CN110919681A - Robot tail end tool rapid switching device and switching method - Google Patents
Robot tail end tool rapid switching device and switching method Download PDFInfo
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- CN110919681A CN110919681A CN201911338645.5A CN201911338645A CN110919681A CN 110919681 A CN110919681 A CN 110919681A CN 201911338645 A CN201911338645 A CN 201911338645A CN 110919681 A CN110919681 A CN 110919681A
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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
A robot end tool rapid switching device and a switching method relate to the technical field of automatic switching of robot end effectors. Comprising a first assembly body and a second assembly body; when first assembly body and second assembly body are connected, the second assembly body passes through hook portion B and the mutual hook of hook portion A of first assembly body, and the locking arm on the instrument dish offsets with the location breach on the base, and butt joint locking subassembly drives female joint and male joint butt joint when being used for locking the locking arm, or drives female joint and male joint separation when unblock locking arm. The first assembly body and the second assembly body of the invention have four fixing/connecting points (one is arranged on each of the two positioning short shafts, and one is arranged at each of the two ends of the locking arm) in total, and the four connecting points are distributed on the two sides of the upper end and the lower end of the base, so that the invention is firm and reliable after locking and can bear larger load.
Description
Technical Field
The invention relates to the technical field of automatic switching of a robot end effector, in particular to a robot end tool quick switching device and a robot end tool quick switching method.
Background
Robots (particularly multi-axis robots) have been widely used in various industries due to their flexibility, reliability and high efficiency of motion, and gradually replace manual operations. However, in practical application, one robot is often required to process several different products or different processes, and the robot needs to be correspondingly matched with several different end effectors, such as a bucket, a hydraulic hammer, a hydraulic shear, a hydraulic clamp, and a cutting machine. At present, when the end effector is replaced, manual disassembly and assembly are often needed, the steps are complicated, and time and labor are wasted. In some dangerous environments (such as nuclear radiation, high temperature, low temperature and the like), manual disassembly and assembly are extremely difficult, and even disassembly and assembly cannot be completed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a robot end tool rapid switching device and a switching method, and solves the problems that the prior robot end effector is time-consuming, labor-consuming and difficult to disassemble and assemble manually.
The technical scheme of the invention is as follows: the robot tail end tool rapid switching device comprises a first assembly body and a second assembly body;
the first assembly body comprises a tool disc, a male connector seat and a male connector; the outer side surface of the tool tray is provided with a tool mounting surface, and the inner side surface of the tool tray is sequentially provided with a hooking part A and a locking arm from top to bottom; the male connector seat is fixedly arranged on the inner side surface of the tool disc, and the male connector is arranged on the male connector seat;
the second assembly body comprises a base, a female joint seat, a female joint and a butt joint locking assembly; a first connecting section connected with the robot arm and a second connecting section connected with the tool tray are respectively arranged at two ends of the base, a hooking part B matched with the hooking part A is arranged at the upper end of the second connecting section, and a positioning notch used for abutting against the locking arm is arranged at the lower end of the second connecting section; the female joint is arranged on a female joint seat which is arranged on the butt joint locking component; the butt joint locking assembly is arranged on the base;
when first assembly body and second assembly body are connected, the second assembly body passes through hook portion B and the mutual hook of hook portion A of first assembly body, and the locking arm on the instrument dish offsets with the location breach on the base, and butt joint locking subassembly drives female joint and male joint butt joint when being used for locking the locking arm, or drives female joint and male joint separation when unblock locking arm.
The further technical scheme of the invention is as follows: an element mounting cavity is arranged in the second connecting section of the base, and locking pin holes communicated to the element mounting cavity are formed in two sides of the lower end of the second connecting section;
the butt joint locking assembly comprises a synchronous hydraulic cylinder and a locking pin; the two synchronous hydraulic cylinders are symmetrically arranged at two sides of the element accommodating cavity, pistons of the two synchronous hydraulic cylinders are fixedly connected to two sides of the upper end of the element accommodating cavity respectively, the two locking pins are fixedly connected to cylinder bodies of the two synchronous hydraulic cylinders respectively, and when a piston rod of the synchronous hydraulic cylinder stretches, the cylinder body of the synchronous hydraulic cylinder is driven to do reciprocating linear motion in the element accommodating cavity, so that the locking pins are driven to extend out of or retract into the locking pin holes;
under the state that first assembly body is connected with the second assembly body, when the locking pin stretches out the locking pinhole, on the one hand with the locking arm locking between locking pin and location breach, on the other hand drives the butt joint of female joint and male joint, when the locking pin withdrawal locking pinhole, on the one hand with the locking arm unblock, on the other hand drives female joint and male joint separation.
The invention further adopts the technical scheme that: the hook parts B are hook claws symmetrically arranged on two sides of the upper end of the second connecting section of the base; the hooking part A is symmetrically provided with positioning short shafts arranged at two sides of the upper end of the inner side surface of the tool tray, the shape of the positioning short shafts is matched with that of the hook claws, and the exposed length of the positioning short shafts is matched with the width of the hook claws.
The further technical scheme of the invention is as follows: the tool mounting surface of the tool tray is provided with a tool mounting hole.
The further technical scheme of the invention is as follows: the male connector comprises a hydraulic male connector and/or an electric male connector and/or an air path male connector, and the female connector is a hydraulic female connector and/or an electric female connector and/or an air path female connector matched with the male connector.
The technical scheme of the invention is as follows: a robot end effector quick switching method is applied to a robot end effector quick switching device and comprises a butt joint process and a disassembly process;
before the quick switching is performed, preparation work needs to be performed, which specifically includes the following steps:
a, connecting a second assembly body to a robot arm through a first connecting section of a base, and communicating a male joint to a hydraulic system, an air path system or a circuit system;
b, connecting a required end tool to a tool disc of the first assembly body, and then placing the first assembly body on the ground or a table top;
in the preparation work, the steps a and b are not in sequence;
the butt joint process is as follows:
s01, movably hooking the first assembly body and the second assembly body:
a. adjusting the pose of the robot to enable the hook claw of the base to hook the positioning short shaft on the tool tray;
b. then operating the robot to enable the second assembly body to rotate around the positioning rotating shaft until the positioning notch of the base abuts against the locking arm of the tool tray;
s02, the first assembly body and the second assembly body are locked with each other: the piston rods of the two synchronous hydraulic cylinders synchronously extend out to drive the locking pin to extend out of the locking pin hole, so that the locking arm is locked between the locking pin and the positioning notch, and the female joint and the male joint are driven to be in butt joint, namely, the butt joint process is completed;
the disassembly process is as follows:
s01, releasing the locking relation between the first assembly body and the second assembly body: the piston rods of the two synchronous hydraulic cylinders synchronously extend out to drive the locking pins to retract from the locking pin holes, so that the locking arms are unlocked, and the female connector is driven to be separated from the male connector;
s02, separating the first assembly from the second assembly: and operating the robot to enable the second assembly body to rotate around the positioning rotating shaft until a safe distance is reached between the male joint and the female joint, and then operating the robot to enable the hook claw of the base to be separated from the positioning short shaft of the tool disc, so that the disassembling process is completed.
Compared with the prior art, the invention has the following advantages:
1. the automatic disassembly and assembly of the robot end effector can be realized through the remote control robot, the whole disassembly and assembly process is quick, simple and convenient, the reliability is good, and interference between the male joint and the female joint cannot be generated.
2. Because the shape of the positioning short shaft is matched with the hook claw, and the exposed length of the positioning short shaft is matched with the width of the hook claw, the positioning short shaft and the hook claw of the base can be accurately butted when the hook claw of the base hooks the positioning short shaft of the tool tray.
3. The first assembly body and the second assembly body are provided with four fixing/connecting points (one is arranged on each of the two positioning short shafts, and one is arranged at each of the two ends of the locking arm), and the four connecting points are distributed on the two sides of the upper end and the lower end of the base, so that the locking mechanism is firm and reliable after locking and can bear larger load.
The invention is further described below with reference to the figures and examples.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a first assembly at one viewing angle;
FIG. 3 is a schematic view of the first assembly at another viewing angle;
FIG. 4 is a schematic view of a second assembly at one viewing angle;
FIG. 5 is a schematic view of a second assembly at another viewing angle;
FIG. 6 is a schematic view of a second assembly at a third viewing angle;
FIG. 7 is a schematic diagram illustrating the state of step A of S01 in the docking process according to the present invention;
FIG. 8 is a schematic diagram of the state of step b of step S01 in the docking process of the present invention
FIG. 9 is a diagram illustrating a state of step S02 in the docking process according to the present invention;
fig. 10 is a schematic view of the usage state of the present invention.
Illustration of the drawings: a tool tray 11; a tool mounting surface 111; positioning the stub shaft 112; a lock arm 113; a male connector base 12; a male connector 13; a base 21; a first connection section 211; the engaging lug 2111; a second connection section 212; a claw 2121; a positioning notch 2122; a component mounting cavity 2123; locking pin holes 2124; a female joint base 22; a female joint 23; a synchronous hydraulic cylinder 241; a locking pin 242.
Detailed Description
Example 1:
as shown in fig. 1-10, the robot end tool quick change device comprises a first assembly body and a second assembly body.
The first assembly body includes a tool plate 11, a male connector holder 12, and a male connector 13. The tool tray 11 has a tool mounting surface 111 on the outer surface thereof, and a hook portion a and a lock arm 113 on the inner surface thereof in this order from the top to the bottom. The hooking parts A are positioning short shafts 112 which are symmetrically arranged at two sides of the upper end of the inner side surface of the tool tray 11.
A male coupling seat 12 is fixedly installed on an inner side surface of the tool tray 11, and a male coupling 13 is installed on the male coupling seat 12.
The second assembly includes a base 21, a female connector holder 22, a female connector 23, and a docking locking assembly.
The base 21 is provided at both ends thereof with a first connection section 211 connected to the robot arm and a second connection section 212 connected to the tool tray 11, respectively. Two connecting ears 2111 for connecting the robot arm are arranged on the first connecting section 211. The upper end of the second connecting section 212 is provided with a hook portion B matched with the hook portion a, and the lower end is provided with a positioning notch 2122 for abutting against the locking arm 113. The hooking parts B are symmetrically arranged on the two sides of the upper end of the second connecting section 212 of the base 21, the shape of the hooking parts 2121 is adapted to the positioning short shaft 112, and the width of the hooking parts 2121 is adapted to the exposed length of the positioning short shaft 112. A component mounting cavity 2123 is formed in the second connecting section 212, and locking pin holes 2124 communicating with the component mounting cavity 2123 are formed in both sides of the lower end of the second connecting section 212.
The female joint seat 22 is fixedly installed on the cylinder body of the synchronous hydraulic cylinder of the docking locking assembly, and the female joint 23 is installed on the female joint seat 22.
The docking lock assembly includes a synchronizing hydraulic cylinder 241 and a locking pin 242. The two synchronous hydraulic cylinders 241 are symmetrically arranged at two sides of the element accommodating chamber 2123, pistons of the two synchronous hydraulic cylinders 241 are respectively and fixedly connected at two sides of the upper end of the element accommodating chamber 2123, the two locking pins 242 are respectively and fixedly connected to cylinder bodies of the two synchronous hydraulic cylinders 241, and when a piston rod of the synchronous hydraulic cylinder 241 extends and retracts, the cylinder body of the synchronous hydraulic cylinder 241 is driven to do reciprocating linear motion in the element accommodating chamber 2123, so that the locking pin 242 is driven to extend or retract from the locking pin hole 2124.
When the first assembly body is connected with the second assembly body, the second assembly body is hooked with the positioning short shaft 112 of the first assembly body through the hook 2121, the locking arm 113 on the tool tray 11 abuts against the positioning notch 2122 on the base 21, and the butt joint locking component is used for locking the locking arm 113 and simultaneously driving the female joint 23 to be in butt joint with the male joint 13, or unlocking the locking arm 113 and simultaneously driving the female joint 23 to be separated from the male joint 13.
In a state where the first assembly body and the second assembly body are connected, when the locking pin 242 extends out of the locking pin hole 2124, on one hand, the locking arm 113 is locked between the locking pin 242 and the positioning notch 2122, on the other hand, the female connector 23 is brought into abutment with the male connector 13, and when the locking pin 242 retracts into the locking pin hole 2124, on the one hand, the locking arm 113 is unlocked, and on the other hand, the female connector 23 is brought into disengagement with the male connector 13.
Preferably, the locating notch 2122 of the base 21 is an arcuate notch shaped to conform to the profile of the locking arm 113.
Preferably, the tool mounting surface 111 of the tool tray 11 is provided with a tool mounting hole 1111, and the tool mounting hole 1111 can be used for mounting a bucket, a hydraulic hammer, a hydraulic shear, a hydraulic tong, and a cutting machine.
Preferably, the male connector 13 comprises a hydraulic male connector and/or an electric male connector and/or an air passage male connector, and the female connector 23 is a hydraulic female connector and/or an electric female connector and/or an air passage female connector matched with the male connector.
The invention can realize the quick switching of the end effector of the robot, including the butt joint process and the disassembly process;
before the quick switching is performed, preparation work needs to be performed, which specifically includes the following steps:
a, connecting the second assembly body to the robot arm through the first connecting section 211 of the base 21, and connecting the male joint 13 to a hydraulic system, an air path system or a circuit system;
b, connecting the required end tool to the tool tray 11 of the first assembly body, and then placing the first assembly body on the ground or a table;
in the preparation work, the steps a and b are not in sequence.
The butt joint process is as follows:
s01, movably hooking the first assembly body and the second assembly body:
a. adjusting the pose of the robot to enable the hook 2121 of the base 21 to hook the positioning short shaft 112 on the tool tray 11;
b. then, the robot is operated to rotate the second assembly body around the positioning rotating shaft 112 until the positioning notch 2122 of the base 21 abuts against the locking arm 113 of the tool tray 11;
s02, the first assembly body and the second assembly body are locked with each other: the piston rods of the two synchronous hydraulic cylinders extend synchronously to drive the locking pin 242 to extend out of the locking pin hole 2124, on one hand, the locking arm 113 is locked between the locking pin 242 and the positioning notch 2122, on the other hand, the female joint 23 is driven to be in butt joint with the male joint 13, and then the butt joint process is completed.
The disassembly process is as follows:
s01, releasing the locking relation between the first assembly body and the second assembly body: the piston rods of the two synchronous hydraulic cylinders 241 extend synchronously to drive the locking pins 242 to retract from the locking pin holes, so that the locking arms 113 are unlocked, and the female connector 23 is driven to be separated from the male connector 13;
s02, separating the first assembly from the second assembly: the robot is operated to rotate the second assembly body around the positioning rotation shaft 112 until the safety distance between the male joint and the female joint is reached, and then the robot is operated to separate the claw 2121 of the base 21 from the positioning short shaft 112 of the tool tray 11, thereby completing the disassembling process.
Claims (6)
1. The robot tail end tool rapid switching device comprises a first assembly body and a second assembly body;
the first assembly body comprises a tool disc, a male connector seat and a male connector; the outer side surface of the tool tray is provided with a tool mounting surface, and the inner side surface of the tool tray is sequentially provided with a hooking part A and a locking arm from top to bottom; the male connector seat is fixedly arranged on the inner side surface of the tool disc, and the male connector is arranged on the male connector seat;
the second assembly body comprises a base, a female joint seat, a female joint and a butt joint locking assembly; a first connecting section connected with the robot arm and a second connecting section connected with the tool tray are respectively arranged at two ends of the base, a hooking part B matched with the hooking part A is arranged at the upper end of the second connecting section, and a positioning notch used for abutting against the locking arm is arranged at the lower end of the second connecting section; the female joint is arranged on a female joint seat which is arranged on the butt joint locking component; the butt joint locking assembly is arranged on the base;
when first assembly body and second assembly body are connected, the second assembly body passes through hook portion B and the mutual hook of hook portion A of first assembly body, and the locking arm on the instrument dish offsets with the location breach on the base, and butt joint locking subassembly drives female joint and male joint butt joint when being used for locking the locking arm, or drives female joint and male joint separation when unblock locking arm.
2. The robot end tool quick-connect-change device of claim 1, wherein: an element mounting cavity is arranged in the second connecting section of the base, and locking pin holes communicated to the element mounting cavity are formed in two sides of the lower end of the second connecting section;
the butt joint locking assembly comprises a synchronous hydraulic cylinder and a locking pin; the two synchronous hydraulic cylinders are symmetrically arranged at two sides of the element accommodating cavity, pistons of the two synchronous hydraulic cylinders are fixedly connected to two sides of the upper end of the element accommodating cavity respectively, the two locking pins are fixedly connected to cylinder bodies of the two synchronous hydraulic cylinders respectively, and when a piston rod of the synchronous hydraulic cylinder stretches, the cylinder body of the synchronous hydraulic cylinder is driven to do reciprocating linear motion in the element accommodating cavity, so that the locking pins are driven to extend out of or retract into the locking pin holes;
under the state that first assembly body is connected with the second assembly body, when the locking pin stretches out the locking pinhole, on the one hand with the locking arm locking between locking pin and location breach, on the other hand drives the butt joint of female joint and male joint, when the locking pin withdrawal locking pinhole, on the one hand with the locking arm unblock, on the other hand drives female joint and male joint separation.
3. The robot end tool quick change device as claimed in claim 1 or 2, wherein: the hook parts B are hook claws symmetrically arranged on two sides of the upper end of the second connecting section of the base;
the hooking part A is symmetrically provided with positioning short shafts arranged at two sides of the upper end of the inner side surface of the tool tray, the shape of the positioning short shafts is matched with that of the hook claws, and the exposed length of the positioning short shafts is matched with the width of the hook claws.
4. The robot end tool quick change device of any one of claims 1-3, wherein: the tool mounting surface of the tool tray is provided with a tool mounting hole.
5. The robot end tool quick-connect-change device of claim 4, wherein: the male connector comprises a hydraulic male connector and/or an electric male connector and/or an air path male connector, and the female connector is a hydraulic female connector and/or an electric female connector and/or an air path female connector matched with the male connector.
6. The robot end effector rapid switching method is applied to the robot end effector rapid switching device of any one of claims 1 to 5, and is characterized by comprising a butt joint process and a disassembly process;
before the quick switching is performed, preparation work needs to be performed, which specifically includes the following steps:
a, connecting a second assembly body to a robot arm through a first connecting section of a base, and communicating a male joint to a hydraulic system, an air path system or a circuit system;
b, connecting a required end tool to a tool disc of the first assembly body, and then placing the first assembly body on the ground or a table top;
in the preparation work, the steps a and b are not in sequence;
the butt joint process is as follows:
s01, movably hooking the first assembly body and the second assembly body:
a. adjusting the pose of the robot to enable the hook claw of the base to hook the positioning short shaft on the tool tray;
b. then operating the robot to enable the second assembly body to rotate around the positioning rotating shaft until the positioning notch of the base abuts against the locking arm of the tool tray;
s02, the first assembly body and the second assembly body are locked with each other: the piston rods of the two synchronous hydraulic cylinders synchronously extend out to drive the locking pin to extend out of the locking pin hole, so that the locking arm is locked between the locking pin and the positioning notch, and the female joint and the male joint are driven to be in butt joint, namely, the butt joint process is completed;
the disassembly process is as follows:
s01, releasing the locking relation between the first assembly body and the second assembly body: the piston rods of the two synchronous hydraulic cylinders synchronously extend out to drive the locking pins to retract from the locking pin holes, so that the locking arms are unlocked, and the female connector is driven to be separated from the male connector;
s02, separating the first assembly from the second assembly: and operating the robot to enable the second assembly body to rotate around the positioning rotating shaft until a safe distance is reached between the male joint and the female joint, and then operating the robot to enable the hook claw of the base to be separated from the positioning short shaft of the tool disc, so that the disassembling process is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911338645.5A CN110919681B (en) | 2019-12-23 | 2019-12-23 | Robot end tool quick-replacing device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911338645.5A CN110919681B (en) | 2019-12-23 | 2019-12-23 | Robot end tool quick-replacing device and method |
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| CN110919681A true CN110919681A (en) | 2020-03-27 |
| CN110919681B CN110919681B (en) | 2023-09-22 |
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Cited By (1)
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|---|---|---|---|---|
| CN112091930A (en) * | 2020-09-09 | 2020-12-18 | 南华大学 | Automatic reloading method for tail end tool of nuclear emergency robot |
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| Publication number | Publication date |
|---|---|
| CN110919681B (en) | 2023-09-22 |
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