platform and mounting seat respectively, and the replacement clamping jaw is fixed on floating mount platform.
Preferably, guide post is provided between the floating mount platform and mounting seat, the buffer spring is set in this and leads
Column.
Preferably, the fixed connection apparatus includes the first connection ontology, the first ventilation in the middle part of the first connection ontology
Road and positioned at the first air passage periphery flexible electrical termination son, the more changing device include second connection ontology, be located at second connect
Connect the second air passage and fixation electrical termination positioned at the second air passage periphery, fixed connection apparatus and more changing device in the middle part of ontology
When being fastened and connected, the first air passage is docked and connected with the second air passage, and stretch electrical termination and fixed electrical termination one-to-one correspondence
Electrical contact.
Preferably, the fixed connection apparatus is installed with the first gas connector being connected to the first air passage and connects with flexible electricity
First electric connection of terminal electrical connection, more changing device are installed with the second gas connector being connected to the second air passage and connect with fixed electricity
Second electric connection of terminal electrical connection.
Preferably, the first connection ontology offers the small frustum butt hole assigned, and the second connection ontology is set
It is equipped with frustum connecting column corresponding with frustum butt hole, the lower end of first air passage and flexible electrical termination is located at frustum pair
Connect the bottom in hole；The upper end of second air passage and fixed electrical termination is located at the top of frustum connecting column.
Preferably, the latching device includes connecting the annular groove of column outer wall positioned at frustum and being installed in frustum butt hole inner wall
Steel ball, fixed connection apparatus and when more changing device is fastened and connected, a part of steel ball is located in annular groove.
Preferably, the first connection ontology is installed with third gas connector, lock tube and sealing cover, the lock tube and sealing cover it
Between chamber and third gas fittings, the inner wall of frustum butt hole offers the frustum through-hole for accommodating steel ball, lock tube
Inner wall lower end is provided with the lock ring for ejection steel ball.
Preferably, compressed spring is connected between the lock tube and the first connection ontology.
The beneficial effects of the present invention are: the present invention provides a kind of manipulator quick change assemblies, in actual production
In, fixed connection apparatus is fixedly connected with the end of robotic manipulator, the executing agency of robot (such as manipulator
Pawl) it is fixedly connected with more changing device, when workpieces processing proceeds to next process from a upper process, volume is not necessarily in production line
One robot of outer increase, fixed connection apparatus on the robot it is only necessary to more changing the outfit with a upper executing agency
Separation is set, then is connected in conjunction with the more changing device with next executing agency (such as glue dispenser head), the life is equally able to achieve
The complete processing flow of producing line, greatly reduces the input cost of production line, simplifies the input cost of robot, cost performance
It is high.In the replacement process of executing agency, if more changing device contacted with fixed connection apparatus it is too quickly, due to setting for buffer gear
Meter, avoids the rigid contact between more changing device and fixed connection apparatus, safety is higher.
Detailed description of the invention
Fig. 1 is the schematic perspective view of manipulator quick change assembly of the present invention.
Fig. 2 is the stereochemical structure decomposing schematic representation of buffer gear of the present invention.
Schematic perspective view when Fig. 3 is fixed connection apparatus of the present invention and not connected more changing device.
Fig. 4 is fixed connection apparatus of the present invention and the schematic diagram of the section structure when more changing device is connect.
The schematic diagram of the section structure when Fig. 5 is fixed connection apparatus of the present invention and not connected more changing device.
Specific embodiment
For the ease of the understanding of those skilled in the art, below with reference to embodiment, the present invention is further illustrated, real
The content that the mode of applying refers to not is limitation of the invention.
As shown in Figures 1 to 5, a kind of manipulator quick change assembly, the fixed connection apparatus including being installed on mechanical arm
1, at least two more changing devices 2 and the latching device for preventing fixed connection apparatus 1 and more changing device 2 from loosening, further include delaying
Punch mechanism 3, replacement clamping jaw 4 and mounting seat 5, the buffer gear 3 include sliding rail 31, the buffer spring for being fixed on mounting seat 5
32, the sliding block 33 and the floating mount platform 34 fixed with sliding block 33 being cooperatively connected with sliding rail 31, the both ends difference of buffer spring 32
It is abutted with the lower part of floating mount platform 34 and mounting seat 5, the replacement clamping jaw 4 is fixed on floating mount platform 34.
In actual production application, fixed connection apparatus 1 is fixedly connected with the end of robotic manipulator, robot
Executing agency's (such as mechanical paw) be fixedly connected with more changing device 2, when workpieces processing proceed to from a upper process it is next
When a process, without additionally increasing a robot in production line, fixed connection apparatus 1 on the robot it is only necessary to band
The more changing device 2 of You Shangyige executing agency separates, then with more changing the outfit with next executing agency (such as glue dispenser head)
It sets 2 and combines connection, be equally able to achieve the complete processing flow of the production line, greatly reduce the input cost of production line, letter
The input cost of Hua Liao robot, cost performance are high.
In the replacement process of executing agency, if more changing device 2 contacted with fixed connection apparatus 1 it is too quickly, due to buffer
The design of structure 3, avoids the rigid contact between more changing device 2 and fixed connection apparatus 1, and safety is higher.
Specifically, being provided with guide post 35 between the floating mount platform 34 and mounting seat 5, the buffer spring 32 is set with
In the guide post 35, buffer spring 32 is effectively prevent to fly out, the structural stability of manipulator quick change assembly is higher.
In the present embodiment, the fixed connection apparatus 1 includes the first connection ontology 11, is located at 11 middle part of the first connection ontology
First air passage 12 and flexible electrical termination 13 positioned at 12 periphery of the first air passage, the more changing device 2 include the second connection
Ontology 21, the fixation electrical termination positioned at 21 the second air passage 22 of middle part of the second connection ontology and positioned at 22 periphery of the second air passage are sub
23, fixed connection apparatus 1 and when more changing device 2 is fastened and connected, the first air passage 12 is docked and connected with the second air passage 22, stretches
Electrical termination 13 is corresponded with fixed electrical termination 23 and is in electrical contact.
Fixed connection apparatus 1 and when more changing device 2 is fastened and connected, due to the first air passage 12, the second air passage 22, flexible
The design of electrical termination 13 and fixed electrical termination 23, realizes the electric linkage function of manipulator quick change assembly, is convenient for
Carry out electrical control to executing agency, structure is simple, and replacement is simple and fast, practical.
In the present embodiment, the fixed connection apparatus 1 be installed with the first gas connector 1a being connected to the first air passage 12 and
The first electric connection 1b being electrically connected with flexible electrical termination 13, more changing device 2 are installed with second be connected to the second air passage 22
Gas connector 2a and the second electric connection 2b being electrically connected with fixed electrical termination 23.Specifically, the first connection ontology 11 opens up
There is the upper small frustum butt hole 14 assigned, the second connection ontology 21 is provided with frustum connection corresponding with frustum butt hole 14
The lower end of column 24, first air passage 12 and flexible electrical termination 13 is located at the bottom of frustum butt hole 14；Described second is logical
The upper end of air flue 22 and fixed electrical termination 23 is located at the top of frustum connecting column 24.
In the present embodiment, the latching device includes being located at the annular groove 25 of 24 outer wall of frustum connecting column and being installed in frustum pair
Connect the steel ball 15 of 14 inner wall of hole, fixed connection apparatus 1 and when more changing device 2 is fastened and connected, a part of steel ball 15 is located at annular groove
In 25.Specifically, the first connection ontology 11 is installed with third gas connector 16, lock tube 17 and sealing cover 18,17 He of lock tube
Chamber between sealing cover 18 is connected to third gas connector 16, and the inner wall of frustum butt hole 14 is offered for accommodating steel ball 15
Frustum through-hole, the inner wall lower end of lock tube 17 are provided with the lock ring 19 for ejection steel ball 15；The lock tube 17 connect this with first
Compressed spring 10 is connected between body 11.
When third gas connector 16 inflate when, air pressure push lock tube 17 move down, no lock ring 19 is kept out, steel ball 15 to
It is moved out annular groove 25 outside, fixed connection apparatus 1 and more changing device 2 can separate easily；When more changing device 2 more alternatively
Afterwards, after new frustum connecting column 24 is inserted into frustum butt hole 14,16 decompression of third gas connector, lock tube 17 is in compressed spring 10
Under the action of move up, a part of 19 ejection steel ball 15 of lock ring to steel ball 15 is located in annular groove 25, to prevent fixed company
Connection device 1 and the separation of more changing device 2, dismounting and replacement are all more convenient, and structure is simple, and practicability is stronger.
In the description of the present invention, it should be noted that " laterally (X) ", " vertical if any term " center " for the noun of locality
To (Y) ", " vertical (Z) " " length ", " width ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", " water
It is flat ", "top", "bottom", "inner", "outside", " clockwise ", the indicating positions such as " counterclockwise " and positional relationship be based on the figure
Orientation or positional relationship, be merely for convenience of narration the present invention and simplify description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and be operated with particular orientation, should not be understood as limiting specific protection model of the invention
It encloses.
In addition, being used for description purposes only if any term " first ", " second ", it is not understood to indicate or imply relatively heavy
The property wanted or the quantity for implicitly indicating technical characteristic." first " is defined as a result, " second " feature can be expressed or implicit include
One or more this feature, in the present description, " several " are meant that two or more, unless otherwise clearly having
The restriction of body.
In the present invention, except as otherwise clear stipulaties and restriction, should make if any term " assembling ", " connected ", " connection " term
Broad sense goes to understand, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It is also possible to mechanical connect
It connects；It can be directly connected, be also possible to be connected by intermediary, can be and be connected inside two elements.For ability
For the those of ordinary skill of domain, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (6)
1. a kind of manipulator quick change assembly, fixed connection apparatus (1) and at least two replacements including being installed on mechanical arm
Device (2), and the latching device for preventing fixed connection apparatus (1) and more changing device (2) from loosening, it is characterised in that: also
Including buffer gear (3), replacement clamping jaw (4) and mounting seat (5), which includes being fixed on mounting seat (5)
Sliding rail (31), buffer spring (32), the sliding block (33) being cooperatively connected with sliding rail (31) and the floating mount fixed with sliding block (33)
Platform (34), the both ends of buffer spring (32) are abutted with the lower part of floating mount platform (34) and mounting seat (5) respectively, the replacement
Clamping jaw (4) is fixed on floating mount platform (34)；
The fixed connection apparatus (1) includes the first connection ontology (11), the first ventilation in the middle part of the first connection ontology (11)
Road (12) and the flexible electrical termination for being located at the first air passage (12) periphery are sub (13), and the more changing device (2) includes the second connection
Ontology (21) is located at the second air passage (22) and the fixation positioned at the second air passage (22) periphery in the middle part of the second connection ontology (21)
Electrical termination (23), when fixed connection apparatus (1) and more changing device (2) are fastened and connected, the first air passage (12) and the second ventilation
Road (22) is docked and connected, and electrical termination of stretching sub (13) and fixed electrical termination sub (23) are corresponded and be in electrical contact；
First connection ontology (11) offers up-small and down-big frustum butt hole (14), and second connection ontology (21) is set
It is equipped with frustum connecting column (24) corresponding with frustum butt hole (14), first air passage (12) and flexible electrical termination are sub (13)
Lower end be located at the bottom of frustum butt hole (14)；The upper end of second air passage (22) and fixed electrical termination sub (23) is located at
The top of frustum connecting column (24).
2. manipulator quick change assembly according to claim 1, it is characterised in that: the floating mount platform (34) and peace
It is provided with guide post (35) between dress pedestal (5), the buffer spring (32) is set in the guide post (35).
3. manipulator quick change assembly according to claim 1, it is characterised in that: fixed connection apparatus (1) dress
It is connect equipped with the first gas connector (1a) being connected to the first air passage (12) and the first electricity being electrically connected with flexible electrical termination sub (13)
Head (1b), more changing device (2) are installed with the second gas connector (2a) be connected to the second air passage (22) and sub with fixed electrical termination
(23) the second electric connection (2b) being electrically connected.
4. manipulator quick change assembly according to claim 1, it is characterised in that: the latching device includes being located at cone
The annular groove (25) of platform connecting column (24) outer wall and the steel ball (15) for being installed in frustum butt hole (14) inner wall, fixed connection apparatus
(1) when and more changing device (2) is fastened and connected, a part of steel ball (15) is located in annular groove (25).
5. manipulator quick change assembly according to claim 4, it is characterised in that: the first connection ontology (11) dress
Equipped with third gas connector (16), lock tube (17) and sealing cover (18), the chamber between the lock tube (17) and sealing cover (18) and
The connection of three gas connectors (16), the inner wall of frustum butt hole (14) offer the frustum through-hole for accommodating steel ball (15), lock tube
(17) inner wall lower end is provided with the lock ring (19) for ejection steel ball (15).
6. manipulator quick change assembly according to claim 5, it is characterised in that: the lock tube (17) connect with first
Compressed spring (10) are connected between ontology (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611144770.9A CN106378774B (en) | 2016-12-13 | 2016-12-13 | A kind of manipulator quick change assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611144770.9A CN106378774B (en) | 2016-12-13 | 2016-12-13 | A kind of manipulator quick change assembly |
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| Publication Number | Publication Date |
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| CN106378774A CN106378774A (en) | 2017-02-08 |
| CN106378774B true CN106378774B (en) | 2019-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611144770.9A Active CN106378774B (en) | 2016-12-13 | 2016-12-13 | A kind of manipulator quick change assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108372519A (en) * | 2018-05-10 | 2018-08-07 | 马鞍山钢铁股份有限公司 | A kind of buffer structure and the manipulator with it |
| CN110434797B (en) * | 2019-09-03 | 2024-05-03 | 中国电子科技集团公司第十二研究所 | Component quick-change part and quick-change assembly comprising same |
| CN111113264A (en) * | 2020-01-15 | 2020-05-08 | 埃华路（芜湖）机器人工程有限公司 | Robot polishing cutter switching frame |
| CN111618898A (en) * | 2020-04-26 | 2020-09-04 | 广州富港万嘉智能科技有限公司 | Claw changing mechanism capable of automatically correcting longitudinal deviation and manipulator equipment |
| CN111730634A (en) * | 2020-04-26 | 2020-10-02 | 广州富港万嘉智能科技有限公司 | Claw replacing mechanism capable of automatically realizing electric connection and manipulator equipment |
| CN111618896A (en) * | 2020-04-26 | 2020-09-04 | 广州富港万嘉智能科技有限公司 | Claw replacing mechanism capable of automatically realizing electric connection and high in applicability and manipulator equipment |
| CN111618897A (en) * | 2020-04-26 | 2020-09-04 | 广州富港万嘉智能科技有限公司 | Claw changing mechanism capable of automatically correcting transverse deviation and manipulator equipment |
| CN112539928B (en) * | 2020-11-30 | 2023-05-23 | 山东航天电子技术研究所 | Butt joint testing device for steel ball type quick connector |
| CN114290377B (en) * | 2022-01-07 | 2023-06-06 | 上海工程技术大学 | Mechanical arm tail end quick-changing device with bidirectional sealing function |
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| JPH11198078A (en) * | 1998-01-13 | 1999-07-27 | Furukawa Electric Co Ltd:The | Automatic tool changer |
| CN101653942A (en) * | 2009-09-29 | 2010-02-24 | 国营红林机械厂 | Rapid replacement mechanism of manipulators |
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| CN106378774A (en) | 2017-02-08 |
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