CN111872929B - Intelligent quick connecting device for robot - Google Patents
Intelligent quick connecting device for robot Download PDFInfo
- Publication number
- CN111872929B CN111872929B CN202010696932.XA CN202010696932A CN111872929B CN 111872929 B CN111872929 B CN 111872929B CN 202010696932 A CN202010696932 A CN 202010696932A CN 111872929 B CN111872929 B CN 111872929B
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- CN
- China
- Prior art keywords
- robot
- locking
- positioning pin
- thimble
- tool
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention provides an intelligent quick connecting device for a robot, which comprises a robot side connecting assembly and a tool side connecting assembly, wherein the robot side connecting assembly comprises a first body, a locking mechanism, a positioning mechanism and an electric unit; the tool side connecting assembly comprises a second body, a locking shaft steel ring, a first positioning pin cylinder sleeve, a second positioning pin cylinder sleeve, an airtight vent hole, a tool side vent hole and a second electric signal module. The invention can be operated rapidly when the robot changes the handle, and can overcome the displacement compensation generated in the operation process of the robot, and has simple structure and convenient use.
Description
Technical Field
The invention relates to the field of robot use, in particular to an intelligent quick connecting device for a robot.
Background
The robot is an intelligent machine capable of semi-autonomous or fully autonomous working, has basic characteristics of sensing, decision making, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves the life of the human beings, and expands or extends the activity and capacity range of the human beings.
When the robot is used, different grippers are required to be carried on for different production operations, in the prior art, the robot is required to be stopped every time the grippers are required to be replaced, personnel perform the channels of the original grippers such as a dismantling control circuit, a power cable, an execution air source, a safety mechanism and the like, and after all the grippers are dismantled, another set of grippers are replaced to perform corresponding production operations. The double operation not only consumes a great deal of time and labor, but also has a certain safety risk, and influences the whole intelligent solution of the project.
Disclosure of Invention
The invention aims to solve the problems of the prior art that the robot has a plurality of inconveniences when changing the handles, and the robot can be quickly replaced and has a simple structure and convenient use.
Specifically, the invention provides an intelligent quick connecting device for a robot, which comprises a robot side connecting component and a tool side connecting component,
the robot side connecting assembly comprises a first body, a locking mechanism, a positioning mechanism and an electric unit, wherein the first body comprises two arc-shaped side walls and two straight-side walls, the locking mechanism comprises a locking shaft arranged on the upper part of the first body and a locking cam shaft arranged inside the locking shaft, the positioning mechanism comprises a first positioning pin and a second positioning pin, the first positioning pin and the second positioning pin are respectively arranged at two ends of a diagonal line of the upper surface of the first body, a plurality of quick vent holes are uniformly formed in two sides of the upper surface of the first body, locking cylinder vent holes and robot side connecting vent holes are formed in the arc-shaped side walls of the first body, the locking cylinder vent holes are used for locking or opening a gas pipe for connecting used gas, the quick vent holes are used for releasing air or vacuumizing, and the electric unit comprises a contact sensor, a pressure sensor and a first electric signal module, and the first electric signal module is fixedly connected to the outer part of one straight-side wall of the first body;
the tool side connecting assembly comprises a second body, a locking shaft steel ring, a first positioning pin cylinder sleeve, a second positioning pin cylinder sleeve, an airtight vent hole, a tool side vent hole and a second electric signal module; the second body also comprises two arc-shaped side walls and two straight-side walls, the locking shaft steel ring, the first positioning pin cylinder sleeve, the second positioning pin cylinder sleeve and the airtight vent holes are all arranged on the upper surface of the second body, the tool side vent holes are uniformly arranged on the arc-shaped side walls on two sides, the locking shaft steel ring is matched with the locking shaft for use, the first positioning pin cylinder sleeve and the second positioning pin cylinder sleeve are respectively matched with the first positioning pin and the second positioning pin for use, the airtight vent holes are matched with the quick vent holes for use, the second electric signal module is communicated with the first electric signal module, and the second electric signal module is fixedly connected to the outer part of one straight-side wall of the second body;
the middle of the second body is provided with the locking shaft steel ring for the locking shaft to pass through, the middle of the locking shaft steel ring is provided with a circular through hole, the locking shaft can pass through the circular through hole, the circumference of the outer surface of the outer wall circle of the locking shaft is uniformly provided with a plurality of expansion ball locks, the upper part of the locking shaft is provided with a driving piston, and the driving piston drives the locking shaft by means of gas provided by a gas pipe, so that the robot side connecting component and the tool side connecting component are locked, and the robot side connecting component and the tool side connecting component are unlocked after the gas pipe is disconnected;
the contact sensor and the pressure sensor are used for detecting the position of the driving piston, so that the robot side connecting component and the tool side connecting component are judged to be in a locking state or an unlocking state, and signals are output to a control end of the robot.
Preferably, the first and second electrical signal modules are fixedly mounted by means of a bracket.
Preferably, the first body and the second body are both aluminum alloy bodies, and the second body is matched with the first body for use.
Preferably, the bottom of first body is provided with robot flange and evenly arranged's bolt hole, the bottom of second body is provided with tongs flange and corresponding bolt hole, first body is used for connecting the robot, the second body is used for connecting the tongs, the bolt hole is the through-hole.
Preferably, the first positioning pin and the second positioning pin are tapered.
Preferably, the locking cylinder air holes are 4 3/8 threaded holes, the number of the robot side connecting air holes is 10, 2 locking cylinder air holes and 5 robot side connecting air holes are arranged on each arc-shaped side wall, the 5 robot side connecting air holes are arranged on the arc-shaped side wall in a straight line, the 2 locking cylinder air holes are arranged in a staggered mode up and down and are respectively arranged above and below the straight line formed by the 5 robot side connecting air holes, and the 2 locking cylinder air holes and the 5 robot side connecting air holes form a diagonal line.
Preferably, the number of the tool side ventilation holes is 10, 5 tool side ventilation holes are arranged on each side wall, and the 5 tool side ventilation holes are arranged on the arc-shaped side wall in a straight line.
Preferably, the first electric signal module comprises a thimble installation disc, an aviation plug female seat and a transfer wire, wherein a thimble on the thimble installation disc is a spring thimble, the spring thimble on the thimble installation disc is connected with the aviation plug female seat through the transfer wire, the second electric signal module comprises a thimble female seat installation disc, an aviation plug female seat and a transfer welding wire, the female seat on the thimble female seat installation disc is a concave surface matched with the spring thimble, and the thimble on the thimble female seat installation disc is connected with the aviation plug female seat through the transfer wire.
Preferably, contact electrodes are arranged at the joints of the thimble mounting disc of the first electric signal module and the thimble mother seat mounting disc of the second electric signal module.
Preferably, the tool-side connection assembly is fastened to the tool holder by means of a foot in the inactive state.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention can perform quick operation when the robot changes the handle, overcomes the displacement compensation generated in the operation process of the robot, has simple structure and convenient use, and can quickly connect the robot with the tool side, thereby reducing the working time and improving the working efficiency.
(2) The contact sensor and the pressure sensor are used for detecting the position of the driving piston, so that the robot side connecting component and the tool side connecting component are judged to be in a locking state or an unlocking state, and signals are output to the control end of the robot. The contact sensor and the pressure sensor adopt high-precision magnetic induction sensors, and the quick-change connector can be judged to be at a clamping or loosening position according to the action of the detection magnetic ring on the cylinder in the quick-change connector at the side of the robot, so that signals are transmitted to the robot control PLC, and the judgment is accurate and quick, and the use is convenient.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the structure of the robot-side joint assembly and tool-side joint assembly connection of the present invention;
FIG. 3 is a top view of the robot-side joint assembly of the present invention;
FIG. 4 is a side view of the robotic side connecting assembly of the present invention;
FIG. 5 is a schematic side elevational view of the tool side connection assembly of the present invention; and
fig. 6 is a cross-sectional view of the robot-side joint assembly of the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Specifically, the invention provides an intelligent quick connecting device for a robot, which comprises a robot side connecting component 1 and a tool side connecting component 2.
The robot side connecting assembly comprises a first body 3, a locking mechanism, a positioning mechanism and an electric unit, wherein the first body 3 comprises two arc-shaped side walls and two straight-side walls, the locking mechanism 4 comprises a locking shaft 41 arranged on the upper portion of the first body and a locking cam shaft 42 arranged inside the locking shaft 41, the positioning mechanism 5 comprises a first positioning pin 51 and a second positioning pin 52, the first positioning pin 51 and the second positioning pin 52 are respectively arranged at two ends of a diagonal line of the upper surface of the first body, a plurality of quick vent holes 6 are uniformly formed in two sides of the upper surface of the first body 3, locking cylinder vent holes 7 and robot side connecting vent holes 8 are formed in the arc-shaped side walls of the first body 3, the locking cylinder vent holes 7 are used for locking or opening air pipes for connecting used air, the quick vent holes 6 are used for releasing air or vacuumizing, and the electric unit comprises a contact sensor, a pressure sensor and a first electric signal module 9, and the first electric signal module is fixedly connected to the outer part of one straight-side wall of the first body.
The tool side connecting assembly 2 comprises a second body 10, a locking shaft steel ring 11, a first positioning pin cylinder sleeve 12, a second positioning pin cylinder sleeve 13, an airtight vent hole 14, a tool side vent hole 15 and a second electric signal module 16; the second body 10 also comprises two arc-shaped side walls and two straight-edge side walls, the locking shaft steel ring 11, the first positioning pin cylinder sleeve 12, the second positioning pin cylinder sleeve 13 and the airtight vent hole 14 are all arranged on the upper surface of the second body, the tool side vent holes 15 are uniformly formed in the arc-shaped side walls on two sides, the locking shaft steel ring is matched with the locking shaft, the first positioning pin cylinder sleeve 12 and the second positioning pin cylinder sleeve 13 are respectively matched with the first positioning pin and the second positioning pin, the airtight vent hole is matched with the quick vent hole, the second electric signal module is communicated with the first electric signal module, and the second electric signal module 16 is fixedly connected to the outside of one straight-edge side wall of the second body.
The tool-side connection assembly 2 is secured to the tool holder by means of the legs 201 in the inactive state.
The centre of second body 10 sets up the locking axle steel ring that is used for supplying the locking axle to pass through, circular through-hole has been seted up in the centre of locking axle steel ring, locking axle 41 can pass through circular through-hole, evenly be provided with a plurality of expansion ball locks 43 on the surface circumference of the outer wall circle of locking axle 41, the upper portion of locking axle 41 is provided with driving piston 44, driving piston 44 drives the locking axle with the help of the gas that the trachea provided, thereby make robot side coupling assembling and tool side coupling assembling lock, and make robot side coupling assembling and tool side coupling assembling unblock after the trachea disconnection.
The contact sensor and the pressure sensor are used for detecting the position of the driving piston, so that the robot side connecting component and the tool side connecting component are judged to be in a locking state or an unlocking state, and signals are output to a control end of the robot.
The contact sensor and the pressure sensor adopt high-precision magnetic induction sensors, and whether the quick-change joint is at a clamping or loosening position can be judged according to the action of a detection magnetic ring on an air cylinder in the quick-change joint at the side of the robot, so that signals are transmitted to a robot control PLC.
Preferably, the first electrical signal module and the second electrical signal module are fixedly mounted by means of a bracket.
The first electrical signal module 9 includes a thimble mounting plate, an aviation plug socket 91, and a transfer welding wire. The thimble on the thimble installation disc is a spring thimble, so that the contact surface of the main and auxiliary current collectors can be effectively ensured, and the reliability of signals is ensured. The thimble on the thimble mounting disc is connected with the aviation plug female seat through the switching wire, and the switching wire both ends are boiling hot tin welding treatment, can guarantee signal transmission's reliability.
The second electrical signal module 16 includes a thimble socket mounting plate, an aviation plug socket 161, and transfer weld wires. The female seat on the thimble female seat mounting plate is concave, so that the contact surface of the thimble can be effectively ensured, and the reliability of signals is ensured. The thimble on the thimble mounting disc is connected with the aviation plug female seat through the switching wire, and the switching wire both ends are boiling hot tin welding treatment, can guarantee signal transmission's reliability.
Preferably, the first body and the second body are both aluminum alloy bodies, and the second body is matched with the first body for use.
Preferably, the bottom of first body is provided with robot flange and evenly arranged's bolt hole, and the bottom of second body is provided with tongs flange and corresponding bolt hole, and first body is used for connecting the robot, and the second body is used for connecting the tongs, and the bolt hole is the through-hole.
Preferably, the first locating pin and the second locating pin are tapered.
Preferably, the locking cylinder air holes are 4 3/8 threaded holes, the number of the robot side connecting air holes is 10, 2 locking cylinder air holes and 5 robot side connecting air holes are arranged on each arc-shaped side wall, the 5 robot side connecting air holes are arranged on the arc-shaped side wall in a straight line, the 2 locking cylinder air holes are arranged in a vertically staggered mode and are respectively arranged above and below the straight line formed by the 5 robot side connecting air holes, and the 2 locking cylinder air holes and the 5 robot side connecting air holes form an oblique line through the most middle quick vent holes.
Preferably, the number of the tool side ventilation holes is 10, 5 tool side ventilation holes are arranged on each side wall, and the 5 tool side ventilation holes are arranged on the arc-shaped side wall in a straight line.
The working principle of the invention is described below:
in use, the taper allows a small deviation in the locking position of the tool side from the position of the robot when the tool quick change robot side is operated to lock-move the tool side upwards. Also, the taper allows the tool side to float into the locked position despite minor deviations in the position of the robot when the tool quick change robot side is moved down-locking the tool side.
Before starting locking, the sensor detects that the piston state is in a shaft release state, at the moment, the robot side locking mechanism is in an unlocking state, the locking shaft, the first electric signal module and the second electric signal module are in a preparation state, and move to the upper side of the tool side, and the robot side locating pin concentrically and vertically enters the tool side locating sleeve; the robot side and the tool side enter a non-contact locking area (about 1 mm), a locking port of the electromagnetic valve is driven, the gas pressure of the unlocking gas circuit is discharged, the supplied compressed gas enters the locking gas circuit, and the locking mechanism enters a locking state. In use, the robot controller must design a suitable delay time to complete the locking process before the robot locks the tool side and then works properly.
Before the locking is performed, it must be ensured that the locking mechanism is in an open state, otherwise damage to the robot and/or the tool will result.
When the robot side is completely in butt joint with the tool side, the sensor detects that the piston is in the lower position, the locking shaft is also kept in the lower position, and the locking ball pin stretches out to prepare for starting locking work.
In the locking process of the robot side and the tool side, the compressed gas drives the cam to move outwards, the first conical surface of the cam extrudes the locking steel balls to move outwards, and the locking steel balls are tightly connected with the second conical surface of the cam and the flange plate of the tool side to provide strong locking force and lock the tool side.
After that, the gas pressure is lost, and the locking mechanism enters a protection state for preventing the gas pressure from being lost. Because of the gravity of the tool, the locking steel balls move inwards and are tightly connected with the cylindrical surface of the cam and the flange plate at the side of the tool, the cam cannot move up and down, and the locking mechanism provides strong locking force to lock the side of the tool.
When the tool is not in use, the robot moves the tool to be placed on the tool holder, and the tool holder sensor detects the presence of the tool, indicating that the tool is properly placed on the tool holder. And (3) discharging the gas pressure in the locking gas circuit, supplying compressed gas into the unlocking gas circuit, and separating the robot side from the tool side when the locking mechanism is in an unlocking state.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (3)
1. Intelligent quick connecting device for robot, its characterized in that: which comprises a robot-side connecting component and a tool-side connecting component,
the robot side connecting assembly comprises a first body, a locking mechanism, a positioning mechanism and an electric unit, wherein the first body comprises two arc-shaped side walls and two straight-side walls, the locking mechanism comprises a locking shaft arranged on the upper part of the first body and a locking cam shaft arranged inside the locking shaft, the positioning mechanism comprises a first positioning pin and a second positioning pin, the first positioning pin and the second positioning pin are respectively arranged at two ends of a diagonal line of the upper surface of the first body, a plurality of quick vent holes are uniformly formed in two sides of the upper surface of the first body, locking cylinder vent holes and robot side connecting vent holes are formed in the arc-shaped side walls of the first body, the locking cylinder vent holes are used for locking or opening a gas pipe for connecting used gas, the quick vent holes are used for releasing air or vacuumizing, and the electric unit comprises a contact sensor, a pressure sensor and a first electric signal module, and the first electric signal module is fixedly connected to the outer part of one straight-side wall of the first body; the tool side connecting assembly comprises a second body, a locking shaft steel ring, a first positioning pin cylinder sleeve, a second positioning pin cylinder sleeve, an airtight vent hole, a tool side vent hole and a second electric signal module; the second body also comprises two arc-shaped side walls and two straight-side walls, the locking shaft steel ring, the first positioning pin cylinder sleeve, the second positioning pin cylinder sleeve and the airtight vent holes are all arranged on the upper surface of the second body, the tool side vent holes are uniformly arranged on the arc-shaped side walls on two sides, the locking shaft steel ring is matched with the locking shaft for use, the first positioning pin cylinder sleeve and the second positioning pin cylinder sleeve are respectively matched with the first positioning pin and the second positioning pin for use, the airtight vent holes are matched with the quick vent holes for use, the second electric signal module is communicated with the first electric signal module, and the second electric signal module is fixedly connected to the outer part of one straight-side wall of the second body;
the middle of the second body is provided with the locking shaft steel ring for the locking shaft to pass through, the middle of the locking shaft steel ring is provided with a circular through hole, the locking shaft can pass through the circular through hole, the circumference of the outer surface of the outer wall circle of the locking shaft is uniformly provided with a plurality of expansion ball locks, the upper part of the locking shaft is provided with a driving piston, and the driving piston drives the locking shaft by means of gas provided by a gas pipe, so that the robot side connecting component and the tool side connecting component are locked, and the robot side connecting component and the tool side connecting component are unlocked and connected after the gas pipe is disconnected; the contact sensor and the pressure sensor are used for detecting the position of the driving piston, so that the robot side connecting component and the tool side connecting component are judged to be in a locking state or an unlocking state, and working state signals are output to a control end of the robot;
the robot connecting flange and the uniformly arranged bolt holes are formed in the bottom of the first body, the gripper connecting flange and the uniformly arranged bolt holes are formed in the bottom of the second body, the first body is used for connecting a robot, the second body is used for connecting a gripper, and the bolt holes are through holes;
the first electric signal module and the second electric signal module are fixedly installed by means of a bracket;
the first positioning pin and the second positioning pin are both conical;
the locking cylinder air holes are 4 3/8 threaded holes, the number of the robot side connecting air holes is 10, 2 locking cylinder air holes and 5 robot side connecting air holes are arranged on each arc-shaped side wall, the 5 robot side connecting air holes are arranged on the arc-shaped side wall in a straight line, the 2 locking cylinder air holes are arranged in a staggered mode up and down and are respectively arranged above and below the straight line formed by the 5 robot side connecting air holes, and the 2 locking cylinder air holes and the most middle quick vent holes of the 5 robot side connecting air holes form an oblique line;
the number of the tool side vent holes is 10, 5 tool side vent holes are formed in each side wall, and the 5 tool side vent holes are arranged in a straight line on the arc-shaped side wall;
the first electric signal module comprises a thimble installation disc, an aviation plug female seat and a transfer wire, wherein a thimble on the thimble installation disc is a spring thimble, the spring thimble on the thimble installation disc is connected with the aviation plug female seat through the transfer wire, the second electric signal module comprises a thimble female seat installation disc, an aviation plug female seat and a transfer welding wire, the female seat on the thimble female seat installation disc is a concave surface matched with the spring thimble, and the thimble on the thimble female seat installation disc is connected with the aviation plug female seat through the transfer wire;
contact electrodes are arranged at the joints of the thimble mounting disc of the first electric signal module and the thimble mother seat mounting disc of the second electric signal module.
2. The intelligent quick-connect apparatus for a robot of claim 1, wherein: the first body and the second body are all aluminum alloy bodies, and the second body is matched with the first body for use.
3. The intelligent quick-connect apparatus for a robot of claim 1, wherein: the tool-side connection assembly is fastened to the tool holder by means of the support legs in the inactive state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010696932.XA CN111872929B (en) | 2020-07-20 | 2020-07-20 | Intelligent quick connecting device for robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010696932.XA CN111872929B (en) | 2020-07-20 | 2020-07-20 | Intelligent quick connecting device for robot |
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| CN111872929A CN111872929A (en) | 2020-11-03 |
| CN111872929B true CN111872929B (en) | 2023-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010696932.XA Active CN111872929B (en) | 2020-07-20 | 2020-07-20 | Intelligent quick connecting device for robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497258B (en) * | 2020-11-17 | 2022-11-08 | 武汉联影智融医疗科技有限公司 | Mechanical arm and joint quick-change interface thereof |
| CN113161813B (en) * | 2021-04-27 | 2023-03-10 | 广西蓝天航空职业学院 | Robot tool quick-change device and tool library used by same |
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| CN101244564A (en) * | 2008-03-21 | 2008-08-20 | 哈尔滨工业大学 | Tool quick-switching interface for telecontrolling welding robot |
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| CN111872929A (en) | 2020-11-03 |
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