CN111702795A - Quick replacement device for end tool of mechanical arm - Google Patents
Quick replacement device for end tool of mechanical arm Download PDFInfo
- Publication number
- CN111702795A CN111702795A CN202010556938.7A CN202010556938A CN111702795A CN 111702795 A CN111702795 A CN 111702795A CN 202010556938 A CN202010556938 A CN 202010556938A CN 111702795 A CN111702795 A CN 111702795A
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- China
- Prior art keywords
- quick
- tool
- frame
- female
- joint
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- 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
- B25J15/0408—Connections means
Abstract
The invention discloses a quick replacement device for a tool at the tail end of a mechanical arm, and belongs to the technical field of mechanical arms. An end of arm tool quick change device comprising: connecting a male end and a female end; the connecting male end comprises a frame, a locking device and a driving device; the two ends of the frame are respectively provided with a clamping groove and an arc-shaped groove; the locking device comprises a slide block and a locking pin which are connected; the sliding block and the frame are in sliding fit along the extending direction of the frame and are connected with the driving device, and the locking pin and the arc-shaped groove form a clamping space; the two ends of the connecting female end are respectively provided with a connecting beam, and the connecting beams are respectively positioned in the clamping groove and the clamping space. The invention essentially adopts a butt joint mode to complete the connection between the mechanical arm and the end tool, so that the sliding block makes linear motion relative to the connecting female end, and the butt joint operation between the sliding block and the butt joint connecting part between the connecting female end can be completed, thereby realizing the real quick replacement of the end tool.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a quick replacement device for a tool at the tail end of a mechanical arm.
Background
When a robot performs work, the end tool of the robot generally uses different tools depending on the specific work task and the environment. In operation, because of the needs of the task, it is necessary to change the end tool quickly (i.e. robot end effector, such as tongs, electric wrench, hydraulic wrench, robot spray gun, robot electric welding gun, etc.), at present, the connecting parts are installed on the mechanical arm and the end tool to quickly switch the end tool, however, when the conventional connecting parts are connected, the connecting parts are connected by turning or rotating, the angle between the mechanical arm and the end tool can be changed, resulting in some parts, such as oil pipeline, which can not be directly connected by the connecting parts, and can only be connected by hand again, and the real quick change of the end tool can not be realized.
Disclosure of Invention
The invention aims to provide a quick change device for a tool at the tail end of a mechanical arm, which solves the problem that the existing mechanical arm cannot realize the real quick change of the tool at the tail end.
The technical scheme for solving the technical problems is as follows:
an end of arm tool quick change device comprising: a connecting male end connected with the mechanical arm and a connecting female end connected with the tail end tool; the connecting male end comprises a frame, a locking device and a driving device, wherein the locking device and the driving device are positioned in the frame; the two ends of the frame are respectively provided with a clamping groove and an arc-shaped groove; the locking device comprises a sliding block and a locking pin connected with the sliding block; the sliding block and the frame are in sliding fit along the extending direction of the frame and are connected with the driving device, and the locking pin and the arc-shaped groove form a clamping space; the two ends of the connecting female end are respectively provided with a connecting beam, and the connecting beams are respectively positioned in the clamping groove and the clamping space.
After the connection between the male end and the female end, the connection between the mechanical arm and the tail end tool is realized. When connecting, connect the tie-beam of female end wherein one end and stretch into the draw-in groove to make the tie-beam and the arc wall contact of the other end, drive the fitting pin through drive arrangement, make and form the joint space between fitting pin and the arc wall, carry on spacingly with the tie-beam, because the orientation in draw-in groove and joint space is the direction of keeping away from the frame, consequently the tie-beam at the both ends of female end will be connected from opposite direction in draw-in groove and joint space carries on spacingly, thereby accomplish being connected between arm and the terminal instrument. When the mechanical arm is detached, the driving device drives the locking pin reversely, and the mechanical arm can be separated from the tail end tool.
The invention realizes the connection between the mechanical arm and the end tool through the extension and retraction of the locking pin during the final connection, and the connection between the mechanical arm and the end tool is substantially completed in a butt joint mode.
In addition, the replacement operation between the mechanical arm and the tail end tool can be completed through simple extension and retraction of the locking pin, and compared with the conventional replacement operation, the operation is simpler and the replacement speed is higher.
Furthermore, the locking pin is connected with one side of the sliding block, which is close to the arc-shaped groove, and the locking pin is close to the opening of the arc-shaped groove, so that the locking pin and the arc-shaped groove form a clamping space, and the orientation of the clamping groove and the clamping space is the direction far away from the frame.
The clamping eraser and the clamping space are respectively positioned at two ends of the frame, the directions of the clamping groove and the clamping space are directions far away from the frame, and after the clamping groove and the clamping space are connected with the connecting beam, the connecting male end and the connecting female end can be fixedly connected, so that the connecting and disassembling operation between the connecting male end and the connecting female end can be completed only by stretching and retracting the locking pin, the operation is simple, and the replacement speed of a terminal tool is high.
Furthermore, one side of the sliding block, which is close to the arc-shaped groove, is connected with the female connecting end through a quick butt joint assembly; the quick butt joint assembly comprises a quick butt joint female joint and a quick butt joint male joint which are mutually butted, the quick butt joint female joint and the quick butt joint male joint are respectively connected with the sliding block and the second mounting block, and the butt joint direction between the quick butt joint female joint and the quick butt joint male joint is parallel to the sliding direction between the sliding block and the frame.
The quick butt joint assembly is used for quickly and automatically connecting an oil way between a mechanical arm and an end tool. Because the connection male end and the connection female end are connected between the mechanical arm and the end tool substantially in a butt joint mode, the oil way can be quickly and automatically connected through the quick butt joint assembly while the mechanical connection is carried out, the manual connection of the oil way is not needed, and the quick replacement of the end tool in the true sense is realized.
Furthermore, a first mounting block is arranged at the top of the sliding block, and a first hydraulic joint is arranged on the first mounting block; connect female end and be equipped with the second installation piece, be equipped with the second hydraulic joint on the second installation piece, first hydraulic joint and second hydraulic joint communicate with quick butt joint female joint and quick butt joint male joint respectively.
According to the invention, the first hydraulic joint is used for being connected with an oil circuit of the mechanical arm, the second hydraulic joint is used for being connected with an oil circuit of the end tool, and when the first hydraulic joint and the second hydraulic joint are respectively communicated with the quick butt joint female joint and the quick butt joint male joint, the oil circuit between the mechanical arm and the end tool can be quickly and automatically connected in a butt joint mode.
Furthermore, a sliding groove is formed in the side face of the sliding block, and a sliding strip in sliding fit with the sliding groove is arranged on the inner side of the frame.
Furthermore, the sliding block is provided with a lightening hole.
The lightening hole is used for reducing the weight of the whole device on the premise of not reducing the performance.
Furthermore, a limiting block is arranged on one side, close to the arc-shaped groove, of the sliding block and is located in the extending direction of the lightening hole.
Furthermore, the driving device extends into the lightening hole, and an actuating part of the driving device is connected with the limiting block.
Due to the existence of the lightening hole, the driving device can extend into the lightening hole, and after the actuating part of the driving device is connected with the sliding block, the relative position between the driving device and the sliding block can be reduced, so that the space utilization rate is improved, the structure of the whole device is more compact, and the volume of the whole mechanism is reduced on the premise of not influencing other functions.
The lightening hole has a supporting function on the driving device, and the driving device is prevented from swinging.
Further, a hydraulic device or an electric device of the above-described driving device.
Furthermore, the edge of the clamping groove is provided with a wedge-shaped surface.
The wedge-shaped surface of the invention has the following functions: when the connecting beam enters the clamping groove, the connecting beam has a guiding effect, so that the allowable error during connection is increased, and the fault tolerance rate is improved.
The invention has the following beneficial effects:
(1) when the final connection is carried out, the connection between the mechanical arm and the end tool is substantially completed in a butt joint mode, so that the sliding block moves linearly relative to the connecting female end, the butt joint operation between the sliding block and the butt joint connecting part between the connecting female end can be completed, and the quick replacement of the end tool is really realized.
(2) The invention can complete the replacement operation between the mechanical arm and the tail end tool through simple extension and retraction of the locking pin, and compared with the conventional replacement operation, the operation is simpler and the replacement speed is higher.
(3) The invention can accurately realize quick and automatic connection of the oil circuit while quickly replacing the end tool, thereby avoiding manual oil circuit connection and realizing real quick replacement of the end tool.
Drawings
FIG. 1 is a schematic diagram of a robotic end-of-arm tool quick change device of the present invention;
FIGS. 2 and 3 are schematic views of the male connection end of the present invention;
FIG. 4 is a schematic view of the connection between the frame and the driving device of the present invention;
FIGS. 5 and 6 are schematic views showing the construction of the locking device of the present invention;
FIG. 7 is a schematic view of the mechanism for connecting the female end of the present invention;
fig. 8 and 9 are schematic views of the robot arm end-tool quick change device of the present invention as it is being attached.
In the figure: 10-connecting a male end; 20-connecting the female terminal; 21-a connecting beam; 22-a second mounting block; 23-a second hydraulic joint; 31-quick butt female joint; 32-quick butt joint male joint; 110-a frame; 111-card slot; 112-an arc-shaped groove; 113-a clamping space; 114-a slide bar; 120-a locking device; 121-a slider; 122-locking pins; 123-a first mounting block; 124-a first hydraulic joint; 125-a stopper; 126-a chute; 127-lightening holes; 130-drive means.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Examples
Referring to fig. 1, a quick tool change apparatus for a robot end includes: connect public end 10 and connect female end 20, connect public end 10 and be connected with the arm, connect female end 20 and be connected with terminal instrument, through connecting public end 10 and connecting the quick connection and the quick dismantlement between the female end 20, accomplish the quick replacement of terminal instrument.
Referring to fig. 2 to 3, the male connection end 10 includes a frame 110, a locking device 120 and a driving device 130. The frame 110 is used to connect to a robotic arm. The locking device 120 is disposed within the frame 110 and is in sliding engagement with the frame 110 for removable connection with the connecting female end 20. The driving device 130 is disposed within the frame 110.
Referring to fig. 4, two ends of the frame 110 are respectively provided with a slot 111 and an arc-shaped slot 112, and an opening direction of the slot 111 is along an axial direction of the frame 110 and is far away from the frame 110. The corresponding two sides in the frame 110 are respectively provided with a slide bar 114, and the extending direction of the slide bar 114 is consistent with the extending direction of the frame 110. One end of the driving device 130 is fixedly connected with the frame 110, and the other end is connected with the locking device 120, and the extension direction of the driving shaft of the driving device 130 is consistent with the extension direction of the slide 114. The locking device 120 is driven by the driving device 130 to slide in the frame 110, so that the locking device 120 is connected and disconnected with the connecting female end 20, and the replacement of the end tool is realized.
Referring to fig. 3, 5 and 6, the locking device 120 includes a slider 121 and a locking pin 122. The sliding grooves 126 are respectively disposed on two corresponding sides of the sliding block 121, and the sliding grooves 126 are matched with the sliding strip 114, so that the locking device 120 slides along the extending direction of the sliding strip 114 under the action of the driving device 130. The top of slider 121 is equipped with two first installation pieces 123, is connected with first hydraulic pressure on the first installation piece 123 and connects 124, and first hydraulic pressure connects 124 and the oil circuit intercommunication of arm. The slider 121 is provided with a lightening hole 127 for lightening the weight of the slider 121. One side of the sliding block 121 is connected with the locking pin 122, the driving device 130 is located at the other side of the sliding block 121, and the driving device 130 extends into the lightening hole 127.
A limit block 125 and a female quick-butt joint 31 are arranged on one side of the slider 121 connected with the locking pin 122, and the female quick-butt joint 31 is arranged around the limit block 125 and communicated with the first hydraulic joint 124. In the present embodiment, the number of the locking pins 122 is 2, and the end of the locking pin 122 is flat; the lightening hole 127 penetrates through the sliding block 121, and the actuating part of the driving device 130 extends out of the lightening hole 127 and is connected with the limiting block 125, obviously, the lightening hole 127 can also not penetrate through the sliding block 121, and the actuating part of the driving device 130 is positioned in the lightening hole 127 and is connected with the sliding block 121; the driving device 130 is an electric motor, and obviously, the driving device 130 can also be driven by a hydraulic device, such as a hydraulic cylinder.
The slider 121 is close to one end of the frame 110, which is provided with the arc-shaped groove 112, and the locking pin 122 is close to the arc-shaped groove 112, so that a clamping space 113 is formed between the locking pin 122 and the arc-shaped groove 112, and an opening direction of the clamping space 113 is along an axial direction of the frame 110 and is far away from the frame 110, that is, the opening direction of the clamping space 113 and the opening direction of the clamping groove 111 are oppositely arranged.
Referring to fig. 7, the two ends of the top of the female connection end 20 are respectively provided with a connection beam 21, the connection beams 21 are parallel to each other, and the two connection beams 21 respectively extend into the clamping space 113 and the clamping groove 111, so as to realize the connection between the male connection end 10 and the female connection end 20. The position that connects female end 20's inside near one of them tie-beam 21 is equipped with second installation piece 22, and the both sides of second installation piece 22 are equipped with the second hydraulic joint 23 and the quick butt joint male joint 32 of intercommunication each other respectively, and quick butt joint male joint 32 is towards the direction that another tie-beam 21 is located.
Referring to fig. 8 and 9, the process of replacing the tip tool includes a tip tool disassembling process and a tip tool assembling process, and the specific processes are as follows:
the tail end tool dismounting process comprises the following steps: (1) the driving device 130 is started, the driving device 130 drives the sliding block 121 to slide in the frame 110, so that the locking pin 122 is far away from the arc-shaped groove 112, the limit on one of the connecting beams 21 is released, at this time, the clamping space 113 disappears, and meanwhile, the quick butt female joint 31 and the quick butt male joint 32 are separated; (2) the mechanical arm is driven, the connection male end 10 integrally rotates, and the connection male end 10 and the connection female end 20 form a cross state around the other connection beam 21; (3) and driving the mechanical arm to integrally move the connecting male end 10, so that the other connecting beam 21 is separated from the clamping groove 111, and the disassembling process of the tail end tool is completed.
End tool assembly process: (1) driving the mechanical arm to enable the connecting male end 10 and the connecting female end 20 to be in a crossed mode, and enabling one connecting beam 21 to enter the clamping groove 111; (2) the mechanical arm is driven, and the connection male end 10 integrally rotates around the connection beam 21 until the side wall of the arc-shaped groove 112 is contacted with the other connection beam 21; (3) the driving device 130 is started, the driving device 130 drives the sliding block 121 to slide in the frame 110, so that the locking pin 122 is close to the arc-shaped groove 112 to form a clamping space 113, the clamping space 113 limits the other connecting beam 21, and meanwhile, the sliding block 121 moves to enable the quick butt joint female joint 31 and the quick joint male joint 32 to be in butt joint with each other, and the assembling process of the end tool is completed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An end-of-arm tool quick-change device, comprising: a connecting male end (10) connected with the mechanical arm and a connecting female end (20) connected with the end tool; the connecting male end (10) comprises a frame (110), and a locking device (120) and a driving device (130) which are positioned in the frame (110); two ends of the frame (110) are respectively provided with a clamping groove (111) and an arc-shaped groove (112); the locking device (120) comprises a sliding block (121) and a locking pin (122) connected with the sliding block (121); the sliding block (121) is matched with the frame (110) in a sliding mode along the extending direction of the frame (110) and is connected with the driving device (130), and the locking pin (122) and the arc-shaped groove (112) form a clamping space (113); the both ends of connecting female end (20) are equipped with tie-beam (21) respectively, tie-beam (21) are located respectively draw-in groove (111) with in joint space (113).
2. The rapid robot arm end tool changing device according to claim 1, wherein the locking pin (122) is connected to a side of the slider (121) close to the arc-shaped groove (112), and the locking pin (122) is close to an opening of the arc-shaped groove (112), so that the locking pin (122) and the arc-shaped groove (112) form the clamping space (113), and the clamping groove (111) and the clamping space (113) face away from the frame (110).
3. The rapid robot arm end-tool changing device according to claim 2, characterized in that the side of the slide block (121) close to the arc-shaped slot (112) is connected with the female connecting end (20) through a rapid docking assembly; the quick docking assembly comprises a female quick docking connector (31) and a male quick docking connector (32) which are docked with each other, the female quick docking connector (31) and the male quick docking connector (32) are respectively connected with the slide block (121) and the second mounting block (22), and the docking direction between the female quick docking connector (31) and the male quick docking connector (32) is parallel to the sliding direction between the slide block (121) and the frame (110).
4. The quick change device for the end-of-arm-tool of claim 3, characterized in that a first mounting block (123) is arranged on the top of the slide block (121), and a first hydraulic joint (124) is arranged on the first mounting block (123); connect female end (20) and be equipped with second installation piece (22), be equipped with second hydraulic pressure joint (23) on second installation piece (22), first hydraulic pressure joint (124) with second hydraulic pressure joint (23) respectively with quick butt joint female joint (31) with quick butt joint male joint (32) intercommunication.
5. The rapid robot arm end-tool change device according to any one of claims 1 to 4, characterized in that the side of the slide block (121) is provided with a slide groove (126), and the inner side of the frame (110) is provided with a slide bar (114) which is slidably engaged with the slide groove (126).
6. The end-of-arm-tool quick-change device according to claim 5, characterized in that the slide (121) is provided with lightening holes (127).
7. The quick replacement device for the end-of-arm-tool of claim 6, characterized in that a stop block (125) is arranged on one side of the slide block (121) close to the arc-shaped groove (112), and the stop block (125) is located in the extending direction of the lightening hole (127).
8. The rapid robot arm end-tool changing device according to claim 7, characterized in that the driving device (130) extends into the lightening hole (127), and an actuating member of the driving device (130) is connected with the stopper (125).
9. The end-of-arm-tool quick-change device according to claim 8, characterized in that the drive means (130) is hydraulic or electric.
10. The end-of-arm-tool quick-change device according to claim 9, characterized in that the edges of the slot (111) are provided with wedge-shaped surfaces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010556938.7A CN111702795A (en) | 2020-06-18 | 2020-06-18 | Quick replacement device for end tool of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010556938.7A CN111702795A (en) | 2020-06-18 | 2020-06-18 | Quick replacement device for end tool of mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111702795A true CN111702795A (en) | 2020-09-25 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010556938.7A Pending CN111702795A (en) | 2020-06-18 | 2020-06-18 | Quick replacement device for end tool of mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111702795A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113001558A (en) * | 2021-02-23 | 2021-06-22 | 上海宇航系统工程研究所 | Modularized quick-change maintenance integrated platform suitable for space operation |
| CN113294413A (en) * | 2021-06-08 | 2021-08-24 | 大族激光科技产业集团股份有限公司 | Quick connecting mechanism and actuating equipment |
| CN117428737A (en) * | 2023-09-19 | 2024-01-23 | 井贝科技(浙江)有限公司 | Intelligent multifunctional high-speed mute servo manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117428737A (en) * | 2023-09-19 | 2024-01-23 | 井贝科技(浙江)有限公司 | Intelligent multifunctional high-speed mute servo manipulator |
| CN117428737B (en) * | 2023-09-19 | 2024-04-16 | 井贝科技(浙江)有限公司 | Intelligent multifunctional high-speed mute servo manipulator |
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Application publication date: 20200925 |
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| RJ01 | Rejection of invention patent application after publication |