CN108436961A - A kind of robot replaces the transition apparatus of end effector automatically - Google Patents
A kind of robot replaces the transition apparatus of end effector automatically Download PDFInfo
- Publication number
- CN108436961A CN108436961A CN201810178113.9A CN201810178113A CN108436961A CN 108436961 A CN108436961 A CN 108436961A CN 201810178113 A CN201810178113 A CN 201810178113A CN 108436961 A CN108436961 A CN 108436961A
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- CN
- China
- Prior art keywords
- mobile base
- fixed
- servo motor
- column
- end effector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the transition apparatuses that a kind of robot replaces end effector automatically, including pedestal and Mobile base, it is slidably connected between the Mobile base and pedestal, the top center position of the pedestal offers sliding slot, the both sides of the sliding slot offer the first limiting slot, one end of the Mobile base is located at the inside of sliding slot, the both sides of the Mobile base are equipped with the first limited block, and one end of two the first limited blocks extends respectively to the inside of two the first limiting slots, turret apertures are offered at the top of the Mobile base, and turntable is equipped in turret apertures, it is fixed with fixed column at the top of the turntable, the top center position of the fixed column offers connecting hole, and connecting hole is internally provided with hydraulic cylinder, the top of the fixed column is equipped with lifting column.Structure of the invention rational design is ingenious, has achieved the purpose that end effector is replaced in automatic replacement, has reduced the time needed for replacing, to improve production efficiency.
Description
Technical field
The present invention relates to the changing-over dresses that robotic technology field more particularly to a kind of robot replace end effector automatically
It sets.
Background technology
Currently, what industrial robot used is more and more, and range is also increasingly wider, such as welding, spraying, polishing, assembly
Etc. occasions.Under different occasions, robot is needed in end equipped with different end effectors to adapt to different work.It is special
It is not in complicated processing or assembly work, due to complex technical process, thus the type of the end effector needed is also
It is varied, and difference is larger.It is all manually to carry out to replace end effector at present, can not only waste the more time in this way,
Production efficiency is influenced, and manual operation can inevitably bring some dust and other impurities into, can influence the service life of robot in this way.
Invention content
The purpose of the present invention is to solve disadvantages existing in the prior art, and a kind of robot proposed replaces automatically
The transition apparatus of end effector.
To achieve the goals above, present invention employs following technical solutions：
A kind of robot replaces the transition apparatus of end effector, including pedestal and Mobile base automatically, the Mobile base with
It is slidably connected between pedestal, the top center position of the pedestal offers sliding slot, and the both sides of the sliding slot offer first
Limiting slot, one end of the Mobile base are located at the inside of sliding slot, and the both sides of the Mobile base are equipped with the first limited block, and two
One end of first limited block extends respectively to the inside of two the first limiting slots, turret apertures be offered at the top of the Mobile base,
And turntable is equipped in turret apertures, it is fixed with fixed column at the top of the turntable, the top center position of the fixed column offers
Connecting hole, and connecting hole is internally provided with hydraulic cylinder, the top of the fixed column is equipped with lifting column, and one end of lifting column extends
To the inside of connecting hole, the side of the lifting column is fixed with connecting pole, and one end of the connecting pole is rotatably connected to adjustment seat,
The side of the adjustment seat is rotatably connected to driving gear and driven gear, and driving gear is meshed with driven gear, described
The side of driving gear and driven gear is respectively and fixedly provided with fixed jaw, and two mutually close one end of fixed jaw offer spring eye,
The inside of two spring eyes is equipped with buffer stopper and spring, and two mutually close one end of buffer stopper are respectively and fixedly provided with fixed block.
Preferably, the bottom of the Mobile base is set there are two transmission shaft, and distance is equipped between transmission shaft and Mobile base, and two
The outside of a transmission shaft is arranged there are two support column, and one end of support column is fixedly connected with the bottom of Mobile base, the branch
It is rotatablely connected between dagger and transmission shaft, the both ends of two transmission shafts are mounted on idler wheel.
Preferably, the lifting column is internally provided with the first cavity, and is equipped with first servo motor in the first cavity, institute
State connecting pole position hollow structure, and connecting pole is internally provided with shaft, one end of shaft is fixedly connected with the side of adjustment seat, turn
The other end of axis is extended in the first cavity and is fixedly connected with the output shaft of first servo motor.
Preferably, the Mobile base is internally provided with the second servo motor and third servo motor, the second servo motor
Output shaft extends to the inside of turret apertures and is fixedly connected with the bottom of turntable, and the output shaft of third servo motor extends to Mobile base
Bottom outside, and third servo motor is located at one end of the output shaft of the bottom outside of Mobile base and is fixed with first bevel gear,
The external stability of the transmission shaft has second bevel gear, and first bevel gear is meshed with second bevel gear.
Preferably, the adjustment seat is internally provided with the second cavity, and the inside of the second cavity is equipped with the 4th servo motor,
And the 4th the output shaft of servo motor be fixedly connected with the side of driving gear, the side of two fixed jaws and adjustment seat turns
Dynamic connection.
Preferably, one end of the hydraulic cylinder is fixedly connected with one end that lifting column is located inside connecting hole, the lifting
Column is located at one end inside connecting hole and is fixed with the second limited block, and the both sides of connecting hole are equipped with the second limiting slot, and two
One end of two limited blocks extends respectively to the inside of two the second limiting slots.
The beneficial effects of the invention are as follows：
1, by the cooperation between first servo motor, the 4th servo motor, fixed jaw and fixed block, folder end removing has been reached
The purpose for holding actuator, to realize the automatic replacement of end effector；
2, by the cooperation of hydraulic cylinder, the second servo motor and third servo motor, can adjust fixed jaw height and
Angle is convenient for the accurate changing-over of end effector.
Structure of the invention rational design is ingenious, has achieved the purpose that end effector is replaced in automatic replacement, has reduced replacement
The required time, to improve production efficiency.
Description of the drawings
Fig. 1 is the structural schematic diagram for the transition apparatus that a kind of robot proposed by the present invention replaces end effector automatically；
Fig. 2 is the side view of the Mobile base for the transition apparatus that a kind of robot proposed by the present invention replaces end effector automatically
Figure；
Fig. 3 is the section view of the adjustment seat for the transition apparatus that a kind of robot proposed by the present invention replaces end effector automatically
Figure.
In figure：1 pedestal, 2 Mobile bases, 3 lifting columns, 4 adjustment seats, 5 driving gears, 6 fixed jaws, 7 spring eyes, 8 buffer stoppers,
9 fixed blocks, 10 first limiting slots, 11 fixed columns, 12 hydraulic cylinders, 13 turntables, 14 first limited blocks, 15 sliding slots, 16 first cavitys,
17 rotation axis, 18 support columns, 19 second cavitys, 20 connecting poles.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-3, a kind of robot replaces the transition apparatus of end effector, including pedestal 1 and Mobile base 2 automatically,
It is slidably connected between Mobile base 2 and pedestal 1, the top center position of pedestal 1 offers sliding slot 15, and the both sides of sliding slot 15 open up
There are the first limiting slot 10, one end of Mobile base 2 to be located at the inside of sliding slot 15, the both sides of Mobile base 2 are equipped with the first limited block 14,
And one end of two the first limited blocks 14 extends respectively to the inside of two the first limiting slots 10, the top of Mobile base 2 offers
Turret apertures, and turntable 13 is equipped in turret apertures, the top of turntable 13 is fixed with fixed column 11, the top center position of fixed column 11
Offering connecting hole, and connecting hole is internally provided with hydraulic cylinder 12, the top of fixed column 11 is equipped with lifting column 3, and lifting column 3
One end extends to the inside of connecting hole, and the side of lifting column 3 is fixed with connecting pole 20, and one end of connecting pole 20 is rotatably connected to tune
Seat 4 is saved, the side of adjustment seat 4 is rotatably connected to driving gear 5 and driven gear, and driving gear 5 is meshed with driven gear,
Driving gear 5 and the side of driven gear are respectively and fixedly provided with fixed jaw 6, and two mutually close one end of fixed jaw 6 offer spring
The inside in hole 7, two spring eyes 7 is equipped with buffer stopper 8 and spring, and two mutually close one end of buffer stopper 8 are respectively and fixedly provided with fixation
Block 9.
In the present embodiment, the bottom of Mobile base 2 sets that there are two transmission shafts 17, and is equipped between transmission shaft 17 and Mobile base 2
Distance, the outsides of two transmission shafts 17 are arranged that there are two support columns 18, and one end of support column 18 and the bottom of Mobile base 2 are solid
Fixed connection, is rotatablely connected, the both ends of two transmission shafts 17 are mounted on idler wheel, lifting column 3 between support column 18 and transmission shaft 17
Be internally provided with the first cavity, and first servo motor is installed in the first cavity, 20 hollow structures of connecting pole, and connecting pole
20 are internally provided with shaft, and one end of shaft is fixedly connected with the side of adjustment seat 4, the other end of shaft extends to the first cavity
Interior to be fixedly connected with the output shaft of first servo motor, Mobile base 2 is internally provided with the second servo motor and third servo motor,
The inside that the output shaft of second servo motor extends to turret apertures is fixedly connected with the bottom of turntable 13, third servo motor it is defeated
Shaft extends to the bottom outside of Mobile base 2, and third servo motor is located at one end of the output shaft of the bottom outside of Mobile base 2
It is fixed with first bevel gear, the external stability of transmission shaft 17 has second bevel gear, and first bevel gear is mutually nibbled with second bevel gear
It closes, adjustment seat 4 is internally provided with the second cavity 19, and the inside of the second cavity 19 is equipped with the 4th servo motor, and the 4th servo
The output shaft of motor is fixedly connected with the side of driving gear 5, and two fixed jaws 6 and the side of adjustment seat 4 are rotatablely connected, hydraulic pressure
One end of cylinder 12 is fixedly connected with one end that lifting column 3 is located inside connecting hole, and it is solid that lifting column 3 is located at one end inside connecting hole
Surely there is the second limited block, the both sides of connecting hole are equipped with the second limiting slot, and one end of two the second limited blocks extends respectively to
The inside of two the second limiting slots.
In the present embodiment, the end effector of different model is placed on fixed position, when needing replacing end effector
When, first servo motor, the second servo motor, third servo motor and the 4th servo motor are started by controlling program,
The rotation of third servo motor drives transmission shaft 17 to rotate, and shaft 17 drives idler wheel rotation, so that Mobile base 2 is in sliding slot 15
Sliding, at the same time, the rotation of the second servo motor rotation control turntable 13, turntable 13 drive fixed column 11 to rotate, fixed column
11 drive lifting column 3 and adjustment seat 4 to correspondingly rotate in turn, and hydraulic cylinder 12 drives lifting column 3 to lift, so that fixed jaw 6
The position of end effector is reached, then the 4th servo motor rotates, and to drive driving gear 5 to rotate, driving gear 5 drives
Driven gear rotates, so that two fixed jaws 6 are closed, is held so that two fixed blocks 9 clamp the end needed replacing
Row device starts first servo motor when end effector, which needs to rotate, can just remove, and first servo motor drives shaft to turn
Dynamic, shaft drives adjustment seat 4 to rotate, so that two fixed blocks 9 drive the end effector rotation clamped, when end executes
When device is removed, under a control program Mobile base 2 drive the end effector removed to reach end effector is fixed to be put
It sets a little, then again puts down the end effector clamped, then grip new end effector, operated new end by identical
End actuator installs.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (6)
1. a kind of robot replaces the transition apparatus of end effector, including pedestal (1) and Mobile base (2) automatically, feature exists
In being slidably connected between the Mobile base (2) and pedestal (1), the top center position of the pedestal (1) offers sliding slot
(15), the both sides of the sliding slot (15) offer the first limiting slot (10), and one end of the Mobile base (2) is located at sliding slot (15)
Inside, the both sides of the Mobile base (2) are equipped with the first limited block (14), and one end difference of two the first limited blocks (14)
The inside of two the first limiting slots (10) is extended to, offers turret apertures at the top of the Mobile base (2), and be equipped in turret apertures
Turntable (13) is fixed with fixed column (11) at the top of the turntable (13), and the top center position of the fixed column (11) opens up
There is a connecting hole, and connecting hole is internally provided with hydraulic cylinder (12), the top of the fixed column (11) is equipped with lifting column (3), and rises
One end of drop column (3) extends to the inside of connecting hole, and the side of the lifting column (3) is fixed with connecting pole (20), the connection
One end of column (20) is rotatably connected to adjustment seat (4), the side of the adjustment seat (4) be rotatably connected to driving gear (5) and from
Moving gear, and driving gear (5) is meshed with driven gear, the driving gear (5) and the side of driven gear are respectively and fixedly provided with
Fixed jaw (6), two mutually close one end of fixed jaw (6) offer spring eye (7), the inside of two spring eyes (7)
It is equipped with buffer stopper (8) and spring, two mutually close one end of buffer stopper (8) are respectively and fixedly provided with fixed block (9).
2. a kind of robot according to claim 1 replaces the transition apparatus of end effector automatically, which is characterized in that institute
The bottom for stating Mobile base (2) is set there are two transmission shaft (17), and equipped with distance between transmission shaft (17) and Mobile base (2), two
The outside of transmission shaft (17) is arranged there are two support column (18), and one end of support column (18) and the bottom of Mobile base (2) are solid
Fixed connection, is rotatablely connected, the both ends of two transmission shafts (17) are mounted on rolling between the support column (18) and transmission shaft (17)
Wheel.
3. a kind of robot according to claim 1 replaces the transition apparatus of end effector automatically, which is characterized in that institute
First cavity that is internally provided with of lifting column (3) is stated, and first servo motor is installed in the first cavity, connecting pole (20) position
Hollow structure, and connecting pole (20) is internally provided with shaft, one end of shaft is fixedly connected with the side of adjustment seat (4), shaft
The other end extend in the first cavity and be fixedly connected with the output shaft of first servo motor.
4. a kind of robot according to claim 2 replaces the transition apparatus of end effector automatically, which is characterized in that institute
That states Mobile base (2) is internally provided with the second servo motor and third servo motor, and the output shaft of the second servo motor, which extends to, to be turned
The inside of disk hole is fixedly connected with the bottom of turntable (13), and the output shaft of third servo motor extends to the bottom of Mobile base (2)
Outside, and third servo motor is located at one end of the output shaft of the bottom outside of Mobile base (2) and is fixed with first bevel gear, it is described
The external stability of transmission shaft (17) has second bevel gear, and first bevel gear is meshed with second bevel gear.
5. a kind of robot according to claim 1 replaces the transition apparatus of end effector automatically, which is characterized in that institute
That states adjustment seat (4) is internally provided with the second cavity (19), and the inside of the second cavity (19) is equipped with the 4th servo motor, and the 4th
The output shaft of servo motor is fixedly connected with the side of driving gear (5), two fixed jaws (6) and the one of adjustment seat (4)
Side is rotatablely connected.
6. a kind of robot according to claim 1 replaces the transition apparatus of end effector automatically, which is characterized in that institute
The one end for stating hydraulic cylinder (12) is fixedly connected with one end that lifting column (3) is located inside connecting hole, and the lifting column (3), which is located at, to be connected
It connects one end inside hole and is fixed with the second limited block, the both sides of connecting hole are equipped with the second limiting slot, and two the second limited blocks
One end extend respectively to the inside of two the second limiting slots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810178113.9A CN108436961A (en) | 2018-03-05 | 2018-03-05 | A kind of robot replaces the transition apparatus of end effector automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810178113.9A CN108436961A (en) | 2018-03-05 | 2018-03-05 | A kind of robot replaces the transition apparatus of end effector automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108436961A true CN108436961A (en) | 2018-08-24 |
Family
ID=63193232
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810178113.9A Pending CN108436961A (en) | 2018-03-05 | 2018-03-05 | A kind of robot replaces the transition apparatus of end effector automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108436961A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109442157A (en) * | 2018-10-19 | 2019-03-08 | 合肥享淘科技有限公司 | A kind of positioning device of computer hardware |
| CN110281255A (en) * | 2018-08-30 | 2019-09-27 | 南京禹智智能科技有限公司 | A kind of industrial robot loading and unloading clamping device |
| CN110948036A (en) * | 2019-12-23 | 2020-04-03 | 周其鑫 | Cutting equipment under tubular product line |
| CN112518764A (en) * | 2020-10-29 | 2021-03-19 | 和进(滁州)自动化科技有限公司 | Commodity circulation letter sorting robot letter sorting mechanism based on series-parallel connection |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110281255A (en) * | 2018-08-30 | 2019-09-27 | 南京禹智智能科技有限公司 | A kind of industrial robot loading and unloading clamping device |
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| CN109442157A (en) * | 2018-10-19 | 2019-03-08 | 合肥享淘科技有限公司 | A kind of positioning device of computer hardware |
| CN110948036A (en) * | 2019-12-23 | 2020-04-03 | 周其鑫 | Cutting equipment under tubular product line |
| CN112518764A (en) * | 2020-10-29 | 2021-03-19 | 和进(滁州)自动化科技有限公司 | Commodity circulation letter sorting robot letter sorting mechanism based on series-parallel connection |
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Application publication date: 20180824 |
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