CN108748240A - A kind of automatic changing-over device of robot end - Google Patents
A kind of automatic changing-over device of robot end Download PDFInfo
- Publication number
- CN108748240A CN108748240A CN201810651452.4A CN201810651452A CN108748240A CN 108748240 A CN108748240 A CN 108748240A CN 201810651452 A CN201810651452 A CN 201810651452A CN 108748240 A CN108748240 A CN 108748240A
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- CN
- China
- Prior art keywords
- wrist
- port
- cam
- shell
- tool
- 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.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 claims abstract description 72
- 238000010276 construction Methods 0.000 claims description 3
- 241000826860 Trapezium Species 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001429 stepping effect Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automatic changing-over devices of robot end,Including the wrist port being connected and tool port,Wrist port includes wrist port shell,Stepper motor,Cam,Bearing,Ball and fixing sleeve,Wrist port shell is set as cylindrical structure,The circumferentially spaced about of one end is provided with multiple link slots,It is provided with a bellmouth in each link slot,Stepper motor is fixedly connected on by fixing sleeve in the shell of wrist port,The output end of stepper motor is connect with cam,Ball is arranged in bellmouth,The cam end periphery of cam is arranged at intervals with multiple grooves,Tool port includes tool port shell,It is arranged at intervals with multiple link blocks on tool port shell lower circumferential,Link block is correspondingly arranged with link slot,Circumferential groove is provided on link block inner wall,The cooperation that the present invention passes through cam and ball,With self-locking function,Additional self-locking protecting device is not needed,Structure is simpler,It is more suitable for replacing cutter work in small space.
Description
Technical field
The present invention relates to shield machine automatic tool changer technical field more particularly to a kind of automatic changing-over devices of robot end.
Background technology
Growing instantly in automatic technology, machine substitution is artificial already to become inexorable trend, and robot is with its spirit
The features such as activity, high efficiency, becomes an indispensable ring.Especially when shield machine replaces cutter, since working environment is disliked
Bad, high pressure closing, worker is in peril of one's life in tool changing operation, with robot replace artificial tool changing can to avoid this point, but
It is to need replacing different tool needles to different fasteners in tool changing operation process.In this case, existing quick change
Device is applied to terminal-collecting machine, not only complicated, and weight is not suitable for the Tu Cang of narrow space with volume, and needs specially
Self-locking protecting device.
Therefore it provides it is a kind of it is simple in structure, light-weight, small, can the automatic changing-over device of self-locking be that this field needs to solve
Certainly the technical issues of.
Invention content
The purpose of the present invention is to solve disadvantages existing in the prior art, and a kind of robot end proposed is automatic
Changing-over device.
To achieve the goals above, present invention employs following technical solutions：
A kind of automatic changing-over device of robot end, including the wrist port being connected and tool port, the wrist port include
Wrist port shell, stepper motor, cam, bearing, ball and fixing sleeve, wrist port shell are set as cylindrical structure,
One end is connected by flange with robot wrist, and the circumferentially spaced about of the other end is provided with multiple link slots, each to connect
A bellmouth is provided in slot, the stepper motor is fixedly connected on by fixing sleeve in the shell of wrist port, the stepping electricity
The output end of machine is connect by flat key with cam, and the bearing inner race of the bearing and the camshaft of cam are engaged, the axis
The bearing outer ring held is engaged with wrist port inner walls, and the ball is arranged in bellmouth, the cam of the cam
End periphery is arranged at intervals with multiple cam grooves；
The tool port includes tool port shell, and multiple connections are arranged at intervals on the tool port shell lower circumferential
Block, the link block are correspondingly arranged with link slot, and circumferential groove, the position of the ball are provided on the link block inner wall
It is corresponding with groove.
Preferably, the osculum aperture of the bellmouth is less than the diameter of ball.
Preferably, the quantity of the link slot is 3, and accordingly, the quantity of the bellmouth is 3, the link block
Quantity be 3.
Preferably, the lower part of wrist port shell is provided with square breach, and the stepper motor passes through square breach
It is connect with power supply.
Preferably, the fixing sleeve is tubular construction, and periphery is engaged with wrist port inner walls, inside setting
Have and the matched notch of stepper motor.
Preferably, one end that wrist port shell is connect with robot wrist is provided with end cap, the end cap and wrist
Portion port shell is threadedly coupled.
Preferably, multiple fan grooves are provided on the end cap.
Preferably, the ball is contacted by the small bore end of bellmouth with groove, passes through the big nose end and cam of bellmouth
Cam end in contact.
Preferably, wrist port housing exterior walls have been provided with wrist port electrical connector, the tool port shell
Outer wall is provided with tool port electrical connector, and the wrist port electrical connector is corresponding with tool port electrical connector position.
Beneficial effects of the present invention：
When the wrist port and tool port of the present invention is attached, cam and ball engagement make changing-over device be provided with self-locking work(
Can, ball can be kept locking state by cam effect when accident power-off, so that tool port is will not fall off, do not needed additional self-locking
Equipment is protected, manufacturing cost is reduced, structure is simpler, small, light-weight, is more suitable for replacing toolsmith in small space
Make.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the wrist port organization schematic diagram of the present invention；
Fig. 3 is A-A sectional views in Fig. 2；
The tool port structural schematic diagram of Fig. 4 present invention；
Fig. 5 is B-B sectional views in Fig. 4；
Fig. 6 is the cam structure schematic diagram of the present invention；
Fig. 7 is the fixing sleeve structural schematic diagram of the present invention；
Fig. 8 is the end cover structure schematic diagram of the present invention.
In figure：1 wrist port, 2 tool ports, 3 wrist port shells, 4 tool port shells, 5 wrist port trapezoid blocks,
6 link blocks, 7 wrist port electrical interfaces, 8 tool port electric interfaces, 9 balls, 10 grooves, 11 bearings, 12 cams, 13 steppings
Motor, 14 fixing sleeves, 15 end caps, 16 cam grooves, 17 flat keys, 18 link slots, 19 bellmouths, 20 square breach, 21 notches, 22
Fan groove.
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.
- Fig. 8 referring to Fig.1, a kind of automatic changing-over device of robot end, including the wrist port 1 being connected and tool port
2, the wrist port 1 is connect with shield machine automatic tool changer machine people's wrist, and the tool port 2 is connect with tool changing tool.
Specifically, the wrist port 1 includes wrist port shell 3, stepper motor 13, cam 12, bearing 11, ball 9
With fixing sleeve 14, wrist port shell 3 is set as cylindrical structure, and one end is connected by flange with robot wrist,
The circumferentially spaced about of the other end is provided with multiple link slots 18, and a bellmouth 19, adjacent connection are provided in each link slot 18
It is provided with wrist port trapezoid block 5 between slot 18, in the present embodiment, the quantity of the link slot 18 is 3, accordingly, described
The quantity of bellmouth 19 is also 3, and the stepper motor 13 is fixedly connected on by fixing sleeve 14 in wrist port shell 3, institute
It is tubular construction to state fixing sleeve 14, and periphery is engaged with 3 inner wall of wrist port shell, is internally provided with and stepper motor 13
The lower part of matched notch 21, wrist port shell 3 is provided with square breach 20, and the stepper motor 13 is lacked by rectangular
Mouth 20 is connect with power supply.
The output end of the stepper motor 13 is connect by flat key 17 with cam 12, the bearing inner race of the bearing 11 with it is convex
The camshaft of wheel 12 is engaged, and bearing outer ring and 3 inner wall of wrist port shell of the bearing 11 are engaged, the cam
12 cam end periphery is arranged at intervals with multiple cam grooves 16, and cam end is to be slidably matched with 3 inner wall of wrist port shell, institute
It states ball 9 to be arranged in bellmouth 19, the osculum aperture of the bellmouth 19 is less than the diameter of ball 9, and therefore, ball 9 will not
It is flowed out from bellmouth 19.
The tool port 2 includes tool port shell 4, is arranged at intervals on 4 lower circumferential of tool port shell
Multiple link blocks 6, in the present embodiment, the quantity of the link block 6 is 3, and the link block 6 is correspondingly arranged with link slot 18,
Circumferential groove 10 is provided on 6 inner wall of the link block, the position of the ball 9 is corresponding with groove 10, and the ball 9 passes through
The small bore end of bellmouth 19 is contacted with groove, passes through the cam end in contact of the big nose end and cam 12 of bellmouth 19.
One end that wrist port shell 3 is connect with robot wrist is provided with end cap 15, the end cap 15 and wrist
Port shell 3 is threadedly coupled, and multiple fan grooves 22 is provided on the end cap 15, convenient for manually tightening.
Shell 3 outer wall in the wrist port is provided with wrist port electrical connector 7, and 4 outer wall of tool port shell is set
It is equipped with tool port electrical connector 8, the wrist port electrical connector 7 is corresponding with 8 position of tool port electrical connector, electrically
Connector is used for the connection of electrical cable, and robot control terminal is connected by electrical connector with end-of-arm tooling, and will control signal
Pass to end-of-arm tooling.
When the present invention works, the rapid switcher of the present invention is installed to robot end, wherein wrist port 1 and machine first
People's wrist is connected, and tool port 2 is connected with tool changing tool, then 13 power cord of stepper motor is connected with external power supply.
Next wrist port 1 is docked with tool port 2, starts stepper motor 13 first, stepper motor 13 passes through flat key 17
Band moving cam 12 rotates, and when cam groove 16 turns to 19 position of bellmouth on wrist port shell 3, ball 9 is recessed with cam
The radian of slot 16 is shunk back into bellmouth, and ball 9 is in state of shrinking back in bellmouth at this time, can be by wrist port 1 and tool
It docks port 2.
Wrist port 1 by the engagement sleeves of link slot 18 and link block 6 in tool port 2, when docking is completed, wrist end
Mouth electric interfaces 7 are connected with tool port electric interfaces 8, connect signal transmission to control system, stepper motor 13 starts, drive
Cam 12 rotates, and cam groove 16 is rotated away from 19 position of bellmouth on wrist port shell 3, and ball 9 is in bellmouth 19
It is pressed at 19 osculum of bellmouth by cam contour, while entering tool port 2 is understood in the part that ball 9 is leant out out of aperture
In groove 10, and then realize wrist port 1 and 2 butt-joint locking of tool port, rapid switcher at this time is in locking state, next
Robot can carry out tool changing work.
When needing replacing tool changing tool, start stepper motor 13, band moving cam 12 rotates, and cam groove 16 turns to wrist
When 19 position of bellmouth on port shell 3, wrist port 1 is disengaged with tool port 2, and former tool changing tool is unloaded, and is changed new
Tool changing tool can be quickly by wrist port 1 and 2 butt-joint locking of tool port, to make robot with reference to above-mentioned locking step
Rapidly enter working condition.
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 (10)
1. a kind of automatic changing-over device of robot end, which is characterized in that including the wrist port being connected（1）And tool port
（2）, the wrist port（1）Including wrist port shell（3）, stepper motor（13）, cam（12）, bearing（11）, ball（9）
And fixing sleeve（14）, wrist port shell（3）It is set as cylindrical structure, one end is connected by flange with robot wrist
It connects, the circumferentially spaced about of the other end is provided with multiple link slots（18）, each link slot（18）Inside it is provided with a bellmouth（19）,
The stepper motor（13）Pass through fixing sleeve（14）It is fixedly connected on wrist port shell（3）It is interior, the stepper motor（13）'s
Output end passes through flat key（17）With cam（12）Connection, the bearing（11）Bearing inner race and cam（12）Camshaft contact
Cooperation, the bearing（11）Bearing outer ring and wrist port shell（3）Inner wall is engaged, the ball（9）Setting is being bored
Shape hole（19）It is interior, the cam（12）Cam end periphery be arranged at intervals with multiple cam grooves（16）；
The tool port（2）Including tool port shell（4）, the tool port shell（4）Setting is spaced on lower circumferential
There are multiple link blocks（6）, the link block（6）With link slot（18）It is correspondingly arranged, the link block（6）Ring is provided on inner wall
To groove（10）, the ball（9）Position and groove（10）It is corresponding.
2. the automatic changing-over device of a kind of robot end according to right 1, which is characterized in that the bellmouth（19）Osculum
Aperture is less than ball（9）Diameter.
3. the automatic changing-over device of a kind of robot end according to claim 1, which is characterized in that the link slot（18）'s
Quantity is 3, accordingly, the bellmouth（19）Quantity be 3, the link block（6）Quantity be 3.
4. the automatic changing-over device of a kind of robot end according to claim 1, which is characterized in that wrist port shell
（3）Lower part be provided with square breach（20）, the stepper motor（13）Pass through square breach（20）It is connect with power supply.
5. the automatic changing-over device of a kind of robot end according to claim 1, which is characterized in that the fixing sleeve（14）For
Tubular construction, periphery and wrist port shell（3）Inner wall is engaged, and is internally provided with and stepper motor（13）It is matched to lack
Mouthful（21）.
6. the automatic changing-over device of a kind of robot end according to claim 1, which is characterized in that wrist port shell
（3）The one end being connect with robot wrist is provided with end cap（15）, the end cap（15）With wrist port shell（3）Screw thread connects
It connects.
7. the automatic changing-over device of a kind of robot end according to claim 1, which is characterized in that the end cap（15）On set
It is equipped with multiple fan grooves（22）.
8. the automatic changing-over device of a kind of robot end according to claim 1, which is characterized in that the ball（9）Pass through
The small bore end and groove of bellmouth（10）Contact, passes through the big nose end and cam of bellmouth（12）Cam end in contact.
9. the automatic changing-over device of a kind of robot end according to claim 1, which is characterized in that wrist port shell
（3）Outer wall has been provided with wrist port electrical connector（7）, the tool port shell（4）It is electrical that outer wall is provided with tool port
Connector（8）, the wrist port electrical connector（7）With tool port electrical connector（8）Position is corresponding.
10. the automatic changing-over device of a kind of robot end according to claim 1, which is characterized in that the link block（6）If
It is set to trapezium structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810651452.4A CN108748240A (en) | 2018-06-22 | 2018-06-22 | A kind of automatic changing-over device of robot end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810651452.4A CN108748240A (en) | 2018-06-22 | 2018-06-22 | A kind of automatic changing-over device of robot end |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108748240A true CN108748240A (en) | 2018-11-06 |
Family
ID=63976347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810651452.4A Pending CN108748240A (en) | 2018-06-22 | 2018-06-22 | A kind of automatic changing-over device of robot end |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108748240A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110193817A (en) * | 2019-05-29 | 2019-09-03 | 中国科学院宁波材料技术与工程研究所 | A kind of adaptive stress control flange of single-degree-of-freedom active for industrial robot |
| CN110696032A (en) * | 2019-10-11 | 2020-01-17 | 河海大学常州校区 | Flexible grabber dismounting assembly and flexible grabber |
| CN112959348A (en) * | 2021-03-04 | 2021-06-15 | 内蒙古硕博自动化科技有限公司 | Electrically-driven steel ball locking type robot terminal quick-change device |
| CN116690536A (en) * | 2023-05-24 | 2023-09-05 | 上海智元新创技术有限公司 | Robot hand quick change device and robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101244564A (en) * | 2008-03-21 | 2008-08-20 | 哈尔滨工业大学 | Tool quick-switching interface for telecontrolling welding robot |
| JP4632058B2 (en) * | 2007-03-13 | 2011-02-16 | ニッタ株式会社 | Automatic tool changer |
| CN105150243A (en) * | 2015-07-24 | 2015-12-16 | 沈阳通用机器人技术股份有限公司 | Rapid changing device for robot operation tools |
-
2018
- 2018-06-22 CN CN201810651452.4A patent/CN108748240A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4632058B2 (en) * | 2007-03-13 | 2011-02-16 | ニッタ株式会社 | Automatic tool changer |
| CN101244564A (en) * | 2008-03-21 | 2008-08-20 | 哈尔滨工业大学 | Tool quick-switching interface for telecontrolling welding robot |
| CN105150243A (en) * | 2015-07-24 | 2015-12-16 | 沈阳通用机器人技术股份有限公司 | Rapid changing device for robot operation tools |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110193817A (en) * | 2019-05-29 | 2019-09-03 | 中国科学院宁波材料技术与工程研究所 | A kind of adaptive stress control flange of single-degree-of-freedom active for industrial robot |
| CN110696032A (en) * | 2019-10-11 | 2020-01-17 | 河海大学常州校区 | Flexible grabber dismounting assembly and flexible grabber |
| CN112959348A (en) * | 2021-03-04 | 2021-06-15 | 内蒙古硕博自动化科技有限公司 | Electrically-driven steel ball locking type robot terminal quick-change device |
| CN112959348B (en) * | 2021-03-04 | 2023-12-22 | 内蒙古硕博自动化科技有限公司 | Terminal quick change device of electrically driven steel ball locking type robot |
| CN116690536A (en) * | 2023-05-24 | 2023-09-05 | 上海智元新创技术有限公司 | Robot hand quick change device and robot |
| CN116690536B (en) * | 2023-05-24 | 2024-05-03 | 上海智元新创技术有限公司 | Robot hand quick change device and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181106 |
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| RJ01 | Rejection of invention patent application after publication |