CN107443410B - Robot arm, clamping jaw quick change device and quick change anchor clamps structure thereof - Google Patents
Robot arm, clamping jaw quick change device and quick change anchor clamps structure thereof Download PDFInfo
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- CN107443410B CN107443410B CN201611055162.0A CN201611055162A CN107443410B CN 107443410 B CN107443410 B CN 107443410B CN 201611055162 A CN201611055162 A CN 201611055162A CN 107443410 B CN107443410 B CN 107443410B
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- quick
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- 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
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- 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
- B25J15/0408—Connections means
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Abstract
The invention discloses a robot arm, clamping jaw quick-change device and a quick-change clamp structure thereof. The quick-change clamp structure comprises a quick-change clamp end which is used for being installed on the clamping jaw installation seat; the quick-change clamp end is provided with a magnetic connecting structure for axial attraction connection with the quick-change machine end; and a screen magnetic structure is arranged in the quick-change clamp end and is used for shielding the interference of a magnetic field generated by the magnetic connecting structure to the clamping jaw at the tail end of the robot arm. The invention is based on the bias magnetic conduction principle, can finish the automatic replacement of the clamp by depending on the self movement of the robot arm, and increases the flexibility of the robot application.
Description
Technical Field
The invention relates to a quick-change device for a robot arm and a clamping jaw and a quick-change clamp structure thereof, belonging to the field of robot arm design.
Background
In recent years, with the increasing transformation and upgrade pressure of the manufacturing industry and the continuous rising of labor cost in China, more and more enterprises consider changing robots. On the other hand, the personalized demands of consumers are more and more concentrated, and the manufacturing enterprises are bound to adopt flexible manufacturing technology due to different configuration, appearance individuality and other elements. Flexible manufacturing is the use of robots and tool quick change devices to manufacture different products on the same assembly line.
The quick-change device used in the market at present partially adopts a magnetic connection structure, and has the characteristics of accurate butt joint, quick replacement and the like. However, the quick-change device of the magnetic coupling structure has another disadvantage: the existence of the magnetic field can greatly affect the action of the mechanical gripper, so that the motor cannot normally operate, and the application of the quick-change device for magnetic connection in the market is limited, so that the structural safety of the magnetic connection scheme and the effectiveness of an electrical interface are the problems to be solved firstly.
Disclosure of Invention
The invention aims to provide a robot arm, a clamping jaw quick-change device and a quick-change clamp structure thereof.
In order to achieve the purpose, the invention adopts the technical scheme that:
a quick-change clamp structure is structurally characterized by comprising a quick-change clamp end arranged on a clamping jaw mounting seat; the quick-change clamp end is provided with a magnetic connecting structure for axial attraction connection with the quick-change machine end; and a screen magnetic structure is arranged in the quick-change clamp end and is used for shielding the interference of a magnetic field generated by the magnetic connecting structure to the clamping jaw at the tail end of the robot arm.
Therefore, the magnetic connection structure can realize the quick attraction and separation of the quick-change clamp end and the quick-change machine end, and when the quick-change clamp end and the quick-change machine end are attracted, the magnetic shielding structure can greatly avoid the interference of a magnetic field generated by the magnetic connection structure on the clamping jaw at the tail end of the robot arm, so that the normal work of the robot is ensured.
According to the embodiment of the invention, the invention can be further optimized, and the following is the technical scheme formed after optimization:
the screen magnetic structure is a screen magnetic sheet which is arranged on the lower portion of the quick-change clamp end and is obliquely arranged relative to the horizontal plane. Therefore, the biased screen magnetic sheet (namely, the screen magnetic sheet forms an included angle with a plane vertical to the direction of the magnetic field) is used for shielding the interference of the magnetic field generated by the magnetic connecting structure to the clamping jaw at the tail end of the robot arm.
As a specific structural form, the screen magnetic sheet is clamped and fixed by an upper inclined plate and a lower inclined plate, and the bottom surface of the upper inclined plate and the top surface of the lower inclined plate are inclined surfaces; preferably, the top surface of the upper inclined plate is fixed at the bottom end of the quick-change clamp end, so that the upper inclined plate, the screen magnetic sheet, the lower inclined plate and the quick-change clamp end form an integral structure.
In order to improve the effect of the shielding wire, the shielding magnetic sheet is arranged on one side close to the clamping jaw.
Preferably, the screen magnetic pieces are inclined at an angle of 10 ° to 60 °, preferably 25 ° to 45 °, more preferably 30 °, to the horizontal.
Based on the same conception, the invention also provides a quick-change device for the clamping jaws, which comprises a quick-change machine end and a quick-change clamp end, wherein the quick-change machine end is fixed at the tail end of a machine arm, the quick-change clamp end is arranged on the clamping jaw mounting seat, and the quick-change clamp end is provided with the quick-change clamp structure; the upper part of the quick-change clamp end is provided with a radial positioning structure which is matched with a quick-change machine end fixed at the tail end of a robot arm to prevent radial movement and an anti-rotation structure which prevents circumferential rotation; the quick-change clamp end is provided with a magnetic connecting structure which is in axial attraction connection with the quick-change machine end; the quick-change clamp end is provided with a magnetic connecting structure which is in axial attraction connection with the quick-change machine end; preferably, the magnetic connecting structure comprises a magnetic attraction plate arranged on the quick-change machine end and a power-off electromagnet arranged in the quick-change clamp end, and the magnetic attraction plate and the power-off electromagnet are matched for attraction.
Therefore, the magnetic field direction of the magnetic shielding sheet and the magnetic connecting structure is not perpendicular, so that an included angle is formed between the magnetic shielding sheet and a plane perpendicular to the magnetic field direction, and the interference of a weak magnetic field to the clamping jaw at the tail end of the robot arm can be obviously shielded.
A contact connector A end is arranged on the bottom end face of the quick-change machine end, and a contact connector B end is arranged on the top end face of the quick-change clamp end; the end A of the contact connector is provided with a plurality of contact heads and/or contact holes, and the end B of the contact connector is provided with a plurality of contact holes and/or contact heads; and the contact head and/or the contact hole at the end A of the contact connector is in butt fit with the contact hole and/or the contact hole at the end B of the contact connector, so that the quick-change machine end and the quick-change clamp end are electrically contacted and conducted.
Preferably, the anti-rotation structure comprises a positioning groove arranged at the top end of the quick-change clamp end and a positioning strip arranged at the bottom end of the quick-change machine end, and the positioning groove and the positioning strip are matched to prevent circumferential rotation between the quick-change clamp end and the quick-change machine end; preferably, the positioning strip is a cross-shaped positioning strip.
The radial positioning structure comprises a guide shaft and a guide hole, the guide shaft is arranged at the top end of the quick-change fixture end and axially extends upwards, the guide hole is arranged at the bottom end of the quick-change machine end, and the guide shaft and the guide hole are matched to prevent radial movement between the quick-change fixture end and the quick-change machine end.
Based on the same inventive concept, the invention also provides a robot arm, and the tail end of the robot arm is provided with the clamping jaw quick-change device.
Compared with the prior art, the invention has the beneficial effects that: the invention is based on the bias magnetic conduction principle, can finish the automatic replacement of the clamp by depending on the self movement of the robot arm, and increases the flexibility of the robot application. The applicant unexpectedly discovers that the screen magnetic sheet can obviously and effectively shield the interference of a weak magnetic field on a clamping jaw at the tail end of the robot arm, and the shielding effect is more obvious as the inclination angle of the screen magnetic sheet is larger.
Drawings
FIG. 1 is a schematic block diagram of one embodiment of the present invention;
FIG. 2 is a schematic longitudinal section of FIG. 1;
FIG. 3 is a schematic illustration of the quick-change machine end;
FIG. 4 is a schematic view of the quick-change clamp end;
FIG. 5 is a schematic diagram of the contact connector of the present invention when the quick-change machine end and the quick-change clamp end are engaged;
fig. 6 is a schematic view of the a-side structure of the contact connector of the present invention;
fig. 7 is a schematic view of the B-end configuration of the contact connector of the present invention.
In the figure
1-quick-change machine end, 2-magnetic suction plate, 3-quick-change clamp end, 4-electromagnet, 5-upper inclined plate, 6-offset screen magnetic sheet, 7-lower inclined plate, 8-contact connector A end, 9-contact connector B end, 10-guide hole, 11-positioning strip, 12-guide shaft and 13-positioning groove; 14-contact head; 15-contact hole.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. For convenience of description, the words "upper", "lower", "left" and "right" in the following description are used only to indicate the correspondence between the upper, lower, left and right directions of the drawings themselves, and do not limit the structure.
A quick-change device for clamping jaws, as shown in fig. 1 and 2, comprises a quick-change machine end 1 and a quick-change clamp end 3. The assembling of the clamping jaw quick-change device comprises the connection positioning of the structure and the electrical connection conduction.
The connection positioning of the structure described in this embodiment mainly refers to the positioning between the quick-change machine end 1 and the quick-change clamp end 3.
The top end of the quick-change fixture end 3 is provided with a guide shaft 12 which extends upwards in the axial direction, the bottom end of the quick-change machine end 1 is provided with a guide hole 10, and the electromagnetic force between the magnetic suction plate 2 on the quick-change machine end 1 and the power-losing electromagnet 4 on the quick-change fixture end 3 is axially attracted for axial positioning through the guide effect of the guide hole 10 on the quick-change machine end 1 and the guide shaft 12 on the quick-change fixture end 3. Thereby, the guide shaft 12 and the guide bore 10 cooperate to prevent radial play between the quick-change holder end 3 and the quick-change machine end 1.
In addition, a positioning groove 13 is formed in the quick-change clamp end 3, a positioning strip 11 is arranged on the quick-change machine end 1, and during butt joint, circumferential positioning is performed through positioning matching of the positioning strip 11 on the quick-change machine end 1 and the positioning groove 13 on the quick-change clamp end 3.
As shown in fig. 3, the robot arm drives the quick-change machine end to move above the quick-change clamp end and move downwards, so that the positions of the quick-change machine end and the quick-change clamp end in the radial direction are consistent through the action of the guide hole 10 and the guide shaft 12, and the relative displacement of the quick-change machine end and the quick-change clamp end in the radial direction is limited; when the quick-change machine end approaches the quick-change clamp end, the positioning strip 11 is inserted into the positioning groove 13, and the relative movement of the positioning strip and the positioning groove in the circumferential direction is limited; meanwhile, the magnet attracts the iron sheet, so that the axial movement of the quick-change machine end and the quick-change clamp end is limited.
In order to avoid the interference of a magnetic field generated by a magnetic connection structure on a clamping jaw at the tail end of a robot arm and further ensure the normal work of the robot, a screen magnetic sheet 6 which is obliquely arranged relative to a horizontal plane is arranged at the lower part of the quick-change clamp end 3, the screen magnetic sheet 6 is clamped and fixed by an upper inclined plate 5 and a lower inclined plate 7, and the bottom surface of the upper inclined plate 5 and the top surface of the lower inclined plate 7 are inclined surfaces; preferably, the top surface of the upper inclined plate 5 is fixed at the bottom end of the quick-change clamp end 3, so that the upper inclined plate 5, the screen magnetic sheet 6, the lower inclined plate 7 and the quick-change clamp end 3 form an integral structure.
In order to improve the shielding effect, the screen magnetic sheet 6 is arranged on one side close to the clamping jaw.
The quick-change machine end 1 is fixed at the tail end of an arm, and the magnetic suction plate 2 is fixed on the quick-change machine end 1 through screws. The quick-change clamp end 3, the upper inclined plate 5, the offset screen magnetic sheet 6 and the lower inclined plate 7 are connected into a whole through bolts, the power-loss type magnet 4 is installed in the quick-change clamp end 3 through screws, the tail end clamping jaw is fixed on the lower inclined plate 7, and the quick-change clamp end 3, the upper inclined plate 5, the offset screen magnetic sheet 6 and the lower inclined plate 7 are placed on the clamping jaw installation seat as a whole.
Because the normal work of the tail-end clamping jaw can be influenced by the reverse weak magnetic field of the magnet, in order to reduce the magnetic field interference, the bias screen magnetic sheet 6 is arranged on the outer side of the quick-change clamp end 4, and preferably, an upper inclined plate 5 and a lower inclined plate 7 are adopted for clamping and fixing. The interference of a weak magnetic field to the tail end clamping jaw can be effectively shielded by adding the screen magnetic sheet 6, and the shielding effect is more obvious along with the larger inclination angle of the screen magnetic sheet. Through a large number of tests, the applicant finds that the inclination angle of the screen magnetic sheet 6 relative to the horizontal plane can reduce the relative magnetic permeability by 20% -80% within the range of 10 ° -60 °, but the axial dimension of the corresponding quick-change clamp end 3 can be increased, specifically:
i. the relative magnetic permeability caused by the magnetic field shielding of the screen magnetic sheet 6 in the range of 10-25 degrees relative to the horizontal plane is reduced to about 600, and the axial size of the quick-change clamp end 3 is increased by 10 mm;
ii. The relative magnetic permeability caused by magnetic field shielding of the screen magnetic sheet 6 relative to the horizontal plane is reduced to about 1000 within the range of 25-45 degrees, and the axial size of the quick-change clamp end 3 is increased by 25 mm;
and iii, the relative magnetic permeability caused by magnetic field shielding of the screen magnetic sheet 6 in the range of 45-60 degrees relative to the horizontal plane is reduced to about 1400, and the axial size of the quick-change clamp end 3 is increased by 40 mm.
The optimum design offset angle for the inclination of the screen magnet sheet 6 relative to the horizontal taking into account the axial dimension of the quick-change clamp end 3 and the magnetic field-bearing capacity of the end jaws is 30 °.
The electrical connection and conduction mainly refer to: a contact connector A end 8 is arranged on the bottom end face of the quick-change machine end 1, a contact connector B end 9 is arranged on the top end face of the quick-change fixture end 3, a plurality of contact heads 14 are arranged on the contact connector A end 8, and a plurality of contact holes 15 are arranged on the contact connector B end 9; and the contact head 14 of the contact connector A end 8 is in butt joint fit with the contact hole 15 of the contact connector B end 9, so that the quick-change machine end 1 and the quick-change clamp end 3 are electrically contacted and conducted, and the stability of electric conduction is ensured. Therefore, in the structural connection process, the connection between the end A8 of the contact connector and the end B9 of the contact connector is realized at the same time, so that the circuit is conducted, the quick connection of a power supply and a signal when the quick-change clamp end 3 and the quick-change machine end 4 are attracted is realized, the time is saved, the structure is simple, and the efficiency is improved.
For the invention, the magnetic shielding sheet 6 is not limited to be sheet-shaped, and can also be strip-shaped or block-shaped, and the purpose is to shield the interference of the magnetic field generated by the magnetic connecting structure to the clamping jaw at the tail end of the robot arm.
The utility model provides a robot arm, robot arm's end has clamping jaw quick change device.
The foregoing examples are set forth to illustrate the present invention more clearly and are not to be construed as limiting the scope of the invention, which is defined in the appended claims to which the invention pertains, as modified in all equivalent forms, by those skilled in the art after reading the present invention.
Claims (11)
1. A quick-change device for clamping jaws comprises a quick-change machine end (1) fixed at the tail end of a mechanical arm and a quick-change clamp end (3) installed on a clamping jaw installation seat, and is characterized in that the quick-change clamp end (3) is provided with a quick-change clamp structure;
the quick-change clamp structure comprises a quick-change clamp end (3) arranged on the clamping jaw mounting seat; the quick-change clamp end (3) is provided with a magnetic connecting structure for axial attraction connection with the quick-change machine end (1); a magnetic shielding structure is arranged in the quick-change clamp end (3), and is used for shielding the interference of a magnetic field generated by the magnetic connecting structure on a clamping jaw at the tail end of the robot arm;
the screen magnetic structure is a screen magnetic sheet (6) which is arranged at the lower part of the quick-change clamp end (3) and is obliquely arranged relative to the horizontal plane;
the screen magnetic sheet (6) is clamped and fixed by an upper inclined plate (5) and a lower inclined plate (7), and the bottom surface of the upper inclined plate (5) and the top surface of the lower inclined plate (7) are inclined surfaces; the top surface of the upper inclined plate (5) is fixed at the bottom end of the quick-change clamp end (3) so that the upper inclined plate (5), the screen magnetic sheet (6), the lower inclined plate (7) and the quick-change clamp end (3) form an integral structure;
the upper part of the quick-change clamp end (3) is provided with a radial positioning structure which is matched with the quick-change machine end (1) fixed at the tail end of the robot arm to prevent radial movement and an anti-rotation structure which prevents circumferential rotation; and the quick-change clamp end (3) is provided with a magnetic connecting structure which is in axial attraction connection with the quick-change machine end (1).
2. The quick-change device for clamping jaws according to claim 1, characterized in that a contact connector A end (8) is arranged on the bottom end face of the quick-change machine end (1), and a contact connector B end (9) is arranged on the top end face of the quick-change clamp end (3); a plurality of contact heads and/or contact holes are arranged on the end A (8) of the contact connector, and a plurality of contact holes and/or contact heads are arranged on the end B (9) of the contact connector; and the contact head and/or the contact hole of the end A (8) of the contact connector is in butt-joint fit with the contact hole and/or the contact hole of the end B (9) of the contact connector, so that the quick-change machine end (1) and the quick-change clamp end (3) are electrically contacted and conducted.
3. The quick-change jaw arrangement according to claim 1, characterized in that the radial positioning structure comprises a guide shaft (12) arranged at the top end of the quick-change gripper end (3) and extending axially upwards and a guide bore (10) arranged at the bottom end of the quick-change machine end (1), the guide shaft (12) and the guide bore (10) cooperating to prevent radial play between the quick-change gripper end (3) and the quick-change machine end (1).
4. The quick-change gripper jaw arrangement according to claim 1, characterized in that the rotation-preventing structure comprises a positioning groove (13) provided at the top end of the quick-change gripper end (3) and a positioning strip (11) provided at the bottom end of the quick-change machine end (1), the positioning groove (13) and the positioning strip (11) cooperating to prevent circumferential rotation between the quick-change gripper end (3) and the quick-change machine end (1).
5. A quick-change device for clamping jaws according to claim 4, characterized in that said positioning strip (11) is a cross-shaped positioning strip.
6. A quick-change device for clamping jaws according to any one of claims 1 to 5, characterized in that the magnetic connecting structure comprises a magnetic attraction plate (2) arranged on the quick-change machine end (1) and a power-off electromagnet (4) arranged in the quick-change clamp end (3), and the magnetic attraction plate (2) and the power-off electromagnet (4) are matched and attracted.
7. A quick-change device for clamping jaws according to any one of claims 1 to 5, characterized in that the screen magnetic sheet (6) is arranged on the side close to the clamping jaws.
8. A quick-change device for clamping jaws according to any one of claims 1 to 5, characterized in that the angle of inclination of the screen magnetic sheet (6) with respect to the horizontal is 10 ° to 60 °.
9. A quick-change device for clamping jaws according to claim 8, characterized in that the angle of inclination of the screen magnetic sheet (6) with respect to the horizontal plane is 25-45 °.
10. A quick-change device for clamping jaws according to claim 9, characterized in that the screen magnetic sheet (6) is inclined at an angle of 30 ° with respect to the horizontal.
11. A robot arm, characterized in that the end of the robot arm is provided with a jaw quick-change device according to any one of claims 1-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611055162.0A CN107443410B (en) | 2016-11-25 | 2016-11-25 | Robot arm, clamping jaw quick change device and quick change anchor clamps structure thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611055162.0A CN107443410B (en) | 2016-11-25 | 2016-11-25 | Robot arm, clamping jaw quick change device and quick change anchor clamps structure thereof |
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| Publication Number | Publication Date |
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| CN107443410A CN107443410A (en) | 2017-12-08 |
| CN107443410B true CN107443410B (en) | 2020-10-27 |
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| CN201611055162.0A Active CN107443410B (en) | 2016-11-25 | 2016-11-25 | Robot arm, clamping jaw quick change device and quick change anchor clamps structure thereof |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818584B (en) * | 2018-07-05 | 2021-11-05 | 黄山恒奥电器科技有限公司 | Quick-change forced locking device for robot end tool |
| CN108828276B (en) * | 2018-07-26 | 2024-01-05 | 武汉精测电子集团股份有限公司 | POGO conducting device capable of preventing human misoperation |
| CN109807196B (en) * | 2019-03-08 | 2020-12-15 | 安徽机电职业技术学院 | Inspection robot |
| CN110722603B (en) * | 2019-10-31 | 2022-08-19 | 中国科学院合肥物质科学研究院 | Automatic quick replacement tool for maintenance operation |
| CN112157675A (en) * | 2020-09-14 | 2021-01-01 | 北京如影智能科技有限公司 | Mechanical arm system |
| CN112297045A (en) * | 2020-09-19 | 2021-02-02 | 重庆大学 | Quick change device of terminal apparatus of arm |
| CN112372658B (en) * | 2020-10-30 | 2022-04-05 | 北京如影智能科技有限公司 | Terminal tool replacing equipment |
| CN113021373B (en) * | 2021-03-22 | 2023-03-31 | 合众新能源汽车股份有限公司 | Vehicle-mounted intelligent robot |
| CN113246171A (en) * | 2021-05-31 | 2021-08-13 | 南京航空航天大学 | Industrial robot end antiwind quick change device |
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| DE3340912A1 (en) * | 1983-11-11 | 1985-05-23 | Siemens AG, 1000 Berlin und 8000 München | Flange for the automatic change of the grippers of industrial robots |
| EP1543915A1 (en) * | 2003-12-16 | 2005-06-22 | Trumpf Werkzeugmaschinen GmbH + Co. KG | Collision protection device of a laser machining head |
| CN102143828A (en) * | 2008-08-01 | 2011-08-03 | 三重电子株式会社 | Module for automatic tool exchange device |
| CN104908835A (en) * | 2015-06-10 | 2015-09-16 | 华南理工大学 | Climbing mechanism of climbing robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016028388A1 (en) * | 2014-08-20 | 2016-02-25 | Ati Industrial Automation, Inc. | Robotic tool changer with tool stand decouple power supply |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3340912A1 (en) * | 1983-11-11 | 1985-05-23 | Siemens AG, 1000 Berlin und 8000 München | Flange for the automatic change of the grippers of industrial robots |
| EP1543915A1 (en) * | 2003-12-16 | 2005-06-22 | Trumpf Werkzeugmaschinen GmbH + Co. KG | Collision protection device of a laser machining head |
| CN102143828A (en) * | 2008-08-01 | 2011-08-03 | 三重电子株式会社 | Module for automatic tool exchange device |
| CN104908835A (en) * | 2015-06-10 | 2015-09-16 | 华南理工大学 | Climbing mechanism of climbing robot |
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| CN107443410A (en) | 2017-12-08 |
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